Motion control system of vehicle

A motion control system of a vehicle, comprising:

• a controller configured to independently control driving force and/or braking force of each of four wheels;
• and
• a turning direction sensor configured to sense a turning direction, wherein:
• the controller is provided with an acceleration/deceleration command generator that generates an acceleration/deceleration command based upon a sensed steering angle and sensed vehicle speed and a driving force/braking force distributor configured to determine the distribution of the driving force or driving torque and/or the braking force or braking torque of each wheel;
• the driving force/braking force distributor is configured to determine that it distributes more driving force or more driving torque and/or more braking force or more braking torque to the inside wheel in turning than the outside wheel in turning as to the front wheel and distributes more driving force or more driving torque and/or more braking force or more braking torque to the outside wheel in turning than the inside wheel in turning as to the rear wheels respectively based upon the acceleration/deceleration command and the turning direction;
• the acceleration/deceleration command is provided with an acceleration command and a deceleration command;
• wherein the acceleration command has a larger value when the grade of a road surface detected by a road surface grade detector is ascent than an acceleration command in running on a flat road and to have a smaller value when the grade of a road surface is descent than the acceleration command in running on the flat road;
• and
• wherein the deceleration command has a smaller value when the grade of a road surface detected by the road surface grade detector is ascent than a value in the acceleration command in running on the flat road and to have a larger value when the grade of a road surface is decent than the value in the acceleration command in running on the flat road.

A motion control system of a vehicle, comprising:

• a controller configured to independently control driving force and/or braking force of each of four wheels;
• and
• a turning direction sensor configured to sense a turning direction, wherein:
• the controller is provided with an acceleration/deceleration command generator that generates an acceleration/deceleration command based upon a sensed steering angle and sensed vehicle speed and a driving force/braking force distributor that determines the distribution of the driving force or driving torque and/or the braking force or braking torque of each wheel;
• the driving force/braking force distributor is configured to determine that it distributes more driving force or more driving torque and/or more braking force or more braking torque to the inside wheel in turning than the outside wheel in turning as to the front wheels and distributes more driving force or more driving torque and/or more braking force or more braking torque to the outside wheel in turning than the inside wheel in turning as to the rear wheels respectively based upon the acceleration/deceleration command and the turning direction;
• the controller is provided with a skid prevention device having a skid prevention function that independently controls driving force and/or braking force of each of the four wheels based upon skid information calculated based upon the steering angle and the vehicle speed or sensed;
• and
• the driving force/braking three distributor stops the distribution control of driving force or driving torque and/or braking force or braking torque to each wheel when the skid prevention function is operated.

A motion control system of a vehicle, comprising:

• a controller configured to independently control driving force and/or braking force of each of four wheels;
• a turning direction sensor configured to sense a turning direction;
• and
• a differential gear provided between the right and left rear wheels, wherein:
• at least the rear wheels are driven by an electric motor;
• the controller is provided with an acceleration/deceleration command generator that generates an acceleration/deceleration command based upon a sensed steering angle and sensed vehicle speed and a driving force/braking force distributor that determines the distribution of the driving force or more driving torque and/or the braking force or braking torque of each wheel;
• the driving force/braking force distributor is configured to determine that it distributes more driving force or more driving torque and/or more braking force or more braking torque to the inside wheel in turning than the outside wheel in turning as to the front wheels and distributes more driving force or more driving torque and/or more braking force or more braking torque to the outside wheel in turning than the inside wheel in turning as to the rear wheels respectively based upon the acceleration/deceleration command and the turning direction;
• and
• the inside rear wheel in turning has longitudinal slip ratio in a different direction from the outside rear wheel in turning.

A motion control system of a vehicle, comprising:

• a controller configured to independently control driving force and/or braking force of each of four wheels;
• a turning direction sensor configured to sense a turning direction;
• and
• a differential gear provided between the right and left rear wheels, wherein:
• at least the rear wheels are driven by an electric motor;
• the controller is provided with an acceleration/deceleration command generator that generates an acceleration/deceleration command based upon a sensed steering angle and sensed vehicle speed and a driving force/braking force distributor that determines the distribution of the driving force or more driving torque and/or the braking force or braking torque of each wheel;
• the driving force/braking force distributor is configured to determine that it distributes more driving force or more driving torque and/or more braking force or more braking torque to the inside wheel in turning than the outside wheel in turning as to the front wheels and distributes more driving force or more driving torque and/or more braking force or more braking torque to the outside wheel in turning than the inside wheel in turning as to the rear wheels respectively based upon the acceleration/deceleration command and the turning direction;
• and
• the inside rear wheel in turning has longitudinal slip ratio in a different direction from the outside rear wheel in turning by controlling the revolution speed, the torque, a part of the output or the whole output of the electric motor.

