# US 8,543,300 B2 · Vehicle behavior control apparatus

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- Number: US 8,543,300 B2
- Document ID: US8543300B2
- Status: Granted
- Kind: B2
- Application number: 13/225,731
- Filed: 2011-09-06
- Published: 2012-03-15
- Granted: 2013-09-24
- Earliest claimed: 2010-09-10
- Assignees: Fuji Jukogyo Kabushiki Kaisha
- Applicants: Koji Matsuno
- Inventors: Koji Matsuno
- Web page: https://patentgrep.com/patent/US8543300B2

## CPC

- B60W 30/045: Improving turning performance
- B60T 8/1755: Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve (road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02)
- B60W 10/119: including control of all-wheel-driveline means, e.g. transfer gears or clutches for dividing torque between front and rear axle (B60W10/14 takes precedence)
- B60W 10/184: with wheel brakes
- B60W 2540/18: Steering angle
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES

## Abstract

An engine driving force is calculated. A first-lag process is executed based upon the engine driving force to calculate an engaging torque between front and rear shafts. The resultant is output to a transfer clutch drive unit. A braking force according to a change of a driving force, which is decreased with the lapse of time based upon a temporal change of the engine driving force, is calculated by executing a first-order lead process. An acceleration sensitive target yaw moment based upon the braking force according to the change of the driving force is calculated, and a steering sensitive target yaw moment based upon a steering angle velocity is calculated by executing the first-order lead process. A braking force to be added to an inner wheel on a turn is calculated based upon these target yaw moment. The resultant is output to a brake drive unit.

## Claims

### Claim 1

A vehicle behavior control apparatus comprising:
a longitudinal driving force distribution control unit configured to control a driving force distribution between front wheels and rear wheels according to a vehicle motion state; and
a braking force control unit configured to add a braking force to a wheel that is set according to a driving state of the vehicle, wherein
the control of the driving force distribution by the longitudinal driving force distribution control unit is executed later than the addition of the braking force by the braking force control unit.

### Claim 2 (depends on 1)

The vehicle behavior control apparatus according to claim 1, wherein the longitudinal driving force distribution control unit calculates the engaging torque between the front shaft and the rear shaft by performing a lag process to the engaging torque between the front shaft and the rear shaft.

### Claim 3 (depends on 1)

The vehicle behavior control apparatus according to claim 1, wherein the braking force control unit calculates the braking force, which is to be added to the wheel, by performing a lead process thereto.

### Claim 4 (depends on 2)

The vehicle behavior control apparatus according to claim 2, wherein the braking force control unit calculates the braking force, which is to be added to the wheel, by performing a lead process thereto.

### Claim 5 (depends on 1)

The vehicle behavior control apparatus according to claim 1, wherein the engaging torque between the front shaft and the rear shaft calculated by the longitudinal driving force distribution control unit and the braking force calculated by the braking force control unit are calculated according to at least the driving force of the vehicle.

### Claim 6 (depends on 1)

The vehicle behavior control apparatus according to claim 1, wherein the braking force calculated by the braking force control unit is calculated based upon a temporal change of the driving force and a steering change during a turn.

### Claim 7 (depends on 1)

The vehicle behavior control apparatus according to claim 1, wherein the wheel to which the braking force control unit adds the braking force is an inner wheel on the turn.

### Claim 8 (depends on 1)

The vehicle behavior control apparatus according to claim 1, wherein the braking force calculated by the braking force control unit is calculated by the execution of a damping process according to time.