Motion control unit for vehicle based on jerk information

• US 8,239,096 B2
• Filed: 12/29/2011
• Issued: 08/07/2012
• Est. Priority Date: 05/18/2007
• Status: Active Grant

• Current Assignee: Hitachi Astemo Ltd. (Hitachi, Ltd.)
• Original Assignee: Hitachi, Ltd.
• Inventors: Yamakado, Makoto, Imura, Shinya, Abe, Masato
• Primary Examiner(s): Black, Thomas
• Assistant Examiner(s): MARC-COLEMAN, MARTHE Y
• Application Number:
  US13/339,997
• Publication Number:
  US 20120101657A1
• Time in Patent Office: 222 Days
• Field of Search: 701/38, 701/37, 701/1, 701/41, 701/70, 701/71, 280 5506- 5508, 280/5.504, 340/440, 340/436, 303/146, 303/147, 303/121, 180/422, 180/242, 702/142
• US Class Current: 701/38
• CPC Class Codes: B60T 2230/02 Side slip angle, attitude angle, floating angle, drift angle
• CPC Class Codes: B60T 2230/04 Jerk, soft-stop; Anti-jerk, reduction of pitch or nose-dive when braking
• 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 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2520/28 Wheel speed
• CPC Class Codes: B60W 2720/14 Yaw
• CPC Class Codes: B60W 30/045 Improving turning performance
• CPC Class Codes: B60W 30/18145 Cornering
• CPC Class Codes: B60W 40/064 Degree of grip
• CPC Class Codes: B60W 40/103 Side slip angle of vehicle body

Abstract

In a motion control system for a vehicle including control means for controlling a yaw moment of the vehicle; first detection means for detecting a longitudinal velocity (V) of the vehicle; second detection means for detecting a lateral jerk (Gy_dot) of the vehicle; and third detection means for detecting a yaw angular acceleration (r_dot) of the vehicle, the yaw moment of the vehicle is controlled by the control means so that a difference between the yaw angular acceleration (r_dot) detected by the third detection means and a value (Gy_dot/V) obtained by the lateral jerk (Gy_dot) of the vehicle detected by the second detection means by the longitudinal velocity (V) detected by the first detection means becomes small.

Claims

1. A method for controlling a vehicle, said method comprising:

dividing an input lateral jerk of the vehicle by an input longitudinal velocity of the vehicle;

calculating a yaw angular acceleration based on the divided value;

generating a control command for a yaw moment of the vehicle based on the calculated yaw angular acceleration;

outputting the generated control command; and

controlling motion of the vehicle based on the generated control command.

2. The method according to claim 1, wherein the control command for the yaw moment of the vehicle is generated based on the calculated yaw angular acceleration and a driver'"'"'s input value.

3. The method according to claim 2, wherein the driver'"'"'s input value includes any one of steering operation information, left and right differential brake and drive information, or load movement from rear wheel to front wheel information.

4. A method for controlling a vehicle, said method comprising:

multiplying an input lateral jerk of the vehicle by a prestored gain;

calculating a yaw angular acceleration based on the multiplied value;

generating a control command for a yaw moment of the vehicle based on the calculated yaw angular acceleration;

outputting the generated control command; and

controlling motion of the vehicle based on the generated control command.

5. The method according to claim 4, wherein the control command for the yaw moment of the vehicle is generated based on the calculated yaw angular acceleration and a driver'"'"'s input value.

6. The method according to claim 5, wherein the driver'"'"'s input value includes any one of steering operation information, left and right differential brake and drive information, or load movement from rear wheel to front wheel information.