Motion control unit for vehicle based on jerk information

• US 8,515,619 B2
• Filed: 07/02/2012
• Issued: 08/20/2013
• 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): MARC-COLEMAN, MARTHE Y
• Application Number:
  US13/540,405
• Publication Number:
  US 20120323445A1
• Time in Patent Office: 414 Days
• Field of Search: 701/38, 701/36, 701/37, 701/41, 701/1, 701/70, 701/71, 303/147
• 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 motion control system for a vehicle comprising:

a controller for controlling a yaw moment of the vehicle;

a first sensor for detecting a longitudinal velocity of the vehicle; and

a second sensor for detecting a lateral jerk of the vehicle,

wherein the controller generates a control command for the yaw moment of the vehicle based on a value obtained by dividing the lateral jerk of the vehicle detected by the second sensor, by the longitudinal velocity of the vehicle detected by the first sensor, the controller outputting the generated control command, and the controller controlling motion of the vehicle based on the generated control command.

2. A motion control system according to claim 1, wherein the controller calculates a yaw angular acceleration based on a value obtained by dividing the lateral jerk of the vehicle by the longitudinal velocity of the vehicle, and the controller generating a control command for the yaw moment of the vehicle based on the yaw angular acceleration.

3. A motion control system according to claim 2, wherein the controller generates a control command for the yaw moment of the vehicle based on the yaw angular acceleration and a real yaw angular acceleration of the vehicle.

4. A motion control system according to claim 2, wherein the controller generates a control command for the yaw moment of the vehicle based on the yaw angular acceleration and a driver'"'"'s input value.

5. A motion control system according to claim 4, wherein the driver'"'"'s input value includes at least any one of steering operation information, left and right differential brake and drive information, or load movement from rear wheel to front wheel information.

6. A motion control system for a vehicle comprising:

a controller for controlling a yaw moment of the vehicle,

wherein the controller generates a control command for the yaw moment of the vehicle based on a value obtained by multiplying a lateral jerk of the vehicle by a prestored gain, the controller outputting the generated control command, and the controller controlling motion of the vehicle based on the generated control command.

7. A motion control system according to claim 6, wherein the controller calculates a yaw angular acceleration based on a value obtained by dividing the lateral jerk of the vehicle by the longitudinal velocity of the vehicle, and the controller generating a control command for the yaw moment of the vehicle based on the yaw angular acceleration.

8. A motion control system according to claim 7, wherein the controller generates a control command for the yaw moment of the vehicle based on the yaw angular acceleration and a real yaw angular acceleration of the vehicle.

9. A motion control system according to claim 7, wherein the controller generates a control command for the yaw moment of the vehicle based on the yaw angular acceleration and a driver'"'"'s input value.

10. A motion control system according to claim 9, wherein the driver'"'"'s input value includes at least any one of steering operation information, left and right differential brake and drive information, or load movement from rear wheel to front wheel information.