Motion control device for vehicle
First Claim
1. A motion control device for a vehicle including an actual yaw rate obtaining means for obtaining an actual yaw rate of the vehicle and a braking means for applying a brake torque to a wheel of the vehicle, and maintaining a traveling stability of the vehicle by controlling the brake torque via the braking means on the basis of the actual yaw rate, the motion control device for the vehicle comprising:
- a steering angular velocity obtaining means for obtaining a steering angular velocity of the vehicle;
a maximum steering angular velocity calculating means for continuously storing values of the steering angular velocity and calculating a maximum steering angular velocity on the basis of chronologically-ordered stored values of the steering angular velocity;
a determining means for determining a reference lateral acceleration on the basis of the maximum steering angular velocity so that the greater the maximum steering angular velocity is, the smaller the reference lateral acceleration is;
an actual lateral acceleration obtaining means for obtaining an actual lateral acceleration acting on the vehicle; and
a preparatory control means for applying a preparatory brake torque for compensating responsiveness of the braking means to the wheel in a case where the actual lateral acceleration exceeds the reference lateral acceleration wherein the preparatory control means is configured to apply the preparatory brake torque before a main control means determines that braking is needed.
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Accused Products
Abstract
A motion control device for a vehicle, including a braking means for applying a brake torque to a wheel of the vehicle and maintaining a traveling stability of the vehicle by controlling the braking means, the motion control device for the vehicle, includes a steering angular velocity obtaining means for obtaining a steering angular velocity of the vehicle, a yaw angular acceleration obtaining means for obtaining a yaw angular acceleration of the vehicle, and a control means for controlling the brake torque on the basis of the steering angular velocity and the yaw angular acceleration.
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Citations
6 Claims
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1. A motion control device for a vehicle including an actual yaw rate obtaining means for obtaining an actual yaw rate of the vehicle and a braking means for applying a brake torque to a wheel of the vehicle, and maintaining a traveling stability of the vehicle by controlling the brake torque via the braking means on the basis of the actual yaw rate, the motion control device for the vehicle comprising:
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a steering angular velocity obtaining means for obtaining a steering angular velocity of the vehicle; a maximum steering angular velocity calculating means for continuously storing values of the steering angular velocity and calculating a maximum steering angular velocity on the basis of chronologically-ordered stored values of the steering angular velocity; a determining means for determining a reference lateral acceleration on the basis of the maximum steering angular velocity so that the greater the maximum steering angular velocity is, the smaller the reference lateral acceleration is; an actual lateral acceleration obtaining means for obtaining an actual lateral acceleration acting on the vehicle; and a preparatory control means for applying a preparatory brake torque for compensating responsiveness of the braking means to the wheel in a case where the actual lateral acceleration exceeds the reference lateral acceleration wherein the preparatory control means is configured to apply the preparatory brake torque before a main control means determines that braking is needed. - View Dependent Claims (2, 3, 4, 5, 6)
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Specification