Motion controlling apparatus for a vehicle

Patent metadata

Field	Value
Publication number	US-9623850-B2
Application number	US-201615042417-A
Country	US
Kind code	B2
Filing date	Feb 12, 2016
Priority date	Oct 1, 2012
Publication date	Apr 18, 2017
Grant date	Apr 18, 2017

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.

First claim

The invention claimed is:

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:

G
xc

=

-

sgn
⁡

(

G
y

·

G
.

y

)

⁢

Assignees

• Hitachi Automotive Systems Ltd

Inventors

• Yamakado Makoto
• Sasaki Mitsuhide
• Ueyama Mikio
• Nagatsuka Keiichiro

Classifications

• B60L2220/42

  with use of more than one motor · CPC title

• B60L2260/28

  Four wheel or all wheel drive · CPC title

• B60T8/17555

  specially adapted for enhancing driver or passenger comfort, e.g. soft intervention or pre-actuation strategies · CPC title

• B60W2720/106

  Longitudinal acceleration · CPC title

• B60L7/26

  Controlling the braking effect · CPC title