Motion controlling apparatus for a vehicle

• US 9,623,850 B2
• Filed: 02/12/2016
• Issued: 04/18/2017
• Est. Priority Date: 10/01/2012
• Status: Active Grant

• Current Assignee: Hitachi Astemo Ltd. (Hitachi, Ltd.)
• Original Assignee: Hitachi Automotive Systems Limited (Hitachi, Ltd.)
• Inventors: Yamakado, Makoto, Sasaki, Mitsuhide, Ueyama, Mikio, Nagatsuka, Keiichiro
• Primary Examiner(s): Marc, McDieunel
• Application Number:
  US15/042,417
• Publication Number:
  US 20160244038A1
• Time in Patent Office: 431 Days
• Field of Search: 701 40, 701 69, 701 70, 701 89, 701301, 180244, 303146, 303186, 303190
• CPC Class Codes: B60L 15/20 for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
• CPC Class Codes: B60L 15/2009 for braking
• CPC Class Codes: B60L 2220/42 with use of more than one motor
• CPC Class Codes: B60L 2220/44 Wheel Hub motors, i.e. integrated in the wheel hub
• CPC Class Codes: B60L 2220/46 Wheel motors, i.e. motor connected to only one wheel
• CPC Class Codes: B60L 2240/12 Speed
• CPC Class Codes: B60L 2240/22 Yaw angle
• CPC Class Codes: B60L 2240/423 Torque
• CPC Class Codes: B60L 2250/26 by pedal actuation
• CPC Class Codes: B60L 2260/28 Four wheel or all wheel drive
• CPC Class Codes: B60L 3/102 of individual wheels
• CPC Class Codes: B60L 3/108 whilst braking, i.e. ABS
• CPC Class Codes: B60L 7/18 Controlling the braking effect B60L7/12, B60L7/14, B60L7/16 take precedence
• CPC Class Codes: B60L 7/26 Controlling the braking effect
• CPC Class Codes: B60T 2230/04 Jerk, soft-stop; Anti-jerk, reduction of pitch or nose-dive when braking
• CPC Class Codes: B60T 2260/08 Coordination of integrated systems
• CPC Class Codes: B60T 2270/303 Stability control with active acceleration
• CPC Class Codes: B60T 2270/604 Merging friction therewith; Adjusting their repartition
• 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: B60T 8/17555 specially adapted for enhancing driver or passenger comfort, e.g. soft intervention or pre-actuation strategies
• CPC Class Codes: B60W 10/08 : including control of electric propulsion units, e.g. motors or generators
• CPC Class Codes: B60W 10/184 : with wheel brakes
• CPC Class Codes: B60W 20/00 : Control systems specially adapted for hybrid vehicles hybrid vehicle design, B60K6/00; electric vehicles B60L
• CPC Class Codes: B60W 2510/18 : Braking system
• CPC Class Codes: B60W 2520/10 : Longitudinal speed
• CPC Class Codes: B60W 2520/105 : Longitudinal acceleration
• CPC Class Codes: B60W 2520/125 : Lateral acceleration
• CPC Class Codes: B60W 2520/14 : Yaw
• CPC Class Codes: B60W 2520/20 : Sideslip angle
• CPC Class Codes: B60W 2520/30 : Wheel torque
• CPC Class Codes: B60W 2540/10 : Accelerator pedal position
• CPC Class Codes: B60W 2540/12 : Brake pedal position
• CPC Class Codes: B60W 2540/18 : Steering angle
• CPC Class Codes: B60W 2554/00 : Input parameters relating to objects
• CPC Class Codes: B60W 2554/80 : Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2556/00 : Input parameters relating to data
• CPC Class Codes: B60W 2710/083 : Torque
• CPC Class Codes: B60W 2710/18 : Braking system
• CPC Class Codes: B60W 2720/106 : Longitudinal acceleration
• CPC Class Codes: B60W 2720/125 : Lateral acceleration
• CPC Class Codes: B60W 2720/14 : Yaw
• CPC Class Codes: B60W 30/045 : Improving turning performance
• CPC Class Codes: B60W 40/109 : Lateral acceleration
• CPC Class Codes: B60W 40/114 : Yaw movement
• CPC Class Codes: Y02T 10/64 : Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility

Abstract

Provided is a motion controlling apparatus for a vehicle that can achieve improvement in drivability, stability, and driving comfort. The apparatus includes a control unit for controlling driving forces of vehicle wheels; a vehicle acceleration/deceleration instruction calculator for calculating an acceleration/deceleration instruction value on the basis of a lateral jerk; a first vehicle yaw moment instruction calculator for calculating a first vehicle yaw moment instruction value on the basis of the lateral jerk; and a second vehicle yaw moment instruction calculator for calculating a second vehicle yaw moment instruction value on the basis of lateral slip information.

