Vehicle attitude control system

• US 8,977,434 B2
• Filed: 09/28/2012
• Issued: 03/10/2015
• Est. Priority Date: 10/06/2011
• Status: Active Grant

• Current Assignee: Jtekt Corporation (Toyota Motor Corporation)
• Original Assignee: Jtekt Corporation (Toyota Motor Corporation)
• Inventors: Yoshimoto, Hiroshi, Kimura, Shuuji, Higashi, Masayasu
• Primary Examiner(s): Jabr, Fadey
• Assistant Examiner(s): TROOST, AARON L
• Application Number:
  US13/630,450
• Publication Number:
  US 20130090810A1
• Time in Patent Office: 893 Days
• Field of Search: 701/6.2, 701/41, 180/197
• US Class Current: 701/41
• CPC Class Codes: B60T 2201/16 Curve braking control, e.g. turn control within ABS control algorithm
• CPC Class Codes: B60T 2230/02 Side slip angle, attitude angle, floating angle, drift angle
• CPC Class Codes: B60T 8/17552 responsive to the tire sideslip angle or the vehicle body slip angle

Abstract

A target sideslip angle computing unit calculates a target sideslip angle used when a vehicle makes a turn, based on a steering angle and a vehicle speed. A target sideslip angle correcting unit corrects the target sideslip angle calculated by the target sideslip angle computing unit using a sideslip angle correction amount calculated based on at least one of a steering angular velocity, a depression amount of an accelerator pedal, a depression velocity of the accelerator pedal and a depression amount of a brake pedal. Vehicle attitude control is executed using the target sideslip angle corrected by the target sideslip angle correcting unit.

Claims

1. A vehicle attitude control system, comprising:

a processor programmed to;

compute a target sideslip angle β

s used when a vehicle makes a turn, based on a steering angle and a vehicle speed;

correct the computed target sideslip angle β

s, the corrected target sideslip angle β

* being calculated using a sideslip angle correction amount (Δ

β

δ

′

, Δ

β

A, Δ

β

A′

, and Δ

β

P) calculated based on a steering angular velocity δ

′

, a depression amount of an accelerator pedal A, a depression velocity of the accelerator pedal A′

, a depression amount of a brake pedal P, and weighing coefficients G, H, I, and J using the equation

β

*=β

s+GΔ

β

δ

′

+HΔ

β

A+IΔ

β

A′

+JΔ

β

P;

estimate an actual vehicle body sideslip angle based on a yaw rate detected by a yaw rate sensor and a lateral acceleration detected by a later acceleration sensor; and

execute vehicle attitude control using the corrected target sideslip angle β

* and the actual vehicle body sideslip angle.

2. The vehicle attitude control system according to claim 1, further comprising:

a sensor that detects a turning direction of the vehicle, wherein the computed sideslip angle correction amount has a sign that varies depending on the turning direction of the vehicle.

3. The vehicle attitude control system according to claim 1, wherein processor calculates the sideslip angle correction amount based on the steering angular velocity only when an absolute value of the steering angular velocity exceeds a predetermined threshold.

4. The vehicle attitude control system according to claim 1, wherein the processor calculates the sideslip angle correction amount based on the depression amount of the accelerator pedal only when the depression amount of the accelerator pedal exceeds a predetermined threshold.

5. The vehicle attitude control system according to claim 1, wherein the target processor calculates the sideslip angle correction amount based on the depression velocity of the accelerator pedal only when an absolute value of the depression velocity of the accelerator pedal exceeds a predetermined threshold.

6. The vehicle attitude control system according to claim 1, wherein the processor calculates the sideslip angle correction amount based on the depression amount of the brake pedal only when the depression amount of the brake pedal exceeds a first predetermined threshold.

7. The vehicle attitude control system according to claim 1, wherein the processor calculates the sideslip angle correction amount based on the depression amount of the brake pedal only when the depression amount of the brake pedal falls within a range from a first predetermined threshold to a second predetermined threshold.

8. The vehicle attitude control system according to claim 1, wherein the processor is programmed to control brake pressures for four wheels based on the target sideslip angle.