Vehicle motion control system

• US 8,798,869 B2
• Filed: 10/30/2009
• Issued: 08/05/2014
• Est. Priority Date: 10/30/2009
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Ohnuma, Yutaka, Tsurumi, Yasuaki
• Primary Examiner(s): To, Tuan C.
• Assistant Examiner(s): SMITH, ISAAC G
• Application Number:
  US13/496,941
• Publication Number:
  US 20120185136A1
• Time in Patent Office: 1,740 Days
• Field of Search: 701/36, 701/38, 701/42, 701/48, 701/69, 701/70, 340/438, 303/6.15, 303/9.67, 303/9.71, 303/20, 303/113.2, 303/146, 280/5.502, 280/5.509, 280/6.15, 280/124.1, 280/124.13, 280/267, 280/5.507, 180/6.5, 180/65.1, 180/190, 180/210, 180/240, 180/282, 180/413, 180/446
• US Class Current: 701/48
• CPC Class Codes: B60G 17/0195 characterised by the regulation being combined with other vehicle control systems conjoint control of vehicle sub-units including control of suspension systems B60W10/22
• CPC Class Codes: B60G 17/08 Characteristics of fluid dampers adjusting fluid dampers in general F16F9/44 - F16F9/53
• CPC Class Codes: B60G 2400/102 vertical
• CPC Class Codes: B60G 2400/104 lateral or transversal with regard to vehicle
• CPC Class Codes: B60G 2400/204 Vehicle speed
• CPC Class Codes: B60G 2400/39 Brake pedal position
• CPC Class Codes: B60G 2400/41 Steering angle
• CPC Class Codes: B60G 2500/10 Damping action or damper
• CPC Class Codes: B60T 2230/03 Overturn, rollover
• CPC Class Codes: B60T 8/17554 specially adapted for enhancing stability around the vehicles longitudinal axle, i.e. roll-over prevention road vehicle drive control systems for roll-over prevention otherwise than by controlling a particular sub-unit B60W30/04
• CPC Class Codes: B60W 30/04 related to roll-over prevention
• 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

A vehicle motion control system for a vehicle having a single front wheel, a right wheel and a left wheel. The control system includes (a) a rollover-probability judging portion configured to judge whether or not a vehicle-body acceleration falls in a high rollover-probability region; and (b) a rollover-prevention control executing portion configured, when the acceleration falls in the high rollover-probability region, to execute a rollover prevention control for controlling motion of the vehicle so as to reduce the probability of rollover of the vehicle. The rollover-probability judging portion is configured to obtain a direction and a magnitude of the acceleration by composing a component of the acceleration in a longitudinal direction of the vehicle and a component of the vehicle-body acceleration in a width direction of the vehicle. The high rollover-probability region is defined by a threshold whose amount varies depending on the direction of the vehicle-body acceleration.

Claims

1. A vehicle motion control system to be installed on a vehicle having a plurality of wheels that include a single front wheel, a right wheel and a left wheel, the single front wheel being disposed in a front portion of the vehicle, the right and left wheels being disposed in respective right and left portions of the vehicle and located on a rear side of the single front wheel, said control system being configured to control motion of the vehicle, said control system comprising:

a rollover-probability judging portion configured to judge whether or not a vehicle-body acceleration of a body of the vehicle falls in a high rollover-probability region that is defined as a region in which a probability of rollover of the vehicle is high; and

a rollover-prevention control executing portion configured, when it is judged by said rollover-probability judging portion that the vehicle-body acceleration falls in the high rollover-probability region, to execute a rollover prevention control for controlling the motion of the vehicle so as to reduce the probability of rollover of the vehicle,

wherein said rollover-probability judging portion is configured to obtain a direction and a magnitude of the vehicle-body acceleration by composing a longitudinal acceleration that is a component of the vehicle-body acceleration in a longitudinal direction of the vehicle and a lateral acceleration that is a component of the vehicle-body acceleration in a width direction of the vehicle,

and wherein said rollover-probability judging portion is configured to judge whether or not the vehicle-body acceleration falls in the high rollover-probability region that is defined by a threshold whose amount varies depending on the direction of the vehicle-body acceleration, the threshold being represented by a straight line connecting the front and left wheels and a straight line connecting the front and right wheels.

2. The vehicle motion control system according to claim 1, wherein said rollover prevention control is to be executed for controlling the motion of the vehicle such that the vehicle-body acceleration falls outside the high rollover-probability region.

3. The vehicle motion control system according to claim 2, wherein said rollover-probability judging portion is configured to estimate the vehicle-body acceleration of the vehicle body, based on a steering operation and a braking operation, and is configured to judge whether the estimated vehicle-body acceleration falls in the high rollover-probability region.

