Drive and braking force control device for vehicle

• US 8,180,541 B2
• Filed: 02/02/2006
• Issued: 05/15/2012
• Est. Priority Date: 02/02/2005
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Maeda, Yoshinori, Okumura, Kazuya, Tsuchida, Michitaka, Uragami, Yoshio, Yoshizue, Kensuke, Ando, Satoshi, Sugiyama, Koji
• Primary Examiner(s): Black, Thomas
• Assistant Examiner(s): LI, CE LI
• Application Number:
  US11/815,268
• Publication Number:
  US 20090012685A1
• Time in Patent Office: 2,294 Days
• Field of Search: 701/70, 701/72, 701/78, 701/79, 701/80, 303138-140, 303/143, 303146-149, 180/197, 180/275, 180/282
• US Class Current: 701/70
• CPC Class Codes: B60G 2800/016 Yawing condition
• CPC Class Codes: B60G 2800/922 EBV - Electronic brake force distribution
• CPC Class Codes: B60G 2800/952 Electronic driving torque distribution
• CPC Class Codes: B60T 2270/311 Predefined control maps, lookup tables
• 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 10/184 with wheel brakes
• CPC Class Codes: B60W 2710/105 Output torque
• CPC Class Codes: B60W 2720/14 Yaw
• CPC Class Codes: B60W 2720/403 between front and rear axle
• CPC Class Codes: B60W 30/02 Control of vehicle driving stability

Abstract

In a braking/driving force control apparatus, a vehicle target braking/driving force and a vehicle target yaw moment through the control of braking/driving forces of wheels are calculated, and when the target braking/driving force and the target yaw moment cannot be achieved through the control of the braking/driving forces of the wheels, it is determined which one of the braking/driving force and the yaw moment should take priority on the basis of the target braking/driving force and the target yaw moment. When it is determined that the braking/driving force should take priority, the braking/driving forces of the wheels are controlled so as to attain the target braking/driving force as much as possible, and when it is determined that the yaw moment should take priority, the braking/driving forces of the wheels are controlled so as to attain the target yaw moment as much as possible.

Claims

1. A vehicle braking/driving force control apparatus comprising:

braking/driving force applying means that can apply braking/driving forces to wheels;

means for detecting an amount of driving operation by an occupant;

means for calculating a vehicle first target braking/driving force and a vehicle first target yaw moment, which should be generated by the braking/driving forces of the wheels, based at least on the amount of driving operation by an occupant;

determining means that determines a priority between a braking/driving force and a yaw moment when either said first target braking/driving force exceeds a maximum braking/driving force attainable by the braking/driving forces of the wheels or said first target yaw moment exceeds a maximum yaw moment attainable by the braking/driving forces of the wheels, wherein;

said determining means assigns the priority to the yaw moment when a magnitude of said first target yaw moment is less than a magnitude of the maximum yaw moment attainable by the braking/driving forces of the wheels, and when said first target braking/driving force is not less than a determination reference value, and

said determining means assigns the priority to the braking/driving force when the magnitude of the first target yaw moment is less than the magnitude of the maximum yaw moment attainable by the braking/driving forces of the wheels, and

when said first target

braking/driving force is less than said determination reference value;

modifying means for modifying the first target braking/driving force and the first target yaw moment into a second target braking/driving force and a second target yaw moment, respectively, such that when the determining means assigns the priority to the yaw moment;

the second target braking/driving force is not greater than the maximum braking/driving force attainable by the braking/driving forces of the wheels, and

the second target yaw moment is as close to the first target yaw moment as possible without exceeding the maximum yaw moment attainable by the braking/driving forces of the wheels; and

control means for controlling the braking/driving force applied to each wheel by said braking/driving force applying means such that the vehicle braking/driving force becomes the second target braking/driving force and the vehicle yaw moment becomes the second target yaw moment through the control of the braking/driving forces of the wheels.

