In order to reliably assist a driver in emergency detour steering without causing a jerking forward motion of the vehicle during normal operation, a vehicle motion control device includes: a risk potential estimator that estimates a risk potential of a vehicle based on input external information and vehicle information; a vehicle longitudinal motion controller that generates a longitudinal motion control command of the vehicle based on a vehicle lateral jerk and a predetermined gain; and a gain adjustor that adjusts the gain, in which the gain adjustor adjusts the gain based on the risk potential estimated by the risk potential estimator.

Vehicle motion control device

A driving/braking force manipulation control input of a k-th wheel, which denotes one or more specific wheels among a plurality of wheels of a vehicle, is determined such that a required condition concerning a relationship among a road surface reaction force that may act from a road surface on the k-th wheel on the basis of the detected values or estimated values of a side slip angle and a friction characteristic of the k-th wheel, a feedback control input related to the driving/braking force of the k-th wheel for bringing a difference between a state amount of the vehicle and a reference state amount close to zero, a driving/braking force feedforward control input based on a drive manipulated variable supplied by a driver of the vehicle, and a k-th wheel driving/braking force manipulation control input is satisfied. This arrangement makes it possible to properly control a motion of an actual vehicle to a desired motion while properly considering the characteristics of a road surface reaction force acting from a road surface on a wheel.

Vehicle Control Device

A vehicle drive device (D) includes two independent systems provided for two driving wheels, respectively. Each system includes a motor-generator (MGl,- MGr), J an output member, a drive transmission system (Tl, Tr) which connects the motor-generator (MGl, MGr) and the output member to each other so that driving force is transmitted, and a case integrally accommodating the rotating electrical machines (MGl, MGr), the output members, and the drive transmission systems (Tl, Tr) of the two systems. The motor-generator (MGl, MGr), the output member, and a counter deceleration mechanism (131, 13r) included in the drive transmission system (Tl, Tr) of each system are provided so that their respective rotation axes are parallel to each other, and are positioned so as to overlap each other in the rotation axis direction. The rotating electrical machine (MGl, MGr) of each system is provided with an output portion located on one side of the motor-generator (MGl, MGr) which is distal from the corresponding driving wheel in the rotation axis direction of the motor-generator (MGl, MGr).

Vehicle drive device

Vehicular motion control system comprising controller that independently controls driving force and/or braking force of each of four wheels and a turning direction sensor that senses a turning direction, and 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 driving force or driving torque and/or braking force or braking torque of each wheel, and driving force/braking force distributor determines based upon the acceleration/deceleration command and the turning direction so that more driving force or more driving torque and/or more braking force or more braking torque are/is distributed to the inside front wheel in turning than the outside front wheel in turning and more driving force or more driving torque and/or more braking force or more braking torque are/is distributed to the outside rear wheel.

Motion control system of vehicle

According to the present invention, when a target braking/driving force and a vehicle target yaw moment required to a vehicle cannot be achieved through a control of a braking/driving forces of wheels, in a rectangular coordinate of the braking/driving force and the yaw moment, a polygon indicating the maximum range of the braking/driving force and the yaw moment attainable by the braking/driving forces of the wheels, and an ellipse that crosses each side of the polygon and has a major axis and a minor axis aligning with the coordinate axis of the rectangular coordinate are set, for example. The target braking/driving force and the target yaw moment are modified to the values at the coordinate of the point, which is closer to the origin, of a point of intersection of a segment linking a point indicating the target braking/driving force and the target yaw moment and the origin, and the polygon, and a point of intersection of a segment linking a point indicating the target braking/driving force and the target yaw moment and the origin, and the ellipse.

