Vehicle motion control system
Provided is a vehicle motion control system that comprises a plurality of vehicle behavior control units that are controlled in a mutually coordinated manner, and is configured to operate as designed even when one of the vehicle motion control units should fail. If a RTC-ECU ( 61 ) has ceased a control action thereof owing to a failure thereof, a VSA-ECU ( 31 ) retains the last received coordination control signal from the RTC-ECU in EEPROM ( 37 ) so that the VSA-ECU ( 31 ) is enabled to continue the coordinated control according to the retained coordination control signal. At the same time, the VSA-ECU ( 31 ) transmits the coordination control signal retained in the EEPROM onto a CAN so that the transmitted coordination control signal may be used by other ECUS of other vehicle behavior control units such as an ATTS-ECU ( 41 ) and a STG-ECU ( 51 ). In this manner, the behavior of the vehicle may be optimized by the coordination control of the VSA unit and other vehicle behavior control units.
1. A vehicle motion control system for enabling a plurality of vehicle behavior control units to operate in a mutually coordinated manner, comprising:
a first vehicle behavior control unit including a first central processing unit (CPU) programmed to generate a first coordination control signal;
a second vehicle behavior control unit including a second CPU different from the first CPU and programmed to operate in a coordinated manner with respect to the first vehicle behavior control unit according to the first coordination control signal;
a third vehicle behavior control unit including a third CPU different from the first and second CPUs and programmed to operate in a coordinated manner with respect to the first vehicle behavior control unit according to the first coordination control signal;
a coordination control signal storage device that stores the first coordination control signal; and
a failure detection unit for detecting a failure of the first vehicle behavior control unit;
wherein the second vehicle behavior control unit is incorporated with the coordination control signal storage device, and upon detection of the failure of the first vehicle behavior control unit by the failure detection unit, transmits to the third vehicle behavior control unit the first coordination control signal stored in the coordination control signal storage device immediately before the detection of the failure of the first vehicle behavior control unit; and
wherein upon detection of the failure of the first vehicle behavior control unit, the second vehicle control unit is configured to maintain a coordinated operation thereof according to the first coordination control signal stored in the coordination control signal storage device immediately before the detection of the failure, and the third vehicle behavior control unit maintains a coordinated operation thereof according to the first coordination control signal transmitted by the second vehicle behavior control unit.
2. The vehicle motion control system according to claim 1 , wherein
the first vehicle behavior control unit consists of a rear wheel toe angle control unit that variably controls the toe angels of the rear wheels; and
the second vehicle behavior control unit consists of a vehicle stability assist (VSA) unit that variably controls a braking force of each of four wheels of the vehicle.
3. The vehicle motion control system according to claim 1 , wherein the first coordination control signal coordinates actions of the first CPU of the first vehicle behavior control unit, the second CPU of the second vehicle behavior control unit, and the third CPU of the third vehicle behavior control unit.
4. The vehicle motion control system according to claim 1 , wherein each of the first CPU of the first vehicle behavior control unit, the second CPU of the second vehicle behavior control unit, and the third CPU of the third vehicle behavior control unit generates coordination control signals that are transmitted to the other CPUs of the vehicle behavior control units.
5. The vehicle motion control system according to claim 1 , wherein each of the first vehicle behavior control unit, the second vehicle behavior control unit, and the third vehicle behavior control unit includes a coordination control unit which generates a coordination control signal that is shared with the other coordination control units of the other vehicle behavior control units.
6. The vehicle motion control system according to claim 1 , wherein the system further includes a controlled area network interconnecting the first vehicle behavior control unit, the second vehicle behavior control unit, and the third vehicle behavior control unit and through which the first coordination control signal is transmitted.
7. The vehicle motion control system according to claim 1 , wherein each of the first vehicle behavior control unit, the second vehicle behavior control unit, and the third vehicle behavior control unit includes a failure detection unit for detecting failure of the corresponding control unit.