Motion control apparatus for a vehicle
First Claim
1. A motion control apparatus for a vehicle comprising:
- vehicle-body speed obtaining means for obtaining a vehicle-body speed of the vehicle;
steering-member operating amount obtaining means for obtaining an operating amount of a steering member of the vehicle which changes a steering angle of steerable wheels of the vehicle;
actual lateral acceleration related quantity obtaining means for obtaining, as an actual lateral acceleration related quantity, an actual value of a lateral acceleration related quantity indicating the extent of turning of the vehicle;
target lateral acceleration related quantity calculating means for calculating a target lateral acceleration related quantity which is a target value of the lateral acceleration related quantity in accordance with the vehicle-body speed, in such a manner thatwhen the vehicle-body speed is at least a prescribed value, the absolute value of the target lateral acceleration related quantity is equal to or less than the absolute value of a reference lateral acceleration related quantity which is a reference value of the lateral acceleration related quantity determined by a prescribed rule based on at least the vehicle-body speed and the steering-member operating amount andwhen the vehicle-body speed is less than the prescribed value, the absolute value of the target lateral acceleration related quantity is greater than or equal to the absolute value of the reference lateral acceleration related quantity;
wherein the reference lateral acceleration related quantity is a theoretical value of the lateral acceleration related quantity acting on the vehicle when the vehicle is turning in a state in which the steering-member operating amount and the vehicle-body speed are both constant, which theoretical value is calculated using a model of vehicle motion based on the steering-member operating amount and the vehicle-body speed; and
braking force control means for controlling a braking force applied to each of front and rear wheels of the vehicle so that the actual lateral acceleration related quantity approaches the target lateral acceleration related quantity.
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Accused Products
Abstract
When the absolute value of the steering angle equals or is greater than a prescribed angle, a vehicle motion control apparatus sets a control gear ratio so that when an estimated vehicle-body speed is equal to or greater than a prescribed value, the control gear ratio becomes a value equal to or greater than a certain value and which increases with estimated vehicle-body speed as the absolute value of the steering angle increases. When the estimated vehicle-body speed is less than the prescribed value, the control gear ratio becomes a value not greater than the certain value and which decreases with estimated vehicle-body speed as the absolute value of the steering angle increases. The apparatus then calculates a target yaw rate making use of the control gear ratio, and controls a braking force applied to each wheel so that the actual yaw rate coincides with the target yaw rate.
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Citations
11 Claims
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1. A motion control apparatus for a vehicle comprising:
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vehicle-body speed obtaining means for obtaining a vehicle-body speed of the vehicle; steering-member operating amount obtaining means for obtaining an operating amount of a steering member of the vehicle which changes a steering angle of steerable wheels of the vehicle; actual lateral acceleration related quantity obtaining means for obtaining, as an actual lateral acceleration related quantity, an actual value of a lateral acceleration related quantity indicating the extent of turning of the vehicle; target lateral acceleration related quantity calculating means for calculating a target lateral acceleration related quantity which is a target value of the lateral acceleration related quantity in accordance with the vehicle-body speed, in such a manner that when the vehicle-body speed is at least a prescribed value, the absolute value of the target lateral acceleration related quantity is equal to or less than the absolute value of a reference lateral acceleration related quantity which is a reference value of the lateral acceleration related quantity determined by a prescribed rule based on at least the vehicle-body speed and the steering-member operating amount and when the vehicle-body speed is less than the prescribed value, the absolute value of the target lateral acceleration related quantity is greater than or equal to the absolute value of the reference lateral acceleration related quantity; wherein the reference lateral acceleration related quantity is a theoretical value of the lateral acceleration related quantity acting on the vehicle when the vehicle is turning in a state in which the steering-member operating amount and the vehicle-body speed are both constant, which theoretical value is calculated using a model of vehicle motion based on the steering-member operating amount and the vehicle-body speed; and braking force control means for controlling a braking force applied to each of front and rear wheels of the vehicle so that the actual lateral acceleration related quantity approaches the target lateral acceleration related quantity. - View Dependent Claims (2, 3, 4, 5)
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6. A motion control apparatus for a vehicle comprising:
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vehicle-body speed obtaining means for obtaining a vehicle-body speed of the vehicle; steering-member operating amount obtaining means for obtaining an operating amount of a steering member of the vehicle which changes a steering angle of steerable wheels of the vehicle; actual lateral acceleration related quantity obtaining means for obtaining, as an actual lateral acceleration related quantity, an actual value of a lateral acceleration related quantity indicating the extent of turning of the vehicle; target lateral acceleration related quantity calculating means for calculating a target lateral acceleration related quantity which is a target value of the lateral acceleration related quantity, in such a manner that the absolute value of the target lateral acceleration related quantity is equal to or less than the absolute value of a reference lateral acceleration related quantity which is a reference value of the lateral acceleration related quantity determined by a prescribed rule based on at least the vehicle-body speed and the steering-member operating amount; braking force control means for controlling a braking force applied to each of front and rear wheels of the vehicle so that the actual lateral acceleration related quantity approaches the target lateral acceleration related quantity; and the target lateral acceleration related quantity calculating means is constructed to calculate the target lateral acceleration related quantity in such a manner that the absolute value of the target lateral acceleration related quantity does not exceed a target lateral acceleration related quantity limiting value, which is set in accordance with an actual specification value of the vehicle which influences the generated roll angle of the vehicle; wherein the reference lateral acceleration related quantity is a theoretical value of the lateral acceleration related quantity acting on the vehicle when the vehicle is turning in a state in which the steering-member operating amount and the vehicle-body speed are both constant, which theoretical value is calculated using a model of vehicle motion based on the steering-member operating amount and the vehicle-body speed. - View Dependent Claims (7, 8, 9, 10, 11)
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Specification