Vehicle braking-force control device

• US 8,958,967 B2
• Filed: 02/25/2008
• Issued: 02/17/2015
• Est. Priority Date: 02/26/2007
• Status: Active Grant

• Current Assignee: Subaru Corp.
• Original Assignee: Fuji Jukogyo KK (Subaru Corp.)
• Inventors: Matsuno, Koji, Yoneda, Takeshi, Igarashi, Masato, Morokuma, Yosuke
• Primary Examiner(s): Edwards, Jerrah
• Application Number:
  US12/071,697
• Publication Number:
  US 20080208427A1
• Time in Patent Office: 2,549 Days
• Field of Search: 701/80
• US Class Current: 701/83
• 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 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 30/18109 Braking

Abstract

A braking-force control device has a brake control function for performing brake control on a front outside wheel when a vehicle is detected to be in an oversteer condition during a turning operation and for performing brake control on a rear inside wheel when the vehicle is detected to be in an understeer condition during a turning operation. For preventing the oversteer condition, a command for reducing the engine torque is output. On the other hand, for preventing the understeer condition, the engine torque is limited in accordance with a permissible engine torque value that is calculated on the basis of a road-surface friction coefficient, and ground loads and lateral tire forces of individual wheels. If it is detected that engine braking is in operation, the engine torque is adjusted to substantially zero.

Claims

1. A vehicle braking-force control device comprising:

a road-surface friction coefficient estimator configured to estimate a road-surface friction coefficient;

a ground-load estimator configured to estimate ground loads acting on individual wheels;

a lateral-tire-force estimator configured to estimate lateral tire forces acting on the individual wheels;

a vehicle-behavior detector configured to detect whether a vehicle is running in an understeer condition or an oversteer condition;

a permissible-engine-torque calculator configured to calculate a permissible engine torque on the basis of the road-surface friction coefficient, the ground loads of the individual wheels, and the lateral tire forces of the individual wheels when an understeer condition is detected;

a brake controller configured to perform brake control on an inside turning wheel when the understeer condition is detected; and

an engine-torque controller configured to control an engine torque such that;

in an understeer condition detected when the brake controller performs a brake control, and when an operation of engine braking is not detected, the engine-torque controller reduces the engine torque in accord with a parameter that is based on the permissible engine torque, and

in an understeer condition detected when the brake controller performs a brake control, and when an operation of engine braking is detected, the engine-torque controller increases the engine torque to substantially zero.

2. The vehicle braking-force control device according to claim 1, wherein,

the brake controller is configured to perform brake control on an outside turning wheel when the oversteer condition is detected;

and

the engine-torque controller is configured to control the engine torque such that;

in an oversteer condition detected when the brake controller performs a brake control, and when an operation of engine braking is not detected, the engine-torque controller reduces the engine torque to an amount lower than that of a current engine torque.

3. The vehicle braking-force control device according to claim 1, wherein the brake controller is further configured to perform brake control on a rear inside turning wheel when the understeer condition is detected.

4. The vehicle braking-force control device according to claim 1, wherein the brake controller is further configured to perform brake control on a front outside turning wheel when the oversteer condition is detected.

5. The vehicle braking-force control device according to claim 1, wherein the permissible engine torque calculated by the permissible engine-torque calculator is a preliminarily set engine torque value.

6. The vehicle braking-force control device according to claim 1, wherein

the brake controller is further configured to perform brake control on an outside turning wheel when the oversteer condition is detected;

and

the engine-torque controller is further configured to control an engine torque such that;

in an oversteer condition detected when the brake controller performs a brake control, and when an operation of engine braking is not detected, the engine-torque controller sets the engine torque to a pre-set engine torque value, and

in an oversteer condition detected when the brake controller performs a brake control, and when an operation of engine braking is detected, the engine-torque controller increases the engine torque to substantially zero.