4. The vehicle motion control system according to claim 1, wherein said rollover prevention control includes a motion-amount limit control that is to be executed for limiting a braking force applied to the vehicle and/or a turning amount of at least one steerable wheel that is constituted by at least one of the plurality of wheels.

5. The vehicle motion control system according to claim 4, wherein said motion-amount limit control is to be executed for limiting both of the braking force and the turning amount of the at least one steerable wheel, such that the turning amount is more limited and the braking force is less limited when a running velocity of the vehicle is low than when the running velocity is high, and such that the turning amount is less limited and the braking force is more limited when the running velocity is high than when the running velocity is low.

6. The vehicle motion control system according to claim 4, wherein said motion-amount limit control is to be executed for limiting both of the braking force and the turning amount, such that the braking force is less limited and the turning amount is more limited when a ratio of a velocity of a braking operation to a velocity of a steering operation is high than when the ratio is low, and such that the braking force is more limited and the turning amount is less limited when the ratio is low than when the ratio is high.

7. The vehicle motion control system according to claim 4, being configured to execute a steering control for controlling the turning amount such that the lateral acceleration becomes a value dependent on a steering operation and to execute a braking force control for controlling the braking force such that the longitudinal acceleration becomes a value dependent on a braking operation,

wherein said motion-amount limit control is to be executed for limiting the braking force and the turning amount, such that the braking force is limited by controlling the braking force based on a longitudinal component of a target acceleration which is parallel to the longitudinal direction, and such that the turning amount is limited by controlling the turning amount based on a lateral component of the target acceleration which is parallel to the width direction, the target acceleration being a target of the vehicle-body acceleration that is determined so as to fall outside the high rollover-probability region.

8. The vehicle motion control system according to claim 7, wherein the target acceleration is determined in execution of said motion-amount limit control, such that the determined target acceleration has an intermediate direction that is intermediate between a direction of a turning-amount limited acceleration and a direction of a braking-force limited acceleration, and such that the determined target acceleration has a magnitude equalized to a value of the threshold which is dependent on the intermediate direction, the turning-amount limited acceleration being defined as the vehicle-body acceleration which is to fall outside the high rollover-probability region and which is to be obtained by limiting the turning amount without limiting the braking force, the braking-force limited acceleration being defined as the vehicle-body acceleration which is to fall outside the high rollover-probability region and which is to be obtained by limiting the braking force without limiting the turning amount.

9. The vehicle motion control system according to claim 1, wherein said rollover prevention control includes a vehicle-body tilt control that is to be executed for tiling the vehicle body in such a direction that reduces the probability of rollover of the vehicle.

10. The vehicle motion control system according to claim 9, wherein said vehicle-body tilt control is to be executed for tilting the vehicle body such that a center of gravity of the vehicle body is shifted in an opposite direction that is opposite to the direction of the vehicle-body acceleration in a plan view of the vehicle.

11. The vehicle motion control system according to claim 1, wherein said rollover prevention control includes a steering-characteristic changing control that is to be executed for increasing an understeering tendency of the vehicle.

12. The vehicle motion control system according to claim 11, wherein said steering-characteristic changing control includes a control that is to be executed, upon turning of the vehicle, for making a braking force applied to one of the right and left wheels which serves as an outside wheel, larger than a braking force applied to the other of the right and left wheels which serves as an inside wheel.

13. The vehicle motion control system according to claim 11, wherein said steering-characteristic changing control includes a control that is to be executed for changing a camber angle of at least one of the plurality of wheels.

14. The vehicle motion control system according to claim 11, wherein said steering-characteristic changing control includes a control that is to be executed for changing a toe angle of each of the right and left wheels.

15. The vehicle motion control system according to claim 11 to be installed on the vehicle further having a single rear wheel which is a steerable wheel and which is located on a rear side of the right and left wheels,

wherein said steering-characteristic changing control includes a control that is to be executed for turning the rear wheel in the same direction as the front wheel.

16. The vehicle motion control system according to claim 1, wherein said rollover-probability judging portion is configured to judge whether or not the vehicle-body acceleration falls in the high rollover-probability region that is defined as the region in which the probability of rollover of the vehicle in a diagonally forward direction of the vehicle is high, and

wherein said rollover-probability judging portion is configured to obtain the direction and the magnitude of the vehicle-body acceleration by composing the lateral acceleration and the longitudinal acceleration that acts in a forward direction of the vehicle.

17. The vehicle motion control system according to claim 1, wherein said rollover prevention control includes a motion-amount limit control that is to be executed for limiting at least a braking force applied to the vehicle.

18. The vehicle motion control system according to claim 1, wherein the vehicle further includes a single rear wheel located at a side of the vehicle opposite the front wheel with respect to an axis of the right and left wheels, the front, left, right and rear wheels being arranged in a diamond configuration.