Claims

1. A motion controlling apparatus for a vehicle, comprising:

a control unit that controls independently driving forces or driving torques and/or braking forces or braking torques of wheels of the vehicle;

a vehicle acceleration/deceleration instruction calculator that calculates a vehicle acceleration/deceleration instruction value on the basis of a lateral jerk of the vehicle;

a first vehicle yaw moment instruction calculator that calculates a first vehicle yaw moment instruction value on the basis of the lateral jerk of the vehicle;

wherein the motion controlling apparatus includes;

a first mode under which an acceleration/deceleration of the vehicle is controlled on the basis of the vehicle acceleration/deceleration instruction value that generates driving forces or driving torques and/or braking forces or braking torques of four wheels of the vehicle, the driving forces or driving torques for left wheels and the driving forces or driving torques for right wheels being substantially equal to each other;

a second mode under which a yaw moment of the vehicle is controlled on the basis of the first vehicle yaw moment instruction value that generates driving forces or driving torques and/or braking forces or braking torques of the four wheels of the vehicle, the driving forces or driving torques for the left wheels and the driving forces or driving torques for the right wheels being different from each other.

2. The motion controlling apparatus for a vehicle according to claim 1, wherein the first mode includes one or both of:

a 1.1th mode, applied when a product of the vehicle lateral acceleration and the vehicle lateral jerk is positive, under which deceleration of the vehicle is controlled on the basis of the vehicle acceleration/deceleration instruction value calculated by the vehicle acceleration/deceleration instruction calculator using the lateral jerk of the vehicle; and

a 1.2th mode, applied when the product of the vehicle lateral acceleration and the vehicle lateral jerk is negative, under which acceleration of the vehicle is controlled on the basis of the vehicle acceleration/deceleration instruction value calculated by the vehicle acceleration/deceleration instruction calculator using the lateral jerk of the vehicle.

3. The motion controlling apparatus for a vehicle according to claim 1, wherein the second mode includes one or both of:

a 2.1th mode, applied when the product of the vehicle lateral acceleration and the vehicle lateral jerk is positive, under which a yaw moment on the turning promotion side of the vehicle is controlled on the basis of a yaw moment instruction value at a vehicle turning promotion side serving as the first vehicle yaw moment instruction value, the first vehicle yaw moment instruction value being calculated by the first vehicle yaw moment instruction calculator using the lateral jerk of the vehicle; and

a 2.2th mode, applied when the product of the vehicle lateral acceleration and the vehicle lateral jerk is negative, under which a yaw moment instruction value on the vehicle stabilization side of the vehicle is controlled on the basis of a yaw moment instruction value on the vehicle stabilization side which is the first vehicle yaw moment instruction value, the first vehicle yaw moment instruction value being calculated by the first vehicle yaw moment instruction calculator using the lateral jerk of the vehicle.

4. The motion controlling apparatus for a vehicle according to claim 1, wherein the motion controlling apparatus includes a third mode that includes both of:

a 3.1th mode under which the yaw moment on the stabilization side of the vehicle is controlled on the basis of the yaw moment instruction value on the vehicle stabilization side serving as the second vehicle yaw moment instruction value; and

a 3.2th mode under which the yaw moment on the turning promotion side of the vehicle is controlled on the basis of the yaw moment instruction value on the vehicle turning promotion side serving as the second vehicle yaw moment instruction value.

5. The motion controlling apparatus for a vehicle according to claim 1, further comprising:

an arbitrator for arbitrating the first vehicle yaw moment instruction value and the second vehicle yaw moment instruction value, wherein

the arbitrator adopts and outputs a higher absolute value out of the first vehicle yaw moment instruction value and the second vehicle yaw moment instruction value.

6. The motion controlling apparatus for a vehicle according to claim 1, wherein:

the vehicle acceleration/deceleration instruction calculator and the first vehicle yaw moment instruction calculator are provided in the same controller; and

the vehicle acceleration/deceleration instruction value calculated by the vehicle acceleration/deceleration instruction calculator and the first vehicle yaw moment instruction value calculated by the first vehicle yaw moment instruction calculator are transmitted from the controller to the control unit.