Braking-driving force control device of vehicle

A vehicle target braking/driving force and a vehicle target yaw moment to be achieved by a control of braking/driving force of each wheel are-calculated. The target yaw moment is corrected, for example, so as to coincide with the product of the correction coefficient determined based upon, the weight of the whole vehicle, the longitudinal and lateral distribution ratios of wheel vertical loads, and vehicle turning direction, and the target yaw moment, whereby the target yaw moment is corrected in accordance with the weight of the whole vehicle, the position of center of gravity of the whole vehicle, and vehicle turning direction. The final target braking/driving force and target yaw moment that can be achieved by the control of the braking/driving force of each wheel are calculated on the basis of the target braking/driving force and the target yaw moment after the correction, and the braking/driving force of each wheel is controlled so as to achieve the final target braking/driving force and target yaw moment.

Vehicle braking/driving force control apparatus

A braking/driving force controller in which a braking/driving force and a yaw moment required by a vehicle are achieved to an extent possible within the range of braking/driving force which can be generated by each wheel when a target braking/driving force and a target yaw moment of the vehicle cannot be achieved within the range of braking/driving force which can be generated by each wheel. In the braking/driving force controller, a target braking/driving force Fvn and a target yaw moment Mvn of the vehicle by control of braking/driving force of each wheel required for the vehicle are operated (S20), and if the target braking/driving force Fvn and the target yaw moment Mvn cannot be achieved by control of braking/driving force of each wheel (S30, S40), corrected target braking/driving force Fvt and target yaw moment Mvt are operated such that the braking/driving force magnitude and target yaw moment magnitude of the vehicle by the target braking/driving force Fwxti of each wheel are respectively maximized with in such a range that the ratio between corrected target braking/driving force Fvt and yaw moment Mvt of the vehicle becomes the ratio between the target braking/driving force Fvn and the target yaw moment Mvn (S60-100).

Braking/driving force controller of vehicle

PROBLEM TO BE SOLVED: To provide a controller achieving driving/braking force and yaw moment which are as close to driving/braking force and yaw moment that a vehicle needs to have as possible and suitable to the state of driving operation of a driver. SOLUTION: Target driving/braking force Fvn that the vehicle needs to have and the target yaw moment Mvn of the vehicle are calculated (S20). When one of the targets can not be achieved with the driving/braking force of respective wheels (S40), a distribution ratio K is calculated (S60) so that it will be smaller as a value indicating an accelerating/decelerating operation by the driver is larger and larger as a value indicating a steering operation by the driver is larger, and the straight line L which is closest to a point P of the target driving/braking force Fvn and target yaw moment Mvn is specified among the out lines of a quadrilateral 100 showing a range of driving/braking force and yaw moment which can be achieved with the driving/braking force of the respective wheels (S80), so that values of coordinates of a target point R as an internal division point on the straight line L based upon the distribution ratio K are regarded as target driving/braking force Fvt and target yaw moment Mvt after correction (S90, S100). COPYRIGHT: (C)2006,JPO&NCIPI

Driving/braking force controller for vehicle

PROBLEM TO BE SOLVED: To stably travel a vehicle by optimizing the magnitude of the yaw moment assigned to the vehicle regardless of the boarding state, loading state or turning direction of the vehicle. SOLUTION: A target driving/braking force Fvn and the target yaw moment Mvn of the vehicle by the control of a driving/braking force of each wheel is calculated (S20), correction coefficients Kw, Kx and Ky based on the total weight W of the vehicle, a longitudinal load distribution ratio Rx, a lateral load distribution ratio Ry and the turning direction of the vehicle are calculated (S40-60), and the target yaw moment Mvn is corrected to the product of the correction coefficients Kw, Kx and Ky and the target yaw moment Mvn calculated in S20 (S70). Based on the target driving/braking force Fvn and the target yaw moment Mvn, a target driving/braking force Fvt and the target yaw moment Mvt attainable by the control of the driving/braking force of each wheel are calculated (S80-140), and the driving/braking force of each wheel is controlled so that the target driving/braking force Fvt and the target yaw moment Mvt are attained. COPYRIGHT: (C)2007,JPO&INPIT

Satoshi Ando

Papers

Braking-driving force control device of vehicle

Vehicle braking/driving force control apparatus

Braking/driving force controller of vehicle

Driving/braking force controller for vehicle

Driving/braking force control device for vehicle