A motion control system of a vehicle, comprising:

• a controller configured to independently control driving force and/or braking force of each of four wheels;
• a turning direction sensor configured to sense a turning direction;
• and
• a differential gear provided between the right and left rear wheels, wherein:
• at least the rear wheels are driven by an electric motor;
• the controller is provided with an acceleration/deceleration command generator that generates an acceleration/deceleration command based upon a sensed steering angle and sensed vehicle speed and a driving force/braking force distributor that determines the distribution of the driving force or more driving torque and/or the braking force or braking torque of each wheel;
• the driving force/braking force distributor is configured to determine that it distributes more driving force or more driving torque and/or more braking force or more braking torque to the inside wheel in turning than the outside wheel in turning as to the front wheels and distributes more driving force or more driving torque and/or more braking force or more braking torque to the outside wheel in turning than the inside wheel in turning as to the rear wheels respectively based upon the acceleration/deceleration command and the turning direction;
• and
• it is determined that braking force or braking torque to the rear wheel is distributed behind the front wheel.

A motion control system of a vehicle, comprising:

• a controller configured to independently control driving force and/or braking force of each of four wheels;
• a turning direction sensor configured to sense a turning direction;
• and
• a differential gear provided between the right and left rear wheels, wherein:
• at least the rear wheels are driven by an electric motor;
• the controller is provided with an acceleration/deceleration command generator that generates an acceleration/deceleration command based upon a sensed steering angle and sensed vehicle speed and a driving force/braking force distributor that determines the distribution of the driving force or more driving torque and/or the braking force or braking torque of each wheel;
• the driving force/braking force distributor is configured to determine that it distributes more driving force or more driving torque and/or more braking force or more braking torque to the inside wheel in turning than the outside wheel in turning as to the front wheels and distributes more driving force or more driving torque and/or more braking force or more braking torque to the outside wheel in turning than the inside wheel in turning as to the rear wheels respectively based upon the acceleration/deceleration command and the turning direction;
• the acceleration/deceleration command generator is configured to generate the acceleration/deceleration command based upon lateral acceleration and a lateral jerk of the vehicle respectively generated based upon the steering angle and the vehicle speed of the vehicle and predetermined gain;
• and
• the inside rear wheel in turning has longitudinal slip ratio in a different direction from the outside rear wheel in turning.

A motion control system of a vehicle, comprising:

• a controller configured to independently control driving force and/or braking force of each of four wheels;
• a turning direction sensor configured to sense a turning direction;
• and
• a differential gear provided between the right and left rear wheels, wherein:
• at least the rear wheels are driven by an electric motor;
• the controller is provided with an acceleration/deceleration command generator that generates an acceleration/deceleration command based upon a sensed steering angle and sensed vehicle speed and a driving force/braking force distributor that determines the distribution of the driving force or more driving torque and/or the braking force or braking torque of each wheel;
• the driving force/braking force distributor is configured to determine that it distributes more driving force or more driving torque and/or more braking force or more braking torque to the inside wheel in turning than the outside wheel in turning as to the front wheels and distributes more driving force or more driving torque and/or more braking force or more braking torque to the outside wheel in turning than the inside wheel in turning as to the rear wheels respectively based upon the acceleration/deceleration command and the turning direction;
• the acceleration/deceleration command generator is configured to generate the acceleration/deceleration command based upon lateral acceleration and a lateral jerk of the vehicle respectively generated based upon the steering angle and the vehicle speed of the vehicle and predetermined gain;
• and
• the inside rear wheel in turning has longitudinal slip ratio in a different direction from the outside rear wheel in turning by controlling the revolution speed, the torque, a part of the output or the whole output of the electric motor.

A motion control system of a vehicle, comprising:

• a controller configured to independently control driving force and/or braking force of each of four wheels;
• a turning direction sensor configured to sense a turning direction;
• and
• a differential gear provided between the right and left rear wheels, wherein:
• at least the rear wheels are driven by an electric motor;
• the controller is provided with an acceleration/deceleration command generator that generates an acceleration/deceleration command based upon a sensed steering angle and sensed vehicle speed and a driving force/braking force distributor that determines the distribution of the driving force or more driving torque and/or the braking force or braking torque of each wheel;
• the driving force/braking force distributor is configured to determine that it distributes more driving force or more driving torque and/or more braking force or more braking torque to the inside wheel in turning than the outside wheel in turning as to the front wheels and distributes more driving force or more driving torque and/or more braking force or more braking torque to the outside wheel in turning than the inside wheel in turning as to the rear wheels respectively based upon the acceleration/deceleration command and the turning direction;
• the acceleration/deceleration command generator is configured to generate the acceleration/deceleration command based upon lateral acceleration and a lateral jerk of the vehicle respectively generated based upon the steering angle and the vehicle speed of the vehicle and predetermined gain;
• and
• it is determined that braking fore or braking torque to the rear wheel is distributed behind the front wheel.