Drive and braking force control device for vehicle
In a braking/driving force control apparatus, a vehicle target braking/driving force and a vehicle target yaw moment through the control of braking/driving forces of wheels are calculated, and when the target braking/driving force and the target yaw moment cannot be achieved through the control of the braking/driving forces of the wheels, it is determined which one of the braking/driving force and the yaw moment should take priority on the basis of the target braking/driving force and the target yaw moment. When it is determined that the braking/driving force should take priority, the braking/driving forces of the wheels are controlled so as to attain the target braking/driving force as much as possible, and when it is determined that the yaw moment should take priority, the braking/driving forces of the wheels are controlled so as to attain the target yaw moment as much as possible.
1. A vehicle braking/driving force control apparatus comprising:
braking/driving force applying means that can apply braking/driving forces to wheels;
means for detecting an amount of driving operation by an occupant;
means for calculating a vehicle first target braking/driving force and a vehicle first target yaw moment, which should be generated by the braking/driving forces of the wheels, based at least on the amount of driving operation by an occupant;
determining means that determines a priority between a braking/driving force and a yaw moment when either said first target braking/driving force exceeds a maximum braking/driving force attainable by the braking/driving forces of the wheels or said first target yaw moment exceeds a maximum yaw moment attainable by the braking/driving forces of the wheels, wherein:
said determining means assigns the priority to the yaw moment when a magnitude of said first target yaw moment is less than a magnitude of the maximum yaw moment attainable by the braking/driving forces of the wheels, and when said first target braking/driving force is not less than a determination reference value, and
said determining means assigns the priority to the braking/driving force when the magnitude of the first target yaw moment is less than the magnitude of the maximum yaw moment attainable by the braking/driving forces of the wheels, and
when said first target
braking/driving force is less than said determination reference value;
modifying means for modifying the first target braking/driving force and the first target yaw moment into a second target braking/driving force and a second target yaw moment, respectively, such that when the determining means assigns the priority to the yaw moment:
the second target braking/driving force is not greater than the maximum braking/driving force attainable by the braking/driving forces of the wheels, and
the second target yaw moment is as close to the first target yaw moment as possible without exceeding the maximum yaw moment attainable by the braking/driving forces of the wheels; and
control means for controlling the braking/driving force applied to each wheel by said braking/driving force applying means such that the vehicle braking/driving force becomes the second target braking/driving force and the vehicle yaw moment becomes the second target yaw moment through the control of the braking/driving forces of the wheels.
2. The vehicle braking/driving force control apparatus according to claim 1 , such that
when the magnitude of said first target yaw moment is not less than the magnitude of the maximum yaw moment attainable by the braking/driving forces of the wheels, said modifying means sets the second target yaw moment equal to said maximum yaw moment attainable by the braking/driving forces of the wheels.
3. The vehicle braking/driving force control apparatus according to claim 2 , such that when the magnitude of said vehicle first target yaw moment is less than the maximum yaw moment attainable by the braking/driving forces of the wheels, the modifying means sets the second target yaw moment equal to the first target yaw moment.
4. The vehicle braking/driving force control apparatus according to claim 2 , such that when a magnitude of said first target braking/driving force is not more than said maximum braking/driving force attainable by the braking/driving forces of the wheels, the modifying means sets the second target braking/driving force equal to the first target braking/driving force.
5. The vehicle braking/driving force control apparatus according to claim 1 , such that when the magnitude of said first target yaw moment is less than the maximum yaw moment attainable by the braking/driving force of the wheels:
the first target braking/driving force and the first target yaw moment define coordinates of a reference point in a rectangular coordinate with the vehicle braking/driving force and the vehicle yaw moment as coordinate axes,
a straight line in the rectangular coordinate runs parallel to the braking/driving force coordinate axis and intersects the reference point,
a locus of points pairing all maximum yaw moments attainable by the braking/driving forces at the wheels with a corresponding maximum braking/driving force attainable by the braking/driving forces at the wheels defines a boundary in the rectangular coordinate,
an intersection of the straight line with the boundary defines a target point,
the modifying means sets the second target yaw moment equal to a yaw moment coordinate of the target point, and
the modifying means sets the second target braking driving force equal to a braking driving force coordinate of the target point.
6. The vehicle braking/driving force control apparatus according to claim 5 , wherein
the boundary in the rectangular coordinate comprises points with coordinates of a greatest value of the vehicle driving force, a greatest value of the vehicle braking force, a greatest value of the vehicle yaw moment in the leftward turning direction, and a greatest value of the vehicle yaw moment in the rightward turning direction.
7. The vehicle braking/driving force control apparatus according to claim 5 , wherein the boundary in the rectangular coordinate is set in accordance with a road friction coefficient.
8. The vehicle braking/driving force control apparatus according to claim 1 , wherein said means for calculating the first target braking/driving force and the first target yaw moment:
calculates said first target braking/driving force and a vehicle target total yaw moment for causing the vehicle to stably run on the basis of at least the amount of the driving operation by an occupant,
estimates a vehicle turning yaw moment due to a lateral force of each wheel on the basis of at least the amount of the driving operation by the occupant, and
calculates the first target yaw moment by subtracting said turning yaw moment from said target total yaw moment.
9. The vehicle braking/driving force control apparatus according to claim 8 , wherein said means for calculating the vehicle first target braking/driving force and the vehicle first target yaw moment calculates:
a vehicle target longitudinal acceleration and a vehicle target yaw rate for stably running the vehicle on the basis of at least the amount of the driving operation by an occupant, and
said first target braking/driving force and the first target yaw moment on the basis of said vehicle target longitudinal acceleration and said vehicle target yaw rate, respectively.
10. The vehicle braking/driving force control apparatus according to claim 1 , such that when the magnitude of the first target yaw moment is not less than the magnitude of the maximum yaw moment attainable by the braking/driving forces of the wheels, the determining means assigns the priority to the yaw moment.
11. The vehicle braking/driving force control apparatus according to claim 1 , such that when a magnitude of the first target braking/driving force is not less than the magnitude of the maximum braking/driving force attainable by the braking/driving forces of the wheels, the determining means assigns the priority to the braking/driving force.
12. The vehicle braking/driving force control apparatus according to claim 1 , wherein
said control means calculates the target braking/driving force of each wheel on the basis of said second target braking/driving force, said second target yaw moment, and a distribution ratio of the braking/driving force between the front and rear wheels, and
said control means controls the braking/driving force applied to each wheel on the basis of the target braking/driving force of each wheel.