Vehicle motion control apparatus and suspension control apparatus
First Claim
1. A vehicle motion control apparatus configured to be used with a vehicle including a brake apparatus capable of generating a brake force during a steering operation of the vehicle, the vehicle motion control apparatus comprising:
- a brake control apparatus configured to control the brake apparatus so as to generate a predetermined brake force based on a target longitudinal acceleration calculated according to a steering operation of the vehicle;
a plurality of force generation apparatuses disposed between a vehicle body of the vehicle and a plurality of axles, each of the force generation apparatuses being capable of generating an adjustable force between the vehicle body and each wheel of the vehicle;
a force adjustment unit configured to adjust the force of each of the force generation apparatuses;
a pitch rate detection unit configured to detect a pitch rate due to a shake of the vehicle body in a pitch direction; and
a target pitch state calculation unit configured to calculate a target pitch state from a state in which the vehicle turns, by taking a pitch rate from the pitch rate detection unit or an estimated pitch rate calculated based on the target longitudinal acceleration into account,wherein the force adjustment unit adjusts the force of each of the force generation apparatuses so that a pitch state of the vehicle body approaches the target pitch state calculated by the target pitch state calculation unit.
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Accused Products
Abstract
A vehicle motion control apparatus configured to be used with a vehicle including a brake force control unit capable of generating a brake force during a steering operation. The control apparatus includes a plurality of force generation apparatuses disposed between a vehicle body of the vehicle and a plurality of axles, each of which is capable of generating an adjustable force between the vehicle body and each wheel of the vehicle, a force adjustment unit configured to adjust the force of each of the force generation apparatuses, and a target pitch state calculation unit configured to calculate a target pitch state from a state in which the vehicle body turns. The force adjustment unit adjusts the force of each of the force generation apparatuses so that a pitch state of the vehicle body approaches the target pitch state calculated by the target pitch state calculation unit.
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Citations
20 Claims
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1. A vehicle motion control apparatus configured to be used with a vehicle including a brake apparatus capable of generating a brake force during a steering operation of the vehicle, the vehicle motion control apparatus comprising:
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a brake control apparatus configured to control the brake apparatus so as to generate a predetermined brake force based on a target longitudinal acceleration calculated according to a steering operation of the vehicle; a plurality of force generation apparatuses disposed between a vehicle body of the vehicle and a plurality of axles, each of the force generation apparatuses being capable of generating an adjustable force between the vehicle body and each wheel of the vehicle; a force adjustment unit configured to adjust the force of each of the force generation apparatuses; a pitch rate detection unit configured to detect a pitch rate due to a shake of the vehicle body in a pitch direction; and a target pitch state calculation unit configured to calculate a target pitch state from a state in which the vehicle turns, by taking a pitch rate from the pitch rate detection unit or an estimated pitch rate calculated based on the target longitudinal acceleration into account, wherein the force adjustment unit adjusts the force of each of the force generation apparatuses so that a pitch state of the vehicle body approaches the target pitch state calculated by the target pitch state calculation unit. - View Dependent Claims (2, 3, 4, 5, 6, 18)
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7. A vehicle motion control apparatus configured to be used with a vehicle including a brake apparatus capable of generating a brake force at the vehicle when the vehicle turns, to change a posture of a vehicle body in a pitch direction, the vehicle motion control apparatus comprising:
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a brake control apparatus configured to control the brake apparatus so as to generate a predetermined brake force based on a target longitudinal acceleration calculated according to a state in which the vehicle turns; and a plurality of force generation apparatuses disposed between the vehicle body of the vehicle and a plurality of axles, each of the force generation apparatuses being capable of generating an adjustable force between the vehicle body and each wheel of the vehicle, wherein the vehicle motion control apparatus calculates a target pitch state by taking an estimated pitch rate based on the target longitudinal acceleration into account, and adjusts the force generated by the force generation apparatuses so that a pitch state of the vehicle body approaches the target pitch state. - View Dependent Claims (8, 9, 10, 19)
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11. A suspension control apparatus configured to be used with a vehicle including a brake apparatus capable of generating a brake force based on a target longitudinal acceleration according to a state in which the vehicle turns, at the vehicle when the vehicle turns, to change a posture of a vehicle body in a pitch direction, the suspension control apparatus comprising:
