PROBLEM TO BE SOLVED: To provide a vehicle posture control unit that upgrades responsiveness of a vehicle in an initial stage of steering, improves marginal performance, prevents excess skidding in a limit area, and stabilizes a vehicle posture.SOLUTION: A control unit to be applied to an electric automobile that controls a vehicle 1 capable of independently controlling braking/driving torques of left and right wheels 2 includes tentative standard yaw rate arithmetic means 25 that obtains a standard yaw rate using a vehicle speed and steering angle, and target yaw moment arithmetic means 26 that produces a target yaw moment on the basis of a deviation of an actual yaw rate from the standard yaw rate. The control unit further includes yaw moment control means 27 that adds a braking/driving force, which is needed to perform control dependent on the target yaw moment, to the braking/driving forces of the wheels provided by braking/driving force command means 21. The control unit further includes limit yaw rate arithmetic means 28 that estimates a friction coefficient on a road surface so as to determine a limit yaw rate, and standard yaw rate correction means 29 that, if the standard yaw rate is larger than the limit yaw rate, uses the limit yaw rate to correct the standard yaw rate.SELECTED DRAWING: Figure 2

    【課題】 操舵初期の車両の応答性を向上させ、また限界性能の向上と限界領域での過大な横滑りを防止し車両姿勢を安定化する車両姿勢制御装置を提供する。【解決手段】 左右の車輪2の制駆動トルクを独立に制御可能な車両1を制御する電気自動車に適用される。車速と操舵角から規範ヨーレートを求める暫定規範ヨーレート演算手段25と、規範ヨーレートと実ヨーレートとの偏差に基づいて目標ヨーモーメントを生成する目標ヨーモーメント演算手段26とを備える。制駆動力指令手段21から与えられる各輪の制駆動力に、目標ヨーモーメントに応じた制御をするために必要な制駆動力を加えるヨーモーメント制御手段27を備える。路面摩擦係数を推定して限界ヨーレートを定める限界ヨーレート演算手段28と、規範ヨーレートが限界ヨーレートより大きい場合に、限界ヨーレートを用いて規範ヨーレートを修正する規範ヨーレート修正手段29とを設ける。【選択図】 図2


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    Title :

    VEHICLE POSTURE CONTROL UNIT


    Additional title:

    車両姿勢制御装置


    Contributors:

    Publication date :

    2016-08-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    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 / 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



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