To suppress a reduction in steering effectiveness not only in a case where a vehicle undergoes small lateral acceleration but also in a case where the vehicle undergoes large lateral acceleration.SOLUTION: A longitudinal force difference indicating a difference between longitudinal force acting on a left wheel and longitudinal force acting on a right wheel is acquired based on input parameters. Also, a correction amount for the longitudinal force acting on each wheel is calculated based on the longitudinal force difference for individual control of each wheel. When the longitudinal force difference is acquired, a speed increase ratio of a front wheel steering angle for changing an overall steering gear ratio is calculated based on a predetermined control map, a speed and lateral acceleration of a vehicle or the speed and a steering angle of the vehicle as the input parameters. Also, yaw moment to be generated around a gravity center of the vehicle is calculated based on the speed increase ratio and the steering angle of the vehicle as the input parameter. Then, the longitudinal force difference is calculated based on the yaw moment.SELECTED DRAWING: Figure 3
【課題】車両の横加速度が小さいシーンだけでなく、この横加速度が大きいシーンにおいても舵の効きの低下を抑える。【解決手段】入力パラメータに基づいて、左車輪に作用する前後力と右車輪に作用するそれとの差を示す前後力差が取得される。また、前後力差に基づいて各車輪に作用する前後力の補正量が計算され、各車輪が独立制御される。前後力差の取得に際しては、所定の制御マップと、入力パラメータとしての車両の速度及び横加速度又は車両の速度及びハンドル角に基づいて、ステアオーバーオールギア比を変更する前輪舵角の増速比が計算される。また、この増速比と、入力パラメータとしての車両のハンドル角と、に基づいて車両の重心周りに発生させるヨーモーメントが計算される。そして、このヨーモーメントに基づいて前後力差が計算される。【選択図】図3
VEHICLE BEHAVIOR CONTROL METHOD AND VEHICLE BEHAVIOR CONTROL DEVICE
車両挙動制御方法及び車両挙動制御装置
2024-04-09
Patent
Elektronische Ressource
Japanisch
IPC: | B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
Vehicle behavior control device and vehicle behavior control method
Europäisches Patentamt | 2021
|VEHICLE BEHAVIOR CONTROL DEVICE AND VEHICLE BEHAVIOR CONTROL METHOD
Europäisches Patentamt | 2016
|Vehicle behavior control device and vehicle behavior control method
Europäisches Patentamt | 2023
|VEHICLE BEHAVIOR CONTROL METHOD AND VEHICLE BEHAVIOR CONTROL DEVICE
Europäisches Patentamt | 2024
|VEHICLE BEHAVIOR CONTROL DEVICE AND VEHICLE BEHAVIOR CONTROL METHOD
Europäisches Patentamt | 2021
|