7. A vehicle braking-force control device comprising:

a road-surface friction coefficient estimator configured to estimate a road-surface friction coefficient;

a ground-load estimator configured to estimate ground loads acting on individual wheels;

a lateral-tire-force estimator configured to estimate lateral tire forces acting on the individual wheels;

a permissible-engine-torque calculator configured to calculate a permissible engine torque on the basis of the road-surface friction coefficient, the ground loads of the individual wheels, and the lateral tire forces of the individual wheels;

a vehicle-behavior detector configured to detect whether a vehicle is running in an oversteer condition or an understeer condition;

a brake controller configured to perform brake control on an outside turning wheel when the oversteer condition is detected, and to perform brake control on an inside turning wheel when the understeer condition is detected; and

an engine-torque controller configured to control an engine torque such that;

if an oversteer condition is detected, when the brake controller performs a brake control, and an operation of engine braking is not detected, the engine-torque controller sets the engine torque to a pre-set engine torque value,

if an understeer condition is detected, when the brake controller performs a brake control, and a current-engine torque is higher than the calculated permissible engine torque, the engine-torque controller reduces the engine torque to the calculated permissible engine torque,

if an understeer condition is detected, when the brake controller performs a brake control, and a current-engine torque is less than or equal to the calculated permissible engine torque, and an operation of engine braking is not detected, the engine-torque controller will not perform an engine torque control, and

if an operation of engine braking is detected, when the brake controller performs a brake control, the engine-torque controller increases the engine torque to substantially zero.

8. The vehicle braking-force control device according to claim 7, wherein the brake controller is further configured to perform a brake control on a front outside turning wheel when the oversteer condition is detected.

9. The vehicle braking-force control device according to claim 7, wherein the brake controller is further configured to perform a brake control on a rear inside turning wheel when the understeer condition is detected.

10. The vehicle braking-force control device according to claim 7, wherein the permissible engine torque calculated by the permissible engine-torque calculator is an above zero engine torque value that is within a range that is determined to prevent a loss of tire grip forces.

11. The vehicle braking-force control device according to claim 10, wherein the engine-torque controller is configured such that, if the running condition detected by the vehicle-behavior detector is an oversteer condition, and an operation of engine braking is not detected, the engine-torque controller reduces an engine torque to an amount lower than that of a current engine torque.

12. A vehicle braking-force control device comprising:

a road-surface friction coefficient estimator configured to estimate a road-surface friction coefficient;

a ground-load estimator configured to estimate ground loads acting on individual wheels;

a lateral-tire-force estimator configured to estimate lateral tire forces acting on the individual wheels;

a permissible-engine-torque calculator configured to calculate a permissible engine torque on the basis of the road-surface friction coefficient, the ground loads of the individual wheels, and the lateral tire forces of the individual wheels;

a vehicle-behavior detector configured to detect a running condition of the vehicle;

a brake controller configured to perform brake control selectively on one or more wheels of the vehicle, based on the detected running condition of the vehicle, during a turning operation of the vehicle; and

an engine-torque controller configured to perform an engine torque control based on the detected running condition of the vehicle, and, selectively, based on the calculated permissible engine-torque wherein

the selective performance of an engine torque control based on the calculated permissible engine-torque is dependent on the detected running condition of the vehicle, and

the calculated permissible engine torque is a forward driving engine torque to be delivered to one or more of the vehicle wheels.

13. The vehicle braking-force control device according to claim 12, wherein, the engine-torque controller is configured such that, if an operation of engine braking is detected when the brake controller performs the brake control, the engine-torque controller sets the engine torque at substantially zero.

14. The vehicle braking-force control device according to claim 12, wherein, the engine-torque controller is configured such that, if the running condition detected by the vehicle-behavior detector is an oversteer condition, and an operation of engine braking is not detected, the engine-torque controller reduces an engine torque to an amount lower than that of a current engine torque.

15. The vehicle braking-force control device according to claim 12, wherein the engine-torque controller is configured to set a pre-set engine torque value when the vehicle is detected to be in an oversteer condition.

16. The vehicle braking-force control device according to claim 15, wherein that preset value is zero.

17. The vehicle braking-force control device according to claim 12, wherein the brake controller is further configured to perform brake control on a rear inside turning wheel when the understeer condition is detected.

18. The vehicle braking-force control device according to claim 12, wherein the brake controller is further configured to perform brake control on a front outside turning wheel when the oversteer condition is detected.

19. The vehicle braking-force control device according to claim 12, wherein the permissible engine torque calculated by the permissible engine-torque calculator is an engine torque value that is within a range determined to prevent a loss of tire grip forces.