# US 8,751,130 B2 · Vehicle travel control apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 8,751,130 B2 - Document ID: US8751130B2 - Status: Granted - Kind: B2 - Application number: 13/824,595 - Filed: 2011-09-22 - Published: 2013-07-11 - Granted: 2014-06-10 - Earliest claimed: 2010-09-22 - Assignees: Toyota Jidosha Kabushiki Kaisha; Advics Co., Ltd. - Applicants: Toshihisa Nihei; Takashi Nonaka - Inventors: Toshihisa Nihei; Takashi Nonaka - Web page: https://patentgrep.com/patent/US8751130B2 ## CPC - B60T 8/17554: {specially adapted for enhancing stability around the vehicles longitudinal axle, i.e. roll-over prevention (road vehicle drive control systems for roll-over prevention otherwise than by controlling a particular sub-unit B60W30/04)} - 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) - B60T 2201/16: Curve braking control, e.g. turn control within ABS control algorithm - 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 A vehicle travel control apparatus executes turning facilitation control that controls wheel longitudinal force such that the longitudinal force of a turning path inner side wheel becomes smaller than the longitudinal force of a turning path outer side wheel, and vehicle dynamics control that controls wheel longitudinal force so as to stabilize the turning motion of the vehicle. The vehicle speed range in which to permit the turning facilitation control is lower than the vehicle speed range in which to permit the vehicle dynamics control. ## Claims ### Claim 1 A vehicle travel control apparatus comprising: circuitry configured to execute a turning facilitation control that controls wheel longitudinal force such that a longitudinal force of a turning path inner side wheel becomes smaller than a longitudinal force of a turning path outer side wheel and a vehicle dynamics control that controls wheel longitudinal force so as to stabilize turning motion of the vehicle, wherein a vehicle speed range in which to permit the turning facilitation control is lower than a vehicle speed range in which to permit the vehicle dynamics control. ### Claim 2 (depends on 1) The vehicle travel control apparatus according to claim 1, wherein the vehicle dynamics control includes an oversteer reduction control, and an upper limit value of the vehicle speed range in which to permit the turning facilitation control is lower than a lower limit value of a vehicle speed range in which to permit the oversteer reduction control. ### Claim 3 (depends on 1) The vehicle travel control apparatus according to claim 1, wherein: the vehicle dynamics control includes an oversteer reduction control, an upper limit value of the vehicle speed range in which to permit the turning facilitation control is higher than a lower limit value of a vehicle speed range in which to permit the oversteer reduction control, and an lower limit value of the vehicle speed range in which to permit the turning facilitation control is lower than a lower limit value of a vehicle speed range in which to permit the oversteer reduction control. ### Claim 4 (depends on 3) The vehicle travel control apparatus according to claim 3, wherein the turning facilitation control is not started even when a condition for starting the turning facilitation control is satisfied during execution of the oversteer reduction control if a speed of the vehicle is in a vehicle speed range between the lower limit value of the vehicle speed range in which to permit the oversteer reduction control and the upper limit value of the vehicle speed range in which to permit the turning facilitation control. ### Claim 5 (depends on 3) The vehicle travel control apparatus according to claim 3, wherein the turning facilitation control is discontinued when a condition for starting the oversteer reduction control is satisfied during execution of the turning facilitation control if a speed of the vehicle is in a vehicle speed range between the lower limit value of the vehicle speed range in which to permit the oversteer reduction control and the upper limit value of the vehicle speed range in which to permit the turning facilitation control. ### Claim 6 (depends on 2) The vehicle travel control apparatus according to claim 2, wherein the vehicle dynamics control includes an oversteer reduction control and an understeer reduction control, and an upper limit value of the vehicle speed range in which to permit the turning facilitation control is lower than a lower limit value of a vehicle speed range in which to permit the understeer reduction control. ### Claim 7 (depends on 3) The vehicle travel control apparatus according to claim 3, wherein the vehicle dynamics control includes an oversteer reduction control and an understeer reduction control, and an upper limit value of the vehicle speed range in which to permit the turning facilitation control is lower than a lower limit value of a vehicle speed range in which to permit the understeer reduction control. ### Claim 8 (depends on 4) The vehicle travel control