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

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

PROBLEM TO BE SOLVED: To provide a vehicle control device in which, in a case where each of own vehicle and preceding vehicle is executing a follow-up control for following a vehicle in front of an own vehicle, deviation amount of position in car width direction of an own vehicle relative to each of a preceding vehicle and a vehicle in front of the preceding vehicle is hard to grow.SOLUTION: A vehicle control device 20 includes an information acquiring part 22, a target setting part 23, and a steering amount setting part 24. The information acquiring part 22 acquires a preceding vehicle lateral deviation that is a deviation between a target position in car width direction of a preceding vehicle and a position in car width direction of the preceding vehicle from the preceding vehicle. The target setting part 23, based on an own vehicle lateral difference that is a difference of positions in car width direction between an own vehicle 10 and a preceding vehicle and the preceding vehicle lateral deviation, sets a target position in car width direction of the own vehicle 10. The steering amount setting part 24, based on the target position in car width direction of the own vehicle 10 and the position in car width direction of the own vehicle 10, sets a steering amount of the own vehicle 10.

Vehicle control device

A vehicle behavior control apparatus including a deceleration control mechanism decelerating the vehicle to reduce a deviation between a target turning index value, which is determined based on a steering angle of the vehicle, and an actual turning index value. The deceleration control mechanism reduces the decrease gradient of the deceleration when a roll motion index value of the vehicle exceeds a threshold roll motion index value.

Vehicle behavior control apparatus

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 attain a driving/braking force and a yaw moment required for a vehicle as much as possible within a range of driving/braking force can be generated by front wheels and rear wheels in the case that a target driving/braking force and a target yaw moment of the vehicle cannot be attained within the range of driving/braking force can be generated by each wheel. SOLUTION: A target driving/braking force Fvn and a target vehicle yaw moment Mvn of the whole of the vehicle are calculated (S20). When the target driving/braking force Fvn and the target yaw moment Mvn cannot be attained by the driving/braking force of the front wheels (S30, S40), a target driving/braking force Fvft and a target yaw moment Mvft of the front wheels are arbitrated so that the magnitude of driving/braking force and the magnitude of yaw moment of the wheel by the driving/braking force Fvn of the front wheels at the radio of the target driving/braking force Fvn and the target yaw moment Mvn (S100), a target driving/braking force Fvrt and a target yaw moment Mvrt of the rear wheels are calculated on the basis of the target driving/braking force Fvn, the target vehicle yaw moment Mvn, the target driving/braking force Fvft (S240), and the target yaw moment Mvft, and similar arbitration is performed for them if necessary (S260, S300). COPYRIGHT: (C)2007,JPO&INPIT

Driving/braking force control unit 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

Driving/braking force control device for vehicle

PROBLEM TO BE SOLVED: To accurately estimate the vehicle body speed of a vehicle without deciding whether or not a wheel is put in a slip state, and without selecting any arithmetic procedure based on the decision result. SOLUTION: Driving/braking torque Ti of each wheel is calculated, and the wheel speed ωi of each wheel is detected, and the estimated wheel speed ωhi of each wheel and estimated longitudinal acceleration Gxwhi of each wheel, that is, the longitudinal acceleration of the vehicle body at the position of each wheel is calculated according to a wheel model (52) on the basis of the driving/braking torque Ti of each wheel, and the integrated value of the mean values of the longitudinal acceleration Gxwhi is calculated as the variation of the estimated vehicle body speed, and the sum of the previous value of the estimated vehicle body speed Vh and the variation of the estimated body speed is calculated as an estimated vehicle body speed Vh, and feedback based on deviation ωi-ωhi between the wheel speed and estimated wheel speed of each wheel is carried out. COPYRIGHT: (C)2007,JPO&INPIT

Vehicle body speed estimating device for vehicle

PROBLEM TO BE SOLVED: To suppress deterioration of vehicle running stability, when executing varying control of driving forces among a plurality of wheels. SOLUTION: A maximum driving force generable by each of a plurality of wheels for generating driving force is computed (step S101), and a driving force by each wheel is computed, to within a range of maximum driving force and maximum yaw moment generatable by the front or rear wheels computed from the maximum driving force (Step S103, S104). Another driving force by each wheel is computed, based on the dynamic load distribution to the plurality of wheels (step S105). When there is at least one wheel, where the driving force computed according to the dynamic load distribution is larger than the maximum driving force generable by the wheel (step S106: Yes), each wheel is driven with the maximum driving force generatable by the wheel (step S107). COPYRIGHT: (C)2009,JPO&INPIT

幸慈杉山

Papers

Driving/braking force controller for vehicle

Driving/braking force control unit for vehicle

Driving/braking force control device for vehicle

Vehicle body speed estimating device for vehicle

Drive control device

幸慈 杉山

Papers

Driving/braking force controller for vehicle

Driving/braking force control unit for vehicle

Driving/braking force control device for vehicle

Vehicle body speed estimating device for vehicle

Drive control device

幸慈杉山