US 11,912,091 B2
Roll vibration damping electronic control unit, target roll moment computing method, and non-transitory computer-readable storage medium therefor
Shota Tanzan, Gotemba (JP); and Etsuo Katsuyama, Hiratsuka (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Dec. 13, 2021, as Appl. No. 17/549,332.
Application 17/549,332 is a continuation of application No. 17/514,462, filed on Oct. 29, 2021.
Application 17/514,462 is a continuation of application No. 16/592,097, filed on Oct. 3, 2019.
Claims priority of application No. 2018-193880 (JP), filed on Oct. 12, 2018.
Prior Publication US 2022/0097472 A1, Mar. 31, 2022
Int. Cl. B60G 17/018 (2006.01); B60G 15/06 (2006.01); B60G 17/015 (2006.01); B60G 17/016 (2006.01); B60G 17/019 (2006.01); B60G 17/0195 (2006.01); B62D 5/04 (2006.01)
CPC B60G 17/018 (2013.01) [B60G 17/0157 (2013.01); B60G 17/0164 (2013.01); B60G 17/01908 (2013.01); B60G 17/0195 (2013.01); B62D 5/0418 (2013.01); B60G 15/062 (2013.01); B60G 2202/42 (2013.01); B60G 2800/916 (2013.01)] 15 Claims
OG exemplary drawing
 
1. An electronic control unit comprising circuitry configured to:
compute a sum of a product of a roll moment of inertia of a vehicle and a roll angular acceleration of a vehicle body detected by a roll angular acceleration detector, a product of a roll damping coefficient of the vehicle and a first-order integral of the roll angular acceleration, and a product of an equivalent roll stiffness of the vehicle and a second-order integral of the roll angular acceleration, as a controlled roll moment to be applied to the vehicle body,
compute a roll moment around a center of gravity of a sprung mass as a correction roll moment, the roll moment being generated by lateral force on wheels due to roll motion,
compute a target roll moment based on a value obtained by correcting the controlled roll moment with the correction roll moment,
compute a target wheel steering angle of front wheels of the vehicle and a target wheel steering angle of rear wheels of the vehicle for applying the target roll moment to the vehicle, and
control a front wheel active steering system according to the computed target wheel steering angle of the front wheels and a rear wheel active steering system according to the computed target wheel steering angle of the rear wheels such that the roll moment to be applied to the vehicle body that is generated by the front wheel active steering system and the rear wheel active steering system becomes the target roll moment, wherein:
the roll moment, Mxδ, is expressed by Mxδ=hsfFyfδ+hsrFyrδ, where hsf is a roll arm length at a position of the front wheels that is a difference between a height of the roll center and a height of the center of gravity at the position of the front wheels, h, is a roll arm length at a position of the rear wheels that is a difference between a height of the roll center and the height of the center of gravity at the position of the rear wheels, Fyfδ are the tire lateral forces at the front wheels, and Fyrδ the tire lateral force at the rear wheels
the tire lateral forces, Fyfδ, at the front wheels are expressed by

OG Complex Work Unit Math
where Cf is a normalized equivalent cornering power of the front wheels, lr is a distance in a vehicle front and rear direction between the center of gravity of the vehicle and a rear wheel axle, l is a distance in the vehicle front and rear direction between a front wheel axle and the rear wheel axle, m is mass of the sprung mass, g is gravitational acceleration, δf is a wheel steering angle of the front wheels, and βf is a slip angle of the front wheels, and
the tire lateral forces, Fyrδ, at the rear wheels are expressed by

OG Complex Work Unit Math
where Cr is a normalized equivalent cornering power of the rear wheels, lr is a distance in the vehicle front and rear direction between the center of gravity of the vehicle and the front wheel axle, m is mass of the sprung mass, g is the gravitational acceleration, δr is a wheel steering angle of the rear wheels, and βr is a slip angle of the rear wheels.