Motion control device for vehicle, computer-readable medium that stores motion control program, and motion control method for vehicle

Patent metadata

Field	Value
Publication number	US-12454313-B2
Application number	US-202318159854-A
Country	US
Kind code	B2
Filing date	Jan 26, 2023
Priority date	Jan 31, 2022
Publication date	Oct 28, 2025
Grant date	Oct 28, 2025

Abstract

A motion control device includes a request value acquisition unit that obtains a motion amount request value, a limit value setting unit that sets first to third motion amount limit values, a first command unit that sends a first motion amount command value based on the motion amount request value and a first motion amount limit value to a front wheel steering controller, a second command unit that sends a second motion amount command value based on a first remaining request value and a second motion amount limit value to a rear wheel steering controller, and a third command unit that sends a command corresponding to a third motion amount command value based on a second remaining request value and a third motion amount limit value to a driving controller and a braking controller.

First claim

The invention claimed is:

1. A motion control device for a vehicle, the vehicle including a steering wheel, wheels that include a front wheel and a rear wheel, a front wheel steering shaft that operates as the steering wheel rotates, a front wheel steering actuator that adjusts a steered angle of the front wheel, a rear wheel steering actuator that adjusts a steered angle of the rear wheel, and a longitudinal force adjustment actuator that adjusts longitudinal forces of the wheels, the motion control device comprising:
a request value acquisition unit configured to obtain a motion amount request value that is a request value of a motion amount of the vehicle used to turn the vehicle:
a limit value setting unit configured to set a first motion amount limit value in correspondence with a range that enables the front wheel steering actuator to be activated, set a second motion amount limit value in correspondence with a range that enables the rear wheel steering actuator to be activated, and set a third motion amount limit value in correspondence with a range that enables the longitudinal force adjustment actuator to be activated;
a first command unit configured to obtain, as a first motion amount command value, a value corresponding to a smaller one of the motion amount request value and the first motion amount limit value and command the front wheel steering actuator to be activated based on the first motion amount command value;
a second command unit configured to obtain, as a second motion amount command value, a value corresponding to a smaller one of the second motion amount limit value and a first remaining request value obtained by subtracting the first motion amount command value from the motion amount request value and command the rear wheel steering actuator to be activated based on the second motion amount command value; and
a third command unit configured to obtain, as a third motion amount command value, a value corresponding to a smaller one of the third motion amount limit value and a second remaining request value obtained by subtracting the second motion amount command value from the first remaining request value and command the longitudinal force adjustment actuator to be activated based on the third motion amount command value.

2. The motion control device according to claim 1 , wherein
the vehicle includes:
a steering lock mechanism configured to selectively switch between an inactive state that permits the steering wheel to rotate and an active state that prohibits the steering wheel from rotating; and
a rotation angle adjustment actuator including an input shaft that rotates integrally with the steering wheel and an output shaft that rotates as the front wheel steering shaft operates, the rotation angle adjustment actuator being configured to be activated so as to adjust a difference between a rotation angle of the input shaft and a rotation angle of the output shaft,

the limit value setting unit is configured to set a fourth motion amount limit value in correspondence with a range that enables the rotation angle adjustment actuator to be activated, and
in a case in which an anomaly has occurred in the front wheel steering actuator, the first command unit is configured to:
obtain, as the first motion amount command value, a value corresponding to a smaller one of the motion amount request value and the fourth motion amount limit value;
command the rotation angle adjustment actuator to be activated based on the first motion amount command value; and
command a state of the steering lock mechanism to be set to the active state.

3. The motion control device according to claim 2 , wherein the first command unit is configured to command the state of the steering lock mechanism to be set to the active state when turning the vehicle in a state in which the steered angle of the front wheel is unadjustable.

4. The motion control device according to claim 1 , wherein the limit value setting unit is configured to set a motion amount limit value for an actuator in which an anomaly has occurred to zero.

5. The motion control device according to claim 1 , wherein
the limit value setting unit is configured to set a motion amount limit value for an actuator in which an anomaly has occurred to:
a value corresponding to a current value of an active state value of the actuator when the active state value is obtainable even if an anomaly occurs, the active state value indicating the active state of the actuator; and
zero when the active state value of the actuator is unobtainable.

6. A non-transitory computer-readable medium that stores a motion control program executed by an execution device of a vehicle, the vehicle including a steering wheel, wheels that include a front wheel and a rear wheel, a front wheel steering shaft that operates as the steering wheel rotates, a front wheel steering actuator that adjusts a steered angle of the front wheel, a rear wheel steering actuator that adjusts a steered angle of the rear wheel, and a longitudinal force adjustment actuator that adjusts longitudinal forces of the wheels, the motion control program causing the execution device to execute:
a request value acquisition process that obtains a motion amount request value that is a request value of a motion amount of the vehicle used to turn the vehicle;
a limit value setting process that sets a first motion amount limit value in correspondence with a range that enables the front wheel steering actuator to be activated, sets a second motion amount limit value in correspondence with a range that enables the rear wheel steering actuator to be activated, and sets a third motion amount limit value in correspondence with a range that enables the longitudinal force adjustment actuator to be activated;
a first command value acquisition process that obtains, as a first motion amount command value, a value corresponding to a smaller one of the motion amount request value and the first motion amount limit value;
a second command value acquisition process that obtains, as a second motion amount command value, a value corresponding to a smaller one of the second motion amount limit value and a first remaining request value obtained by subtracting the first motion amount command value from the motion amount request value;
a third command value acquisition process that obtains, as a third motion amount command value, a value corresponding to a smaller one of the third motion amount limit value and a second remaining request value obtained by subtracting the second motion amount command value from the first remaining request value; and
a command process that commands the front wheel steering actuator to be activated based on the first motion amount command value, commands the rear wheel steering actuator to be activated based on the second motion amount command value, and commands the longitudinal force adjustment actuator to be activated based on the third motion amount command value.

7. A motion control method for a vehicle, the vehicle including a steering wheel, wheels that include a front wheel and a rear wheel, a front wheel steering shaft that operates as the steering wheel rotates, a front wheel steering actuator that adjusts a steered angle of the front wheel, a rear wheel steering actuator that adjusts a steered angle of the rear wheel, and a longitudinal force adjustment actuator that adjusts longitudinal forces of the wheels, the motion control method comprising:
obtaining a motion amount request value that is a request value of a motion amount of the vehicle used to turn the vehicle;
setting a first motion amount limit value in correspondence with a range that enables the front wheel steering actuator to be activated;
setting a second motion amount limit value in correspon

Assignees

• Advics Co Ltd
• J Quad Dynamics Inc
• Denso Corp
• Aisin Corp
• Jtekt Corp

Inventors

• Ohmori Yosuke

Classifications

• B62D6/00

  Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits (means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00) · CPC title

• B62D7/159

  characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition · CPC title

• B62D6/002

  computing target steering angles for front or rear wheels (B62D7/159 takes precedence) · CPC title

• B62D5/0484

  for reaction to failures, e.g. limp home · CPC title

• B62D5/0481

  monitoring the steering system, e.g. failures · CPC title