Lateral motion control apparatus for a vehicle

• US 8,565,935 B2
• Filed: 10/27/2011
• Issued: 10/22/2013
• Est. Priority Date: 10/29/2010
• Status: Active Grant

• Current Assignee: Advics Company Limited (Aisin Corp.), Aisin Seiki Co., Ltd. (Aisin Corp.), DENSO Corporation
• Original Assignee: Advics Company Limited (Aisin Corp.), Aisin Seiki Co., Ltd. (Aisin Corp.), DENSO Corporation
• Inventors: Mizutani, Yuichi, Nitta, Hirofumi, Mukai, Yasuhiko, Tokimasa, Mitsuhiro, Tatsukawa, Junpei, Ogata, Yoshihisa, Kumabe, Hajime, Hanzawa, Masatoshi, Maruyama, Masaki
• Primary Examiner(s): Cheung, Mary
• Assistant Examiner(s): BRUSHABER, FREDERICK M
• Application Number:
  US13/283,004
• Publication Number:
  US 20120109416A1
• Time in Patent Office: 726 Days
• Field of Search: 701/1
• US Class Current: 701/1
• CPC Class Codes: B60T 2201/087 using active steering actuation
• CPC Class Codes: B60T 2260/022 Rear-wheel steering; Four-wheel steering
• CPC Class Codes: B60T 8/17557 specially adapted for lane departure prevention road vehicle drive control systems for lane keeping otherwise than by controlling a particular sub-unit B60W30/12
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/0095 Automatic control mode change
• CPC Class Codes: B60W 2050/021 Means for detecting failure or malfunction
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 30/02 Control of vehicle driving stability
• CPC Class Codes: B60W 40/114 Yaw movement
• CPC Class Codes: B60W 50/035 Bringing the control units into a predefined state, e.g. giving priority to particular actuators
• CPC Class Codes: B60W 50/045 Monitoring control system parameters
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B62D 6/003 in order to control vehicle yaw movement, i.e. around a vertical axis B62D6/007 takes precedence
• CPC Class Codes: B62D 7/159 characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition

Abstract

The lateral motion control apparatus calculates lateral motion control amounts for a plurality of control targets that operate cooperatively in order to change the lateral motion amount of the vehicle based on a target value for the lateral motion amount of the vehicle, and control the plurality of control targets based on the calculated lateral motion control amounts. Meanwhile, it is determined whether or not the control of the plurality of control targets is to be stopped. When it has been determined that the control of the plurality of control targets is to be stopped, lateral motion degeneration control amounts are determined for each of the plurality of control targets so that the lateral motion control amounts of the plurality of control targets degenerate starting at that time, and the plurality of control targets are controlled based on the determined lateral motion degeneration control amounts.

Claims

1. A lateral motion control apparatus comprising:

a target value obtaining unit that obtains a target value of a lateral motion amount of a vehicle;

a control amount calculation unit that calculates, based on the target value of the lateral motion amount obtained by the target value obtaining unit, lateral motion control amounts for each of a plurality of control targets that operate cooperatively in order to change the lateral motion amount of the vehicle;

a control target control unit that controls the plurality of control targets based on the lateral motion control amounts;

a control stop determination unit that determines whether or not to stop the control of the plurality of control targets performed by the control target control unit; and

a degeneration control amount determination unit that, when the control stop determination unit has determined that the control of the plurality of control targets is to be stopped, determines lateral motion degeneration control amounts for each of the plurality of control targets so that the lateral motion control amounts of the plurality of control targets degenerate,

wherein, when the control stop determination unit has determined that the control of the plurality of control targets is to be stopped, the control target control unit controls the plurality of control targets based on the lateral motion degeneration control amounts determined by the degeneration control amount determination unit.

2. The lateral motion control apparatus for a vehicle according to claim 1,

wherein the degeneration control amount determination unit determines the lateral motion degeneration control amounts for the plurality of control targets based on a predetermined degeneration time so that the lateral motion control amounts of all of the control targets reaches 0 when the control stop determination unit has determined that the control of the plurality of control targets is to be stopped, and the predetermined degeneration time is set to be within 10 seconds.