7. The motion controlling apparatus for a vehicle according to claim 1, further comprising a motor for generating a braking force or a braking torque, wherein the control unit includes a regenerator for regenerating electric power generated when the braking force or the braking torque is generated by the motor.

8. The motion controlling apparatus for a vehicle according to claim 1, wherein the vehicle acceleration/deceleration instruction value is generated such that the vehicle is decelerated when the lateral acceleration of the vehicle increases but is accelerated when the lateral acceleration of the vehicle decreases.

9. The motion controlling apparatus for a vehicle according to claim 1, wherein the vehicle acceleration/deceleration instruction value is generated such that the vehicle is decelerated when a steering angle of the vehicle increases but is accelerated when the steering angle of the vehicle decreases.

10. The motion controlling apparatus for a vehicle according to claim 1, wherein the vehicle acceleration/deceleration instruction value is generated on the basis of the lateral acceleration and the lateral jerk of the vehicle and a gain which is determined in advance, the lateral acceleration and the lateral jerk being generated from a steering angle and a vehicle velocity.

11. The motion controlling apparatus for a vehicle according to claim 1, wherein, where the lateral acceleration of the vehicle is represented by G_y, the lateral jerk of the vehicle by G_{y_dot}, a predetermined lateral jerk gain by C_xy, a predetermined primary delay time constant by T, a predetermined Laplace operator by s, and a predetermined offset by G_{x_DC}, the vehicle acceleration/deceleration instruction value G_xc is calculated in accordance with the following formula:

12. The motion controlling apparatus for a vehicle according to claim 1, wherein the first vehicle yaw moment instruction value is generated such that turning of the vehicle is promoted when the lateral acceleration of the vehicle increases and the turning of the vehicle is restored when the lateral acceleration of the vehicle decreases.

13. The motion controlling apparatus for a vehicle according to claim 1, wherein the first vehicle yaw moment instruction value is generated such that the turning of the vehicle is promoted when the steering angle of the vehicle increases and the turning of the vehicle is restored when the steering angle of the vehicle decreases.

14. The motion controlling apparatus for a vehicle according to claim 1, wherein the first vehicle yaw moment instruction value is generated on the basis of the lateral acceleration and the lateral jerk of the vehicle and a predetermined gain, the lateral acceleration and the lateral jerk being generated from a steering angle and a vehicle velocity.

15. The motion controlling apparatus for a vehicle according to claim 1, wherein, where the vehicle lateral acceleration is represented by G_y, the vehicle lateral jerk by G_{y_dot}, a predetermined lateral acceleration gain by C_mnl, a predetermined primary delay time constant by T_mn and a predetermined Laplace operator by s, the first vehicle yaw moment instruction M_z+ is calculated in accordance with the following formula:

16. The motion controlling apparatus for a vehicle according to claim 10, wherein the lateral jerk is calculated by a time differentiating process for a lateral acceleration which is estimated from the steering angle and the vehicle velocity, estimated from a yaw rate detected with a yaw rate sensor and the vehicle velocity, or measured with a lateral acceleration sensor.

17. The motion controlling apparatus for a vehicle according to claim 1, wherein:

the vehicle acceleration/deceleration instruction value includes an acceleration instruction value and a deceleration instruction value; and

the acceleration instruction value becomes zero when a brake operation instruction from a driver is inputted and the deceleration instruction value becomes zero when an acceleration operation instruction from the driver is inputted.

18. The motion controlling apparatus for a vehicle according to claim 1, wherein the vehicle acceleration/deceleration instruction value becomes zero on the basis of external information detected by an external information detector, the external information including at least one of obstacle information, preceding vehicle information, and succeeding vehicle information.

19. The motion controlling apparatus for a vehicle according to claim 11, wherein the vehicle acceleration/deceleration instruction calculator changes the lateral jerk gain C_xy on the basis of external information detected by an external information detector, the external information including at least one of obstacle information, preceding vehicle information, and succeeding vehicle information.

20. The motion controlling apparatus for a vehicle according to claim 15, wherein the first vehicle yaw moment instruction calculator changes the lateral jerk gain C_mnl on the basis of external information detected by an external information detector, the external information including at least one of obstacle information, preceding vehicle information, and succeeding vehicle information.