Movement control device for vehicle

• US 9,834,110 B2
• Filed: 10/24/2014
• Issued: 12/05/2017
• Est. Priority Date: 10/31/2013
• Status: Active Grant

• Current Assignee: Mazda Motor Corporation
• Original Assignee: Mazda Motor Corporation
• Inventors: Nobumoto, Hidetoshi, Sunahara, Osamu, Yamashita, Shinichiro
• Primary Examiner(s): Shaawat, Mussa A
• Application Number:
  US14/522,828
• Publication Number:
  US 20150120121A1
• Time in Patent Office: 1,138 Days
• CPC Class Codes: B60L 15/2009 for braking
• CPC Class Codes: B60L 2240/22 Yaw angle
• CPC Class Codes: B60L 2240/24 Steering angle
• CPC Class Codes: B60L 2240/423 Torque
• CPC Class Codes: B60L 2240/545 Temperature
• CPC Class Codes: B60L 2240/547 Voltage
• CPC Class Codes: B60L 2240/549 Current
• CPC Class Codes: B60L 2250/16 by display
• CPC Class Codes: B60L 58/12 responding to state of charge [SoC]
• CPC Class Codes: B60L 58/25 by controlling the electric load
• CPC Class Codes: B60L 7/14 for vehicles propelled by ac motors
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/26 for electrical energy, e.g. batteries or capacitors
• CPC Class Codes: B60W 2510/244 Charge state
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2710/083 Torque
• CPC Class Codes: B60W 30/045 Improving turning performance
• CPC Class Codes: B60W 30/18127 Regenerative braking
• CPC Class Codes: B60W 40/114 Yaw movement
• CPC Class Codes: Y02T 10/64 : Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility

Abstract

A movement control device for a vehicle comprises a yaw-acceleration calculation portion to calculate a target yaw acceleration of the vehicle, a turn-back steering determination portion to determine whether a turn-back steering of the vehicle is conducted or not, and a drive-force control portion to a drive force of the vehicle. The control of the drive-force control portion is configured such that when the turn-back steering is not conducted, the amount of drive-force decreasing is increased with a specified increasing rate as the target yaw acceleration increases, the specified increasing rate becoming smaller as the target yaw acceleration increases, and when the turn-back steering is conducted, the drive force is increased in a case in which an absolute value of a steering angle of the vehicle decreases.

Claims

1. A movement control device for a vehicle which controls a movement of the vehicle equipped with front wheels steered, the movement control device being configured to perform the process of:

obtaining a yaw-rate relating quantity which relates to a yaw rate of the vehicle;

determining whether a turn-back steering of the vehicle is conducted or not, the turn-back steering of the vehicle meaning a state where the front wheels are steered to either one side of the right and the left and subsequently steered to the other side of the right and the left; and

controlling a drive force to be transmitted to at least one of right-and-left driving wheels of the vehicle such that the drive force transmitted to the at least one of the driving wheels is decreased according to the yaw-rate relating quantity,

wherein said controlling of the drive force of the vehicle is configured such that when it is determined that the turn-back steering is conducted, the drive force transmitted to the at least one of the driving wheels is increased in a case in which an absolute value of a steering angle of the vehicle decreases.

2. The movement control device for the vehicle of claim 1, wherein said decreasing control of the drive force transmitted to the at least one of the driving wheels of the vehicle is performed in a case in which the absolute value of the steering angle of the front wheels of the vehicle increases.

3. The movement control device for the vehicle of claim 1, wherein the vehicle is an electric-drive vehicle equipped with a motor to drive the at least one of the right-and-left driving wheels and a battery to supply electric power to the motor and store regenerative electric power generated by the motor, and said decreasing control of the drive force transmitted to the at least one of the driving wheels of the vehicle is performed by controlling the amount of the regenerative electric power generated by the motor.

4. The movement control device for the vehicle of claim 2, wherein the vehicle is an electric-drive vehicle equipped with a motor to drive the at least one of the right-and-left driving wheels and a battery to supply electric power to the motor and store regenerative electric power generated by the motor, and said decreasing control of the drive force transmitted to the at least one of the driving wheels of the vehicle is performed by controlling the amount of the regenerative electric power generated by the motor.

5. The movement control device for the vehicle of claim 3, wherein the vehicle is further equipped with a battery-state detector to detect a state of the battery and an indicator to indicate information relating to the drive force'"'"'s control, and said controlling of the drive force transmitted to the at least one of the driving wheels of the vehicle further includes a control of not decreasing the drive force of the vehicle and making said indicator indicate the information that the drive force transmitted to the at least one of the driving wheels of the vehicle is not decreased when it is determined based on the battery state detected by said battery-state detector that said battery is incapable of storing the regenerative electric power generated by the motor.

6. The movement control device for the vehicle of claim 4, wherein the vehicle is further equipped with a battery-state detector to detect a state of the battery and an indicator to indicate information relating to the drive force'"'"'s control, and said controlling of the drive force of the vehicle further includes a control of not decreasing the drive force transmitted to the at least one of the driving wheels of the vehicle and making said indicator indicate the information that the drive force transmitted to the at least one of the driving wheels of the vehicle is not decreased when it is determined based on the battery state detected by said battery-state detector that said battery is incapable of storing the regenerative electric power generated by the motor.

7. The movement control device for the vehicle of claim 1, wherein said at least one of the right-and-left driving wheels is at least one of the front wheels of the vehicle.

8. The movement control device for the vehicle of claim 1, wherein said controlling of the drive force of the vehicle is configured such that when it is determined that the turn-back steering is not conducted yet after the front wheels are steered to the right or the left, the amount of said drive-force decreasing is increased with a specified increasing rate as the yaw-rate relating quantity increases, the specified increasing rate being configured to become smaller as the yaw-rate relating quantity increases.