US 11,667,275 B2
Control apparatus of vehicle
Takatoshi Tsukano, Hiroshima (JP); Masato Abe, Atsugi (JP); Makoto Yamakado, Atsugi (JP); Yoshio Kano, Atsugi (JP); and Kazuki Sato, Atsugi (JP)
Assigned to MAZDA MOTOR CORPORATION, Hiroshima (JP); and IKUTOKU GAKUEN, Kanagawa (JP)
Appl. No. 16/969,930
Filed by MAZDA MOTOR CORPORATION, Hiroshima (JP); and IKUTOKU GAKUEN, Kanagawa (JP)
PCT Filed Feb. 19, 2019, PCT No. PCT/JP2019/006071
§ 371(c)(1), (2) Date Aug. 13, 2020,
PCT Pub. No. WO2019/160159, PCT Pub. Date Aug. 22, 2019.
Claims priority of application No. JP2018-026781 (JP), filed on Feb. 19, 2018; and application No. JP2018-123295 (JP), filed on Jun. 28, 2018.
Prior Publication US 2021/0009108 A1, Jan. 14, 2021
Int. Cl. B60W 30/02 (2012.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); B60W 40/13 (2012.01)
CPC B60W 30/02 (2013.01) [B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 40/13 (2013.01); B60W 2040/1315 (2013.01); B60W 2510/20 (2013.01); B60W 2510/24 (2013.01); B60W 2530/203 (2020.02); B60W 2530/209 (2020.02); B60W 2710/205 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A control apparatus of a vehicle, the control apparatus being characterized by comprising:
a steering apparatus including a steering wheel operated in order to turn the vehicle and a steering angle sensor that detects a steering angle of the steering wheel, the steering apparatus steering a steered wheel of the vehicle in accordance with operation of the steering wheel;
a controller configured to set a steering angle acceleration based on the steering angle detected by the steering angle sensor, and control vehicle motion when the steering wheel is operated to be turned, wherein
the controller is configured to control the vehicle motion so as to suppress a rise of lateral acceleration of the vehicle based on the steering angle acceleration,
wherein the controller is configured to suppress the rise of the lateral acceleration of the vehicle based on the steering angle acceleration by controlling a yaw moment of the vehicle based on the steering angle acceleration,
wherein the control apparatus of the vehicle further comprises a brake apparatus capable of applying different braking forces to left and right wheels, wherein the controller is configured to:
set a steering angle velocity based on the steering angle detected by the steering angle sensor; and
control the yaw moment by controlling the brake apparatus so as to increase a braking force applied to a turning outer wheel of the vehicle based on the steering angle acceleration and controlling the brake apparatus so as to increase a braking force applied to a turning inner wheel of the vehicle based on the steering angle velocity.