The present invention is directed to a vehicle motion control system, which includes wheel brake cylinders, an automatic hydraulic pressure generating apparatus for generating a hydraulic braking pressure irrespective of operation of a brake pedal, a hydraulic pressure control valve device disposed between the pressure generating apparatus and the wheel brake cylinders to control the hydraulic braking pressure in each wheel brake cylinder, and a controller for controlling the pressure generating apparatus and the valve device in response to conditions of vehicle motion, and performing an automatically pressurizing control to the wheel brake cylinders at least when a brake pedal is not depressed, to perform a vehicle motion control. The controller is adapted to maintain the pressure generating apparatus to operate for a predetermined time period after the vehicle motion control was terminated, and control the valve device to shut off the communication between the pressure generating apparatus and the wheel brake cylinders, to modify the time period on the basis of the conditions of vehicle motion.

Vehicle motion control system

The control system includes a braking arrangement for applying a brake pressure at each vehicle wheel, a side acceleration sensor for detecting a side acceleration of the vehicle, as well as a gyroscope sensor for detecting a gyration of the vehicle. An angular shift velocity of the vehicle is calculated based on the output signals of the side acceleration sensor and the gyroscope sensor, and a vehicle movement condition is determined based on the angular shift velocity. The brake arrangement is operated to apply a brake force and/or a brake pressure on at least one of the vehicle wheels in response to the movement condition, and irrespective of an activation of a brake pedal, so as to maintain the stability of the vehicle movement. An abnormal condition of at least one of the sensors, is detected based on the angular shift velocity.

Motor vehicle movement stability control system

A braking control apparatus is mounted on a vehicle (10) provided with: a wheel angle varying device (400, 800) capable of changing a wheel angle of at least one of front wheels (FL, FR) and rear wheels (RL, RR), independently of steering by a driver for facilitating a change in the wheel angle; a braking force varying device (600) capable of changing a left-right braking force difference of at least one of the front wheels and the rear wheels; and a controlling device for controlling each of the wheel angle varying device and the braking force varying device. The braking control apparatus is provided with: a limiting device (100) for changing a limit of the left-right braking force difference of the at least one of the front wheels and the rear wheels in accordance with whether or not the wheel angle varying device can operate.

Braking control device

PROBLEM TO BE SOLVED: To provide a device for controlling vehicle motion that improves an instability of a vehicle with a good response on a split road surface and allows a driver to maintain amplitude of a correction steering within a certain range. SOLUTION: When a pressure-increasing mode is set as a control mode of an ABS control, a pressure-increasing gradient of the pressure-increasing control in the ABS control with respect to a front wheel on a high μ road side is limited as a split control based on an absolute value |driftvalue| of a steering angle deviation, driftvalue, that is an indicator of a stability of the vehicle. Thereby, an increase gradient of a braking force of wheel on the high μ road side can be suppressed with a good response corresponding to the steering angle deviation, driftvalue. Therefore, a braking force difference between right and left wheels can be suppressed, a yaw moment due to the difference can be suppressed, and also the instability of the vehicle on the split road surface can be improved with a good response. Furthermore, the correction steering by the driver that counteracts the yaw moment can be reduced to allow the driver to maintain the amplitude of the correction steering operation within the certain range. COPYRIGHT: (C)2011,JPO&INPIT

Device for controlling vehicle motion

PROBLEM TO BE SOLVED: To restrain the occurrence of yaw/roll change even if a large steering angle and quick turning operation is performed in a moving state control device of a vehicle adapted to control an actuator adjusting the moving state of the vehicle so that the actual yaw rate approaches the target yaw rate determined according to the steering angle and vehicle speed. SOLUTION: The target lateral acceleration based on the target yaw rate and vehicle speed is determined by a target lateral acceleration deciding means, and a limit value of the lateral acceleration according to the coefficient of friction detected by a coefficient of friction detecting means 8 is set by a setting means 9 for the limit lateral acceleration corresponding to the coefficient of friction. When the lateral acceleration deviation which is a deviation obtained by subtracting the limit lateral acceleration corresponding to the coefficient of friction from the target lateral acceleration is large, the controlled variable of the actuator 1 in the oversteer state is made larger than when it is small, and a control gain of the actuator control means 2 is set according to the lateral acceleration deviation by a setting means 10 for a control gain corresponding to the lateral acceleration deviation. COPYRIGHT: (C)2006,JPO&NCIPI