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a plurality of force generation apparatuses disposed between the vehicle body of the vehicle and a plurality of axles, each of the force generation apparatuses being capable of generating an adjustable force between the vehicle body and each wheel of the vehicle, wherein the suspension control apparatus calculates a target pitch state by taking an estimated pitch rate based on the target longitudinal pitch acceleration into account, and adjusts the force generated by each of the force generation apparatuses so that a pitch state of the vehicle body approaches the target pitch state, when the brake apparatus changes the posture in the pitch direction while the vehicle is turning. - View Dependent Claims (12, 13, 14, 20)
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15. A vehicle motion control apparatus configured to be used with a vehicle including a brake apparatus capable of generating a brake force during a steering operation of the vehicle, the vehicle motion control apparatus comprising:
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a brake control apparatus configured to control the brake apparatus so as to generate a predetermined brake force based on a target longitudinal acceleration calculated according to a steering operation of the vehicle; a plurality of force generation apparatuses disposed between a vehicle body of the vehicle and a plurality of axles, each of the force generation apparatuses being capable of generating an adjustable force between the vehicle body and each wheel of the vehicle; a force adjustment unit configured to adjust the force of each of the force generation apparatuses; a pitch rate detection unit configured to detect a pitch rate due to a shake of the vehicle body in a pitch direction; a target pitch state calculation unit configured to calculate a target pitch state from a state in which the vehicle turns, by taking a pitch rate from the pitch rate detection unit or an estimated pitch rate calculated based on the target longitudinal acceleration into account; and a target roll state calculation unit configured to calculate a target roll state from the state in which the vehicle turns, wherein the force adjustment unit adjusts the force of each of the force generation apparatuses so that a pitch state of the vehicle body approaches the target pitch state while adjusting the force of each of the force generation apparatuses so that a roll state of the vehicle body approaches the target roll state, and wherein the vehicle motion control apparatus changes a control ratio between control with respect to the target pitch state and control with respect to the target roll state according to a state in which a tire of the vehicle grips a road surface.
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16. A vehicle motion control apparatus configured to be used with a vehicle including a brake apparatus capable of generating a brake force at the vehicle when the vehicle turns to change a posture of a vehicle body in a pitch direction, the vehicle motion control apparatus comprising:
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a brake control apparatus configured to control the brake apparatus so as to generate a predetermined brake force based on a target longitudinal acceleration calculated according to a state in which the vehicle turns; and a plurality of force generation apparatuses disposed between the vehicle body of the vehicle and a plurality of axles, each of the force generation apparatuses being capable of generating an adjustable force between the vehicle body and each wheel of the vehicle, wherein the vehicle motion control apparatus calculates a target pitch state by taking an estimated pitch rate based on the target longitudinal acceleration into account, and adjusts the brake force generated by the brake apparatus and the force generated by the force generation apparatuses so that a pitch state of the vehicle body approaches the target pitch state, while calculating a target roll state, and adjusting the force generated by each of the force generation apparatuses so that a roll state of the vehicle body approaches the target roll state, and wherein the vehicle motion control apparatus changes a control ratio between control with respect to the target pitch state and control with respect to the target roll state according to a state in which a tire of the vehicle grips a road surface.
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17. A suspension control apparatus configured to be used with a vehicle including a brake apparatus capable of generating a brake force at the vehicle based on a target longitudinal acceleration according to a state in which the vehicle turns, when the vehicle turns to change a posture of a vehicle body in a pitch direction, the suspension control apparatus comprising:
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a plurality of force generation apparatuses disposed between the vehicle body and a plurality of axles, each of the force generation apparatuses being capable of generating an adjustable force between the vehicle body and each wheel of the vehicle, wherein the suspension control apparatus calculates a target pitch state by taking an estimated pitch rate calculated based on the target longitudinal acceleration into account, and adjusts the force generated by each of the force generation apparatuses so that a pitch state of the vehicle body approaches the target pitch state while calculating a target roll state and adjusting the force generated by each of the force generation apparatus so that a roll state of the vehicle body approaches the target roll state, when the brake apparatus changes the posture in the pitch direction while the vehicle is turning, and wherein the suspension control apparatus changes a control ratio between control with respect to the target pitch state and control with respect to the target roll state according to a state in which a tire of the vehicle grips a road surface.
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Specification