Vehicle turning control device and method thereof
AssigneeHomda Motor Co., Ltd.
InventorNaoto Okubo
Life of this patent
Estimating the term…
Abstract
Vehicle turning control devices are provided. One device calculates a comparison value between a saturated rear-wheel lateral offset angle and an actual rear-wheel lateral offset angle, calculates a first correction amount for correcting the comparison value based on speed of a vehicle, and calculates a target yaw momentum based on the comparison value and the first correction amount. One device calculates a comparison value between a saturated rear-wheel lateral offset angle and an actual rea-wheel lateral offset angle, calculates a second correction amount for correcting the vehicle body lateral offset angular speed based on the speed, and calculates a target yaw momentum based on the comparison value and the vehicle body lateral offset angular speed corrected by the second correction amount.
Claims9
A vehicle turning control device, comprising:
- a control state detecting part, detecting a control state amount of a vehicle;
- a motion state detecting part, detecting a motion state amount of the vehicle, wherein the motion state amount comprises at least speed and lateral acceleration;
- a saturated rear-wheel lateral offset angle obtaining part, calculating, when a rear-wheel lateral force is saturated in turning of the vehicle, a saturated rear-wheel lateral offset angle as a critical value based on the control state amount and the motion state amount;
- an actual rear-wheel lateral offset angle calculating part, calculating an actual rear-wheel lateral offset angle based on the motion state amount;
- a rear-wheel lateral offset angle deviation calculating part, calculating a comparison value between the saturated rear-wheel lateral offset angle and the actual rear-wheel lateral offset angle;
- a first correction amount calculating part, calculating a first correction amount for correcting the comparison value based on the speed;
- and
- a target yaw momentum calculating part, calculating a target yaw momentum based on the comparison value and the first correction amount.
A vehicle turning control device, comprising:
- a control state detecting part, detecting a control state amount of a vehicle;
- a motion state detecting part, detecting a motion state amount of the vehicle, wherein the motion state amount comprises at least speed and lateral acceleration;
- a saturated rear-wheel lateral offset angle obtaining part, calculating, when a rear-wheel lateral force is saturated in turning of the vehicle, a saturated rear-wheel lateral offset angle as a critical value based on the control state amount and the motion state amount;
- an actual rear-wheel lateral offset angle calculating part, calculating an actual rear-wheel lateral offset angle based on the motion state amount;
- a vehicle body lateral offset angular speed calculating part, calculating a vehicle body lateral offset angular speed based on the motion state amount;
- a rear-wheel lateral offset angle deviation calculating part, calculating a comparison value between the saturated rear-wheel lateral offset angle and the actual real-wheel lateral offset angle;
- a second correction amount calculating part, calculating a second correction amount for correcting the vehicle body lateral offset angular speed based on the speed;
- and
- a target yaw momentum calculating part, calculating a target yaw momentum based on the comparison value and the vehicle body lateral offset angular speed corrected by the second correction amount.
Dependencies are inferred from the claim text.