Apparatus for controlling motion of vehicle

• Main Authors: OGATA YOSHIHISA, TOKIMASA MITSUHIRO, HANZAWA MASATOSHI, TAKEDA MASAYOSHI, TOKUMOCHI DAISUKE
• Format: Patent
• Language: English
• Published: 08.04.2014
• Subjects: ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS INVEHICLES; ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OFTRANSMISSIONS IN VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GASEXHAUST OR FUEL SUPPLY OF PROPULSION UNITS, IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; CALCULATING; COMPUTING; CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; COUNTING; ELECTRIC DIGITAL DATA PROCESSING; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS; MOTOR VEHICLES; PERFORMING OPERATIONS; PHYSICS; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OFVEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; TRAILERS; TRANSPORTING; VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES; VEHICLES IN GENERAL

A vehicle motion controlling apparatus has an allocating unit for selecting steering or braking control mainly performed in cooperative control, receiving a desired value of vehicle turning motion, allocating steering and braking controls for the motion, determining main yaw rate from vehicle conditions, and determining a non-main yaw rate from difference between the desired value and the main yaw rate. Setting units set assist torque corresponding to the main yaw rate and braking torque corresponding to the non-main yaw rate when the steering control is selected and set braking torque corresponding to the main yaw rate and assist torque corresponding to the non-main yaw rate when the braking control is selected. The assist torque is generated for assisting a change of steering angle of vehicle in steering control. The braking torque is generated for applying braking force to wheel of vehicle in braking control.