US 6,659,570 B2 · Vehicle motion control device and method

Abstract

Vehicle motion control devices and methods systematically treat a conditions of each wheel to acquire and maintain the vehicle behavior stability together with anti wheel lock and wheel spin processing, braking forces distribution. Device for controlling a running behavior of a vehicle estimates a road reaction force on each wheel, calculates a yaw moment around a centroid of the vehicle body generated by the road reaction force on each wheel, and controls driving and braking forces on each wheel based upon the yaw moments so as to stabilize a running of the vehicle. Spin and Drift conditions are detected through presently generated yaw moments and critical yaw moments which can be generated by a road reaction force assumed to be maximized. Physical parameters of each wheels, required for detecting and controlling the behavior of the vehicle are estimated with a theoretical tire model.

Claims82

Dependent claims

A device for controlling a running behavior of a vehicle, the vehicle having a vehicle body and wheels, comprising:

means for estimating a road reaction force generated on each of the wheels;
means for calculating a yaw moment around a centroid of the vehicle body generated by the road reaction force on each of the wheels;
and
means for controlling driving and braking forces on each of the wheels based upon said yaw moments so as to stabilize a running of the vehicle,
wherein said driving and braking force controlling means includes calculation means to calculate a yaw moment required to be added to the vehicle body so as to stabilize the vehicle running, and controls the driving and braking forces on each of the wheels so as to add said required yaw moment to the vehicle body, said required yaw moment being calculated based upon a yaw moment presently generated by the road reaction force on each of the wheels and a yaw moment estimated to be realized through the control of the driving and braking forces on each of the wheels.

2 more elements

A method for controlling a running behavior of a vehicle, the vehicle having a vehicle body and wheels, comprising steps of:

estimating a road reaction force generated on each of the wheels;
and
calculating a yaw moment around a centroid of the vehicle body generated by the road reaction force on each of the wheels;
and
controlling driving and braking forces on each of the wheels based upon said yaw moments so as to stabilize a running of the vehicle,
wherein said step of controlling said driving and braking forces includes steps of:
calculating a yaw moment required to be added to the vehicle body so as to stabilize the vehicle running, and;
controlling the driving and braking forces on each of the wheels so as to add said required yaw moment to the vehicle body, said required yaw moment being calculated based upon a yaw moment presently generated by the road reaction force on each of the wheels and a yaw moment estimated to be realized through the control of the driving and braking forces on each of the wheels.

5 more elements

Dependencies are inferred from the claim text.

Vehicle motion control device and method

Life of this patent

Vehicle motion control device and method

Life of this patent

Abstract

Claims82