Vehicle control apparatus and method of suppressing vibration of vehicle

• US 7,720,583 B2
• Filed: 06/07/2006
• Issued: 05/18/2010
• Est. Priority Date: 06/14/2005
• Status: Active Grant

• Current Assignee: DENSO Corporation, Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: DENSO Corporation, Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Inagaki, Shoji, Nakai, Yasuhiro, Takamatsu, Hideki, Kawahara, Kenji
• Primary Examiner(s): Keith; Jack W.
• Assistant Examiner(s): Khatib; Rami
• Application Number:
  US11/910,618
• Publication Number:
  US 20080172155A1
• Time in Patent Office: 1,441 Days
• Field of Search: 701/40
• US Class Current: 701/40
• CPC Class Codes: B60G 17/0195 characterised by the regulation being combined with other vehicle control systems conjoint control of vehicle sub-units including control of suspension systems B60W10/22
• CPC Class Codes: B60G 2400/30 Propulsion unit conditions
• CPC Class Codes: B60G 2400/34 Accelerator pedal position
• CPC Class Codes: B60G 2400/39 Brake pedal position
• CPC Class Codes: B60G 2400/41 Steering angle
• CPC Class Codes: B60G 2400/824 Travel path sensing; Track monitoring
• CPC Class Codes: B60G 2500/10 Damping action or damper
• CPC Class Codes: B60G 2600/1877 Adaptive Control
• CPC Class Codes: B60G 2600/20 Manual control or setting means
• CPC Class Codes: B60G 2600/60 Signal noise suppression; Electronic filtering means
• CPC Class Codes: B60G 2800/162 Reducing road induced vibrations
• CPC Class Codes: B60G 2800/22 Braking, stopping
• CPC Class Codes: B60G 2800/24 Steering, cornering
• CPC Class Codes: B60G 2800/70 Estimating or calculating vehicle parameters or state variables
• CPC Class Codes: B60G 2800/916 Body Vibration Control
• CPC Class Codes: B60G 2800/92 ABS - Brake Control
• CPC Class Codes: B60G 2800/96 ASC - Assisted or power Steering control
• CPC Class Codes: B60G 2800/97 Engine Management System [EMS]
• CPC Class Codes: B60G 2800/982 Active Cruise Control, e.g. DISTRONIC type
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/10 : including control of change-speed gearings
• CPC Class Codes: B60W 10/18 : including control of braking systems
• CPC Class Codes: B60W 10/20 : including control of steering systems
• CPC Class Codes: B60W 10/22 : including control of suspension systems
• CPC Class Codes: B60W 2050/0052 : Filtering, filters
• CPC Class Codes: B60W 2050/0063 : Manual parameter input, manual setting means, manual initialising or calibrating means
• CPC Class Codes: B60W 2540/10 : Accelerator pedal position
• CPC Class Codes: B60W 2552/00 : Input parameters relating to infrastructure
• CPC Class Codes: B60W 2710/18 : Braking system
• CPC Class Codes: B60W 2710/20 : Steering systems
• CPC Class Codes: B60W 2710/22 : Suspension systems
• CPC Class Codes: B60W 30/02 : Control of vehicle driving stability

Abstract

A powertrain control ECU sets a target driving force, and controls an internal combustion engine and a transmission of a vehicle. A first processor of the powertrain control ECU includes a driving force adjustment portion, a filter, a mode-switch, an environmental information-obtaining device, and a steering sensor. The driving force adjustment portion sets the target driving force based on at least one of instructions from a driver and from a second processor. The filter corrects the target driving force to suppress vibration on a spring of the vehicle. The mode-switch sets the running mode. The environmental information-obtaining device obtains information on the environment around the vehicle. The steering angle sensor determines the running condition. A correction amount, by which the filter corrects the target driving force, is adjusted according to the running mode, the environment, and the running condition.

Claims

1. A vehicle control apparatus configured to set a target control amount related to running movement of a vehicle, and controls at least a powertrain device of the vehicle based on the target control amount, comprising:

a target control amount setting device configured to set the target control amount based on at least one of an instruction from a driver and an instruction from a predetermined control device included in the vehicle;

a running characteristic determination device configured to determine a running characteristic of the vehicle set by the driver; and

a correction device configured to correct the target control amount set by the target control amount setting device to suppress vibration on a spring of the vehicle,

wherein the correction device includes a quadratic notch filter that has a damping characteristic which damps the vibration on the spring of the vehicle,

wherein a correction amount, by which a target driving force of the vehicle is corrected by the correction device, is adjusted according to the running characteristic determined by the running characteristic determination device,

wherein the quadratic notch filter adjusts a parameter which determines the damping characteristic according to the running characteristic determined by the running characteristic determination device, and

wherein the quadratic notch filter suppresses a component that induces the vibration in a transfer function where the target driving force is used as an input and a suspension stroke of the vehicle is used as an output.

2. The vehicle control apparatus according to claim 1, further comprising an environment determination device configured to determine the environment around the vehicle,

wherein the correction device further adjusts the correction amount according to the environment around the vehicle determined by the environment determination device.

3. The vehicle control apparatus according to claim 1, further comprising a running condition determination device configured to determine the running condition of the vehicle, and the correction device further adjusts the correction amount according to the running condition determined by the running condition determination device.

4. The vehicle control apparatus according to claim 3, wherein the running condition determination device includes a steering angle sensor.

5. The vehicle control apparatus according to claim 1, further comprising an environment determination device configured to determine the environment around the vehicle;

and a running condition determination device configured to determine the running condition of the vehicle,

wherein the correction device further adjusts the correction amount according to the environment around the vehicle and the running condition.

6. The vehicle control apparatus according to claim 1, wherein the target driving force of the vehicle is not corrected if a vehicle stability control is activated in the vehicle.

7. A method of suppressing vibration of a vehicle, which reduces vibration on a spring of a vehicle, comprising:

setting a target control amount used to control at least a powertrain device of the vehicle based on at least one of an instruction from a driver and an instruction from a predetermined control device included in the vehicle using a target control amount setting device;

determining a running characteristic of the vehicle set by the driver using a running characteristic determination device;

setting up a correction equation used to suppress the vibration on the spring of the vehicle based on the running characteristic using a correction device; and

correcting the target control amount using the correction equation using the correction device,

wherein the correction device includes a quadratic notch filter that has a damping characteristic which damps the vibration on the spring of the vehicle,

wherein the damping characteristic is adjusted according to the running characteristic,

wherein the target control amount is a target driving force of the vehicle and a parameter which determines the damping characteristic is adjusted according to the running characteristic,

wherein the quadratic notch filter adjusts a parameter which determines the damping characteristic according to the running characteristic determined by the running characteristic determination device, and

wherein the quadratic notch filter suppresses a component that induces the vibration in a transfer function where the target during force is used as an input and a suspension stroke of the vehicle is used as an output.