Processor for a vehicle

• US 9,821,800 B2
• Filed: 03/10/2017
• Issued: 11/21/2017
• 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:
  US15/455,221
• Publication Number:
  US 20170183000A1
• Time in Patent Office: 256 Days
• 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

A processor for a vehicle includes a vehicle yaw moment instruction calculator, and a mode under which yaw moment of the vehicle is controlled. If the vehicle yaw moment instruction value generates the driving forces or the driving torques, the driving forces or driving torques are different between the left and right wheels. If the vehicle yaw moment instruction value generates the braking forces or the braking torques, the braking forces or the braking torques are different between the left and right wheels. The mode operates at least in transit region between daily region and limit region.

Claims

1. A processor for a vehicle, comprising:

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

a mode under which yaw moment of the vehicle is controlled on the basis of the vehicle yaw moment instruction value that generates driving forces or driving torques and/or braking forces or braking torques of wheels of the vehicle;

If the vehicle yaw moment instruction value generates the driving forces or the driving torques, the driving forces or driving torques are different between the left and right wheels;

If the vehicle yaw moment instruction value generates the braking forces or the braking torques, the braking forces or the braking torques are different between the left and right wheels;

wherein the mode operates at least in transit region between daily region and limit region.

2. The processor according to claim 1, wherein the mode includes one or both of:

a 2.1th mode, applied when product of 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 vehicle yaw moment instruction value, the vehicle yaw moment instruction value being calculated by the vehicle yaw moment instruction calculator using the lateral jerk of the vehicle; and

a 2.2th mode, applied when the product of 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 vehicle yaw moment instruction value, the vehicle yaw moment instruction value being calculated by the vehicle yaw moment instruction calculator using the lateral jerk of the vehicle.

3. The processor 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.

4. The processor according to claim 1, wherein the vehicle yaw moment instruction value is generated such that turning of the vehicle is promoted when lateral acceleration of the vehicle increases but restores when the lateral acceleration of the vehicle decreases.

5. The processor according to claim 1, wherein the vehicle yaw moment instruction value is generated such that turning of the vehicle is promoted when steering angle of the vehicle increases but restores when the steering angle of the vehicle decreases.

6. The processor according to claim 1, wherein the vehicle yaw moment instruction value is generated on the basis of lateral acceleration and the lateral jerk of the vehicle and a predetermined gain, the lateral acceleration and the lateral jerk being generated from steering angle and velocity of the vehicle.

7. A processor for a vehicle, comprising:

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

wherein yaw moment of the vehicle is controlled under mode on the basis of the vehicle yaw moment instruction value that generates driving forces or driving torques and/or braking forces or braking torques of wheels of the vehicle;

If the vehicle yaw moment instruction value generates the driving forces or the driving torques, the driving forces or driving torques are different between the left and right wheels;

If the vehicle yaw moment instruction value generates the braking forces or the braking torques, the braking forces or the braking torques are different between the left and right wheels;

wherein the mode operates at least in transit region between daily region and limit region.

8. The processor according to claim 7, wherein the mode includes one or both of:

a 2.1th mode, applied when product of 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 vehicle yaw moment instruction value, the vehicle yaw moment instruction value being calculated by the vehicle yaw moment instruction calculator using the lateral jerk of the vehicle; and

a 2.2th mode, applied when the product of 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 vehicle yaw moment instruction value, the vehicle yaw moment instruction value being calculated by the vehicle yaw moment instruction calculator using the lateral jerk of the vehicle.

9. The processor according to claim 7, wherein the vehicle yaw moment instruction value is generated such that turning of the vehicle is promoted when lateral acceleration of the vehicle increases but restores when the lateral acceleration of the vehicle decreases.

10. The processor according to claim 7, wherein the vehicle yaw moment instruction value is generated such that turning of the vehicle is promoted when steering angle of the vehicle increases but restores when the steering angle of the vehicle decreases.

11. The processor according to claim 7, wherein the vehicle yaw moment instruction value is generated on the basis of lateral acceleration and the lateral jerk of the vehicle and a predetermined gain, the lateral acceleration and the lateral jerk being generated from steering angle and velocity of the vehicle.