2. The vehicle braking/driving force control apparatus according to claim 1, such that

when the magnitude of said first target yaw moment is not less than the magnitude of the maximum yaw moment attainable by the braking/driving forces of the wheels, said modifying means sets the second target yaw moment equal to said maximum yaw moment attainable by the braking/driving forces of the wheels.

3. The vehicle braking/driving force control apparatus according to claim 2, such that when the magnitude of said vehicle first target yaw moment is less than the maximum yaw moment attainable by the braking/driving forces of the wheels, the modifying means sets the second target yaw moment equal to the first target yaw moment.

4. The vehicle braking/driving force control apparatus according to claim 2, such that when a magnitude of said first target braking/driving force is not more than said maximum braking/driving force attainable by the braking/driving forces of the wheels, the modifying means sets the second target braking/driving force equal to the first target braking/driving force.

5. The vehicle braking/driving force control apparatus according to claim 1, such that when the magnitude of said first target yaw moment is less than the maximum yaw moment attainable by the braking/driving force of the wheels:

the first target braking/driving force and the first target yaw moment define coordinates of a reference point in a rectangular coordinate with the vehicle braking/driving force and the vehicle yaw moment as coordinate axes,

a straight line in the rectangular coordinate runs parallel to the braking/driving force coordinate axis and intersects the reference point,

a locus of points pairing all maximum yaw moments attainable by the braking/driving forces at the wheels with a corresponding maximum braking/driving force attainable by the braking/driving forces at the wheels defines a boundary in the rectangular coordinate,

an intersection of the straight line with the boundary defines a target point,

the modifying means sets the second target yaw moment equal to a yaw moment coordinate of the target point, and

the modifying means sets the second target braking driving force equal to a braking driving force coordinate of the target point.

6. The vehicle braking/driving force control apparatus according to claim 5, wherein

the boundary in the rectangular coordinate comprises points with coordinates of a greatest value of the vehicle driving force, a greatest value of the vehicle braking force, a greatest value of the vehicle yaw moment in the leftward turning direction, and a greatest value of the vehicle yaw moment in the rightward turning direction.

7. The vehicle braking/driving force control apparatus according to claim 5, wherein the boundary in the rectangular coordinate is set in accordance with a road friction coefficient.

8. The vehicle braking/driving force control apparatus according to claim 1, wherein said means for calculating the first target braking/driving force and the first target yaw moment:

calculates said first target braking/driving force and a vehicle target total yaw moment for causing the vehicle to stably run on the basis of at least the amount of the driving operation by an occupant,

estimates a vehicle turning yaw moment due to a lateral force of each wheel on the basis of at least the amount of the driving operation by the occupant, and

calculates the first target yaw moment by subtracting said turning yaw moment from said target total yaw moment.

9. The vehicle braking/driving force control apparatus according to claim 8, wherein said means for calculating the vehicle first target braking/driving force and the vehicle first target yaw moment calculates:

a vehicle target longitudinal acceleration and a vehicle target yaw rate for stably running the vehicle on the basis of at least the amount of the driving operation by an occupant, and

said first target braking/driving force and the first target yaw moment on the basis of said vehicle target longitudinal acceleration and said vehicle target yaw rate, respectively.

10. The vehicle braking/driving force control apparatus according to claim 1, such that when the magnitude of the first target yaw moment is not less than the magnitude of the maximum yaw moment attainable by the braking/driving forces of the wheels, the determining means assigns the priority to the yaw moment.

11. The vehicle braking/driving force control apparatus according to claim 1, such that when a magnitude of the first target braking/driving force is not less than the magnitude of the maximum braking/driving force attainable by the braking/driving forces of the wheels, the determining means assigns the priority to the braking/driving force.

12. The vehicle braking/driving force control apparatus according to claim 1, wherein

said control means calculates the target braking/driving force of each wheel on the basis of said second target braking/driving force, said second target yaw moment, and a distribution ratio of the braking/driving force between the front and rear wheels, and

said control means controls the braking/driving force applied to each wheel on the basis of the target braking/driving force of each wheel.