- Patent Number:
7,890,230
- Appl. No:
11/196167
- Application Filed:
August 03, 2005
- Abstract:
The objective of the present invention is to provide a vehicle motion control device capable of controlling the driving force distribution to the wheels with superior stability and response while effectively utilizing the tire grip. Specifically, the present invention provides a vehicle motion control device for a vehicle, the vehicle having a plurality of wheels and a driving device for driving the wheels based on a driving force/load distribution ratio, having: a force detection unit for detecting forces that act on the wheels; a target distribution ratio calculating unit for obtaining nonlinear terms by use of a group of parameters including the forces detected by the force detection unit, and obtaining a target value of the driving force/load distribution ratio so as to minimize the nonlinear terms, the nonlinear terms being included in elements of a system matrix of equations of state that describe a state of motion of the vehicle; and a driving device control unit for controlling the driving device based on the target value of the driving force/load distribution ratio.
- Inventors:
Tsukasaki, Yuichiro (Tokyo, JP); Kogure, Masaru (Tokyo, JP)
- Assignees:
Fuji Jukogyo Kabushiki Kaisha (Tokyo, JP)
- Claim:
1. A vehicle motion control device for a vehicle, the vehicle having a plurality of wheels and a driving device for driving the wheels based on a driving force/load distribution ratio, comprising: a force detection unit for detecting forces that act on the wheels; a target distribution ratio calculating unit for obtaining nonlinear terms by use of a group of parameters including the forces detected by the force detection unit, and obtaining a target value of the driving force/load distribution ratio so as to minimize the nonlinear terms, the nonlinear terms being included in elements of a system matrix of equations of state that describe a state of motion of the vehicle, each of the elements of the system matrix of the equations of state being expressed as a sum of linear terms and the nonlinear terms; the linear terms being independent of the forces detected by the force detection unit and independent of the driving force/load distribution ratio; and the nonlinear terms being dependent on the forces detected by the force detection unit and dependent on the driving force/load distribution ratio; and a driving device control unit for controlling the driving device based on the target value of the driving force/load distribution ratio; wherein the driving device control unit compares a current value of the driving force/load distribution ratio to the target value of the driving force/load distribution ratio, and, based on results, determines whether or not to set the target value of the driving force/load distribution ratio into the driving device; wherein if an absolute value of the nonlinear term with the target value of the driving force/load distribution ratio is smaller than that of the nonlinear term with the current value of the driving force/load distribution ratio the driving device control unit sets the target value of the driving force/load distribution ratio into the driving device, and if said absolute value of the nonlinear term with the target value of the driving force/load distribution ratio is equal to or greater than that of the nonlinear term with the current value, then the driving device control unit does not set the target value into the driving device.
- Claim:
2. The vehicle motion control device according to claim 1 , wherein the target distribution ratio calculating unit obtains the target value of the driving force/load distribution ratio between a front wheel drive axle and a rear wheel drive axle, and further obtains the target value of the driving force/load distribution ratio between a right wheel drive axle and a left wheel drive axle for a front wheel side or a rear wheel side based on the target value of the driving force/load distribution ratio between the front wheel drive axle and the rear wheel drive axle.
- Claim:
3. The vehicle motion control device according to claim 1 , wherein the target distribution ratio calculating unit obtains the driving force/load distribution ratio between a right wheel drive axle and a left wheel drive axle for a front wheel side based on a driving force to a front wheel drive axle.
- Claim:
4. The vehicle motion control device according to claim 1 , wherein the target distribution ratio calculating unit obtains the driving force/load distribution ratio between a right wheel drive axle and a left wheel drive axle for a rear wheel side based on a driving force to a rear wheel drive axle.
- Claim:
5. The vehicle motion control device according to claim 1 , wherein the forces detected by the force detection unit are at least one of a longitudinal force, a lateral force, and a vertical force.
- Claim:
6. The vehicle motion control device according to claim 1 , further comprising: an estimating unit for estimating a sum of driving forces transmitted to the individual wheels to obtain an estimated total driving force, and estimating a friction coefficient between the wheels and a road surface to obtain an estimated friction coefficient; wherein the target distribution ratio calculating unit obtains the target value of the driving force distribution ratio through obtaining the nonlinear terms by use of the group of parameters, further including the estimated friction coefficient and the estimated total driving force.
- Claim:
7. The vehicle motion control device according to claim 6 , wherein the estimating unit further estimates a front wheel sliding angle and a rear wheel sliding angle based on a sliding angle of the vehicle to obtain an estimated front wheel sliding angle and an estimated rear wheel sliding angle; and the target distribution ratio calculating unit obtains the target value of the driving force distribution ratio through obtaining, the nonlinear terms by use of the group of parameters further including the estimated front wheel sliding angle and the estimated rear wheel sliding angle.
- Claim:
8. The vehicle motion control device according to claim 6 , wherein the target distribution ratio calculating unit obtains a maximum value of the driving force for each of the wheels based on the estimated friction coefficient and the forces acting on each of the wheels, to obtain the target value of the driving force distribution ratio through obtaining the nonlinear terms by use of the group of parameters including the maximum value of the driving force for each of the wheels and the forces acting on each of the wheels.
- Claim:
9. The vehicle motion control device according to claim 1 , wherein the target distribution ratio calculating unit obtains the nonlinear terms in a polynomial that is a sum of diagonal elements in the system matrix.
- Current U.S. Class:
701/37
- Patent References Cited:
6366841 April 2002 Ohsaku
6648426 November 2003 Boettiger et al.
6697728 February 2004 Kin et al.
06-099796 April 1994
08-002274 January 1996
11-102499 April 1999
2000-071968 March 2000
2000-071968 July 2000
06-099796 February 2001
2002-022579 January 2002
2002-027882 January 2002
2002-039744 February 2002
2003-104139 April 2003
2003-237558 August 2003
- Assistant Examiner:
Mawari, Redhwan
- Primary Examiner:
To, Tuan C
- Attorney, Agent or Firm:
Hayes and Boone, LLP
- Accession Number:
edspgr.07890230
Processing Request
No Comments.