Turning control apparatus for vehicle

• US 7,949,456 B2
• Filed: 03/02/2007
• Issued: 05/24/2011
• Est. Priority Date: 03/24/2006
• Status: Active Grant

• Current Assignee: Mitsubishi Jidosha Kogyo Kabushiki Kaisha
• Original Assignee: Mitsubishi Jidosha Kogyo Kabushiki Kaisha
• Inventors: Miura, Takami
• Primary Examiner(s): Keith; Jack
• Assistant Examiner(s): Shafi; Muhammad
• Application Number:
  US11/713,005
• Publication Number:
  US 20070222286A1
• Time in Patent Office: 1,544 Days
• Field of Search: 701/38, 701/69, 701/72, 701/70, 701/41, 701/71, 701/84, 180/205, 180/206, 180/207, 180315-336, 180337-385, 280/5.507, 280/FOR.133, 280/192, 280 11204- 11217, 280/28.11, 280/264, 280/427, 280/428, 280/33.994, 280/124.105, 303/9.71, 303/167, 303/191, 303/DIG.2, 303/DIG.12
• US Class Current: 701/72
• CPC Class Codes: B60T 2201/16 Curve braking control, e.g. turn control within ABS control algorithm
• CPC Class Codes: B60T 8/1755 Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/16 Axle differentials, e.g. for dividing torque between left and right wheels
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 30/02 Control of vehicle driving stability

Abstract

A turning control apparatus for a vehicle that improves turning ability while avoiding degradation of acceleration ability is provided.

The turning control apparatus comprises: a driving torque controller (31) for adjusting driving torque between a left and right wheels (14L and 14R); a unit (62) for calculating a necessary yaw momentum value indicating degree of necessary yaw momentum for the turning of the vehicle; and a clipping unit (63) for clipping the necessary yaw momentum value as a target yaw momentum at a maximum yaw momentum value, which is defined according to difference between rotation speeds of inside and outside wheels, if the necessary yaw momentum value is over the maximum yaw momentum value.

The controller adjusts driving torque of the left and right wheels to generate target yaw momentum at the vehicle corresponding to the target yaw momentum value obtained by the clipping unit.

Claims

1. A turning control apparatus for a vehicle, comprising:

a driving torque controller for adjusting driving torque between a left wheel and a right wheel;

a brake force controller for individually adjusting brake force of each wheel of the vehicle;

means for detecting turning direction of the vehicle;

means for determining which of the left wheel and the right wheel is an inside-wheel or an outside-wheel according to the turning direction detected by said turning direction detecting means;

means for sensing rotation speed of the inside-wheel which is opposite to the outside-wheel;

means for sensing rotation speed of the outside-wheel;

means for calculating a necessary yaw momentum value indicating degree of necessary yaw momentum for the turning of the vehicle;

a yaw momentum controlling map having a left-turn map and a right-turn map;

means for clipping the necessary yaw momentum value as a target yaw momentum at a maximum yaw momentum value if the necessary yaw momentum value is over the maximum yaw momentum value, the maximum yaw momentum value being set according to a difference between the inside-wheel rotation speed and the outside-wheel rotation speed by applying the difference between the inside-wheel rotation speed and the outside-wheel rotation speed to the left-turn map or the right-turn map which is selected based on the turning direction of the vehicle; and

means for calculating a brake yaw momentum value as the difference between the necessary yaw momentum value and the maximum yaw momentum value when the necessary yaw momentum value is over the maximum yaw momentum value,

said necessary yaw momentum value clipping means, if the inside-wheel rotation speed is faster than the outside-wheel rotation speed, decreases the maximum yaw momentum value according to increments of the inside-wheel rotation speed relative to the outside-wheel rotation speed until the difference between the inside-wheel rotation speed and the outside-wheel rotation speed becomes equal to a differential speed threshold value, and sets the maximum yaw momentum value to zero when the difference between the inside-wheel rotation speed and the outside-wheel rotation speed is higher than or equal to the differential speed threshold value,

said driving torque controller adjusting between driving torque of the left wheel and the right wheel to generate target yaw momentum at the vehicle corresponding to the target yaw momentum value obtained by said necessary yaw momentum value clipping means, and

said brake force controller adjusting brake force of each wheel of the vehicle so as to generate brake yaw momentum corresponding to the brake yaw momentum value calculated by said brake yaw momentum value calculating means.

2. A turning control apparatus for the vehicle according to claim 1, wherein

when said necessary yaw momentum value calculating means calculates the necessary yaw momentum value that must be reached to prevent under-steering,

said necessary yaw momentum clipping means set constant at the maximum yaw momentum value,

when said necessary yaw momentum value calculating means calculates the necessary yaw momentum value that must be reached to prevent over-steering,

said necessary yaw momentum clipping means varies the maximum yaw momentum value according to the differential rotation speed between the inside-wheel rotation speed and the outside-wheel rotation speed.

3. A turning control apparatus for the vehicle according to claim 1, wherein

when the outside-wheel'"'"'s rotation speed is faster than the inside-wheel'"'"'s rotation speed,

said necessary yaw momentum clipping means sets the maximum yaw momentum value to be constant,

when the inside-wheel'"'"'s rotation speed is faster than the outside-wheel'"'"'s rotation speed,

said necessary yaw momentum clipping means varies the maximum yaw momentum value according to the differential rotation speed between the inside-wheel rotation speed and the outside-wheel rotation speed.

4. A turning control apparatus for the vehicle according to claim 1, wherein

when the inside-wheel'"'"'s rotation speed is faster than the outside-wheel'"'"'s rotation speed,

said necessary yaw momentum clipping means sets the maximum yaw momentum value to be smaller than when the outside-wheel'"'"'s rotation speed is faster than the inside-wheel'"'"'s rotation speed.

5. A turning control apparatus for the vehicle according to claim 1, wherein the means for calculating a necessary yaw momentum value calculates the necessary yaw momentum value based on a vehicle speed and a steering angle.