Vehicle control system for adjusting longtitudinal motion to reduce deviation of lateral motion

Patent metadata

Field	Value
Publication number	US-11325599-B2
Application number	US-201916696341-A
Country	US
Kind code	B2
Filing date	Nov 26, 2019
Priority date	Nov 29, 2018
Publication date	May 10, 2022
Grant date	May 10, 2022

Abstract

A vehicle motion control system includes: a steering angle sensor for detecting a steering angle; a vehicle speed sensor for detecting a vehicle speed; a lateral acceleration sensor for detecting an actual lateral acceleration of a vehicle body; a reference lateral acceleration calculation unit configured to calculate a reference lateral acceleration from the steering angle and the vehicle speed; a required longitudinal force calculation unit configured to calculate a required longitudinal force for reducing a deviation of the actual lateral acceleration relative to the reference lateral acceleration; and a longitudinal force control unit configured to control an output of at least one of a brake and a power plant such that the required longitudinal force is generated.

First claim

The invention claimed is:

1. A vehicle motion control system, comprising:
a steering angle sensor for detecting a steering angle;
a vehicle speed sensor for detecting a vehicle speed;
a lateral acceleration sensor for detecting an actual lateral acceleration of a vehicle body;
a reference lateral acceleration calculation unit configured to calculate a reference lateral acceleration from the steering angle and the vehicle speed;
a required longitudinal force calculation unit configured to calculate a required longitudinal force for reducing a deviation of the actual lateral acceleration relative to the reference lateral acceleration; and
a longitudinal force control unit configured to control an output of at least one of a brake and a power plant such that the required longitudinal force is generated.

2. The vehicle motion control system according to claim 1 , wherein a dead zone is provided to each of the reference lateral acceleration and the actual lateral acceleration.

3. The vehicle motion control system according to claim 1 , wherein the required longitudinal force calculation unit is configured to calculate the required longitudinal force as a feedback control process based on the deviation.

4. The vehicle motion control system according to claim 3 , further comprising a steering state determination unit configured to determine a steering state based on the actual lateral acceleration and the reference lateral acceleration, wherein the required longitudinal force calculation unit is configured to set a threshold value for the deviation according to at least one of the steering state, the vehicle speed, and the actual lateral acceleration and to perform the feedback control process based on a control deviation that is obtained by providing a dead zone defined by the threshold value to the deviation.

5. The vehicle motion control system according to claim 4 , wherein the required longitudinal force calculation unit is configured to calculate the required longitudinal force by multiplying the control deviation by a control gain.

6. The vehicle motion control system according to claim 4 , wherein the required longitudinal force calculation unit is configured to set a limit value for the required longitudinal force according to the control deviation and the vehicle speed and to limit the required longitudinal force to the limit value.

7. The vehicle motion control system according to claim 1 , wherein a dead zone is provided to the required longitudinal force.

8. The vehicle motion control system according to claim 1 , further comprising:
a suspension device configured to be capable of generating a pitching moment in the vehicle body; and
a pitching moment control unit configured to control the pitching moment generated by the suspension device,
wherein the pitching moment control unit comprises:
a required pitching moment calculation unit configured to calculate a required pitching moment which is a pitching moment in a direction to cancel out a pitching moment caused due to the required longitudinal force; and
a suspension control unit configured to control the suspension device to generate the required pitching moment.

9. The vehicle motion control system according to claim 8 , wherein the suspension device includes at least one of a variable damping force damper and an air suspension device.

Assignees

• Honda Motor Co Ltd

Inventors

• Hirota Masahiro
• Kojima Takeshi
• Okubo Naoto
• Sasaki Hitoshi
• Doi Shigeru
• Kanda Ryoma
• Goto Yuya

Classifications

• B60W30/045 Primary

  Improving turning performance · CPC title

• B60W2540/18

  Steering angle · CPC title

• B60W2050/0008

  Feedback, closed loop systems or details of feedback error signal · CPC title

• B60W10/18

  including control of braking systems · CPC title

• B60W30/18 Primary

  Propelling the vehicle · CPC title