Moving state control device of vehicle

PURPOSE: To improve spin suppressing stability by determining the target slip factor to the large value when a side slip angle is enlarged and a friction coefficient is high CONSTITUTION: An information processing means intensifies and reduces braking pressure on the basis of the detected value or computed value of wheel rotating speed detecting means 41-44, a body speed detecting means 11, a body longitudinal acceleration detecting means 11, a yaw rate detecting means YA, a side slip angle detecting means 11, and the like Braking pressure operating means 19b-19m, 31-64 operate braking pressure according to the determination According to a side slip angle and a friction coefficient, the target setting means of the information processing means 11 determines the target slip factor large when the side slip angle and the friction coefficient are large An actual slip factor detecting means computes the actual slip ratio of a wheel by estimation on the basis of each detected value or computed value A pressure intensifying-reducing determining means determines whether to intensify or reduce wheel braking pressure in order to make the actual slip factor coincide with the target slip factor

Wheel braking pressure control device

PURPOSE: To enable the smooth termination of stability control without needing a special pressure sensor or the like in a vehicle stability control device for controlling the stability of a vehicle by a braking force control means. CONSTITUTION: The operating state of a vehicle is detected by an operating state detecting means DS, and on the basis of the detected result, a braking force control means BC is controlled to maintain the maneuvering stability of the vehicle. In such a stability control device, the body speed of the vehicle is estimated by a body speed estimating means VE on the basis of the detected result of a wheel speed detecting means, and the wheel slip factor of each wheel is computed by a slip factor computing means SP on the basis of the estimated body speed and the wheel speed of each wheel. A control termination judging means TD then judges whether to terminate control performed by the braking force control means BC on the basis of the computed result of the slip factor computing means SP (deviation between the wheel slip factor of the controlled wheel and the wheel slip factor of the noncontrolled wheel, for instance).

Vehicle stability control device

PROBLEM TO BE SOLVED: To correct the moving state of a vehicle to a stable side by providing an abnormal time processing means maintaining braking force difference between left and right wheels to a state at the time of detecting an abnormality when an abnormality detection means detects an abnormality of a movement controller during a control by a movement control means. SOLUTION: As for a braking system, wheel cylinders Wfl, Wfr, Wrl, Wrr are mounted on wheels NL, NR, DL and DR, respectively. These wheel cylinders Wfl, etc., are connected with a brake hydraulic pressure controller PC. By properly opening, closing and driving an electromagnetic opening and closing valve, brake hydraulic pressure within each wheel cylinder is made into rapidly intensified pressure, pulse intensified pressure (gradually intensified pressure), pulse reduced pressure (gradually reduced pressure), rapidly reduced pressure and a holding state. An oversteer suppression control and/or an understeer suppression control are performed. By continuing a wheel cylinder hydraulic pressure holding processing, a vehicle is gradually decerelated. As a result, the moving state of the vehicle is gradually corrected to a stable side.

Movement controller of vehicle

PURPOSE: To adequately control braking force distribution with vibration noise etc., restrained to the utmost with a simple and inexpensive means even at the time of braking during the turning of a vehicle in a control device for braking force distribution for adjusting the braking force of a wheel in the rear of the vehicle. CONSTITUTION: Wheel speeds of respective wheels are detected by a wheel speed detecting means WS, and a liquid pressure control device FV is driven by a driving means AM based on these detected output to adjust that the braking force of a wheel RW in the rear of a vehicle can be approximate to ideal braking force distribution to the braking force of a wheel FW in the front of the vehicle. Also, the turning condition of the vehicle is judged by a turning condition judging means DM to switch a valve device EV to a first or second position according to a judged result. A liquid pressure generation device PG and a liquid pressure control device FV are communicatedly connected directly at the first position, and are connected via a liquid pressure limiting means RV to adequately reduce the brake liquid pressure of a wheel cylinder Wr for a rear wheel.

Mihara Jun

Papers

Wheel braking pressure control device

Vehicle stability control device

Movement controller of vehicle

Control device for braking force distribution