apparatus according to claim 4, wherein the vehicle dynamics control includes an oversteer reduction control and an understeer reduction control, and an upper limit value of the vehicle speed range in which to permit the turning facilitation control is lower than a lower limit value of a vehicle speed range in which to permit the understeer reduction control. ### Claim 9 (depends on 5) The vehicle travel control apparatus according to claim 5, wherein the vehicle dynamics control includes an oversteer reduction control and an understeer reduction control, and an upper limit value of the vehicle speed range in which to permit the turning facilitation control is lower than a lower limit value of a vehicle speed range in which to permit the understeer reduction control. ### Claim 10 A circuitry implemented method comprising; executing a turning facilitation control that controls wheel longitudinal force such that a longitudinal force of a turning path inner side wheel becomes smaller than a longitudinal force of a turning path outer side wheel and a vehicle dynamics control that controls wheel longitudinal force so as to stabilize turning motion of the vehicle, wherein a vehicle speed range in which to permit the turning facilitation control is lower than a vehicle speed range in which to permit the vehicle dynamics control. ### Claim 11 (depends on 10) The circuitry implemented method according to claim 10, wherein the vehicle dynamics control includes an oversteer reduction control, and an upper limit value of the vehicle speed range in which to permit the turning facilitation control is lower than a lower limit value of a vehicle speed range in which to permit the oversteer reduction control. ### Claim 12 (depends on 10) The circuitry implemented method according to claim 10, wherein: the vehicle dynamics control includes an oversteer reduction control, an upper limit value of the vehicle speed range in which to permit the turning facilitation control is higher than a lower limit value of a vehicle speed range in which to permit the oversteer reduction control, and an lower limit value of the vehicle speed range in which to permit the turning facilitation control is lower than a lower limit value of a vehicle speed range in which to permit the oversteer reduction control. ### Claim 13 (depends on 12) The circuitry implemented method according to claim 12, wherein the turning facilitation control is not started even when a condition for starting the turning facilitation control is satisfied during execution of the oversteer reduction control if a speed of the vehicle is in a vehicle speed range between the lower limit value of the vehicle speed range in which to permit the oversteer reduction control and the upper limit value of the vehicle speed range in which to permit the turning facilitation control. ### Claim 14 (depends on 12) The circuitry implemented method according to claim 12, wherein the turning facilitation control is discontinued when a condition for starting the oversteer reduction control is satisfied during execution of the turning facilitation control if a speed of the vehicle is in a vehicle speed range between the lower limit value of the vehicle speed range in which to permit the oversteer reduction control and the upper limit value of the vehicle speed range in which to permit the turning facilitation control. ### Claim 15 (depends on 11) The circuitry implemented method according to claim 11, wherein the vehicle dynamics control includes an oversteer reduction control and an understeer reduction control, and an upper limit value of the vehicle speed range in which to permit the turning facilitation control is lower than a lower limit value of a vehicle speed range in which to permit the understeer reduction control. ### Claim 16 (depends on 12) The circuitry implemented method according to claim 12, wherein the vehicle dynamics control includes an oversteer reduction control and an understeer reduction control, and an upper limit value of the vehicle speed range in which to permit the turning facilitation control is lower than a lower limit value of a vehicle speed range in which to permit the understeer reduction control. ### Claim 17 (depends on 13) The circuitry implemented method according to claim 13, wherein the vehicle dynamics control includes an oversteer reduction control and an understeer reduction control, and an upper limit value of the vehicle speed range in which to permit the turning facilitation control is lower than a lower limit value of a vehicle speed range in which to permit the understeer reduction control. ### Claim 18 (depends on 14) The circuitry implemented method according to claim 14, wherein the vehicle dynamics control includes an oversteer reduction control and an understeer reduction control, and an upper limit value of the vehicle speed range in which to permit the turning facilitation control is lower than a lower limit value of a vehicle speed range in which to permit the understeer reduction control.