Rolling control apparatus and method of vehicle

A rolling control apparatus for controlling rolling of a vehicle by controlling braking force applied to at least one wheel of the vehicle, comprising a controller that:

• sets a target roll angle of the vehicle based on a rolling state of the vehicle;
• calculates a total control quantity for achieving the target roll angle, based on a running condition of the vehicle;
• and
• controls the braking force applied to each of the at least one wheel of the vehicle, based on the total control quantity, wherein the controller calculates the total control quantity, based on a first control quantity for achieving the target roll angle by feed-forward control, and a second control quantity for achieving the target roll angle by feedback control, the first control quantity being calculated based on the running condition of the vehicle, the second control quantity being calculated based on a deviation of an actual roll angle of the vehicle from the target roll angle, and wherein the controller calculates the first control quantity, based on a target roll angle and at least one of a steering angle of front wheels, a steering angle of rear wheels, and a vehicle speed.

A rolling control apparatus for controlling rolling of a vehicle by controlling braking force applied to at least one wheel of the vehicle, comprising a controller that:

• sets a target roll angle of the vehicle based on a rolling state of the vehicle;
• calculates a total control quantity for achieving the target roll angle, based on a running condition of the vehicle;
• and
• controls the braking force applied to each of the at least one wheel of the vehicle, based on the total control quantity, wherein the controller calculates the total control quantity, based on a first control quantity for achieving the target roll angle by feed-forward control, and a second control quantity for achieving the target roll angle by feedback control, the first control quantity being calculated based on the running condition of the vehicle, the second control quantity being calculated based on a deviation of an actual roll angle of the vehicle from the target roll angle, and wherein the controller calculates the second control quantity, based on a first control-quantity component based on a deviation of an actual roll angle of the vehicle from the target roll angle, and a second control-quantity component based on an actual roll velocity of the vehicle.

A rolling control apparatus for controlling rolling of a vehicle by controlling braking force applied to at least one wheel of the vehicle, comprising a controller that:

• sets a target roll angle of the vehicle based on a rolling state of the vehicle;
• calculates a total control quantity for achieving the target roll angle, based on a running condition of the vehicle;
• and
• controls the braking force applied to each of the at least one wheel of the vehicle, based on the total control quantity, wherein the controller calculates the total control quantity, based on a first control quantity for achieving the target roll angle by feed-forward control, and a second control quantity for achieving the target roll angle by feedback control, the first control quantity being calculated based on the running condition of the vehicle, the second control quantity being calculated based on a deviation of an actual roll angle of the vehicle from the target roll angle, wherein the first control quantity comprises a first target yaw moment, and the second control quantity comprises a second target yaw moment, and wherein the controller calculates a final target yaw moment as the total control quantity, based on at least the first target yaw moment and the second target yaw moment.

A method of controlling rolling of a vehicle by controlling braking force applied to at least one wheel of the vehicle, comprising the steps of:

• setting a target roll angle of the vehicle based on a rolling state of the vehicle;
• calculating a total control quantity for achieving the target roll angle, based on a running condition of the vehicle;
• and
• controlling the braking force applied to each of the at least one wheel of the vehicle, based on the total control quantity, wherein a first target yaw moment for achieving the target roll angle by feed-forward control is calculated based on the running condition of the vehicle, and the total control quantity is calculated based on at least the first target yaw moment.

A method of controlling rolling of a vehicle by controlling braking force applied to at least one wheel of the vehicle, comprising the steps of:

• setting a target roll angle of the vehicle based on a rolling state of the vehicle;
• calculating a total control quantity for achieving the target roll angle, based on a running condition of the vehicle;
• and
• controlling the braking force applied to each of the at least one wheel of the vehicle, based on the total control quantity, wherein the total control quantity is calculated based on a first control quantity for achieving the target roll angle by feed-forward control, and a second control quantity for achieving the target roll angle by feedback control, the first control quantity being calculated based on the running condition of the vehicle, the second control quantity being calculated based on a deviation of an actual roll angle of the vehicle from the target roll angle, and wherein the first control quantity is calculated based on a target roll angle and at least one of a steering angle of front wheels, a steering angle of rear wheels, and a vehicle speed.

A method of controlling rolling of a vehicle by controlling braking force applied to at least one wheel of the vehicle, comprising the steps of:

• setting a target roll angle of the vehicle based on a rolling state of the vehicle;
• calculating a total control quantity for achieving the target roll angle, based on a running condition of the vehicle;
• and
• controlling the braking force applied to each of the at least one wheel of the vehicle, based on the total control quantity, wherein the total control quantity is calculated based on a first control quantity for achieving the target roll angle by feed-forward control, and a second control quantity for achieving the target roll angle by feedback control, the first control quantity being calculated based on the running condition of the vehicle, the second control quantity being calculated based on a deviation of an actual roll angle of the vehicle from the target roll angle, and wherein the second control quantity is calculated based on a first control-quantity component based on a deviation of an actual roll angle of the vehicle from the target roll angle, and a second control-quantity component based on an actual roll velocity of the vehicle.

A method of controlling rolling of a vehicle by controlling braking force applied to at least one wheel of the vehicle, comprising the steps of:

• setting a target roll angle of the vehicle based on a rolling state of the vehicle;
• calculating a total control quantity for achieving the target roll angle, based on a running condition of the vehicle;
• and
• controlling the braking force applied to each of the at least one wheel of the vehicle, based on the total control quantity, wherein the total control quantity is calculated based on a first control quantity for achieving the target roll angle by feed-forward control, and a second control quantity for achieving the target roll angle by feedback control, the first control quantity being calculated based on the running condition of the vehicle, the second control quantity being calculated based on a deviation of an actual roll angle of the vehicle from the target roll angle, wherein the first control quantity comprises a first target yaw moment, and the second control quantity comprises a second target yaw moment, and wherein the controller calculates a final target yaw moment as the total control quantity, based on at least the first target yaw moment and the second target yaw moment.