US 11,938,779 B2
Behavior control device for vehicle
Hiroki Furuta, Sunto-gun Shizuoka-ken (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota Aichi-ken (JP)
Filed on Sep. 22, 2022, as Appl. No. 17/950,602.
Claims priority of application No. 2021-156937 (JP), filed on Sep. 27, 2021.
Prior Publication US 2023/0097516 A1, Mar. 30, 2023
Int. Cl. B60G 21/055 (2006.01); B60W 10/22 (2006.01); B60W 30/02 (2012.01); B60W 40/11 (2012.01); B60W 40/112 (2012.01)
CPC B60G 21/0555 (2013.01) [B60W 10/22 (2013.01); B60W 30/025 (2013.01); B60W 40/11 (2013.01); B60W 40/112 (2013.01); B60G 2400/0511 (2013.01); B60G 2400/0512 (2013.01); B60W 2520/16 (2013.01); B60W 2520/18 (2013.01); B60W 2710/22 (2013.01)] 1 Claim
OG exemplary drawing
 
1. A behavior control device for a vehicle, the behavior control device comprising:
a first actuator configured to apply a vertical control force to a left wheel on a first axle, the first axle being a front axle or a rear axle of the vehicle;
a second actuator configured to
operate independently of the first actuator, and
apply a vertical control force to a right wheel on the first axle;
an active stabilizer configured to apply a vertical control force in antiphase to a right wheel and left wheel on a second axle, the second axle being the front axle or the rear axle; and
a controller configured to:
calculate a required value of a behavior parameter representing a behavior of the vehicle,
calculate a required roll moment and a required in-phase vertical force as the required value of the behavior parameter, the required roll moment being a moment to be applied to a center of gravity of the vehicle, and the required in-phase vertical force being a force to be applied to the right wheel and the left wheel on the first axle;
convert the required value of the behavior parameter to the first required force for the first actuator, the second required force for the second actuator, and a required moment for the active stabilizer,
control the first actuator such that the vertical control force applied to the left wheel on the first axle becomes the first required force, and
control the second actuator such that the vertical control force applied to the right wheel on the first axle becomes the second required force; and
control the active stabilizer such that the required moment is generated by the vertical control force applied in antiphase to the right wheel and the left wheel on the second axle.