US 12,291,190 B2
Vehicle turning control device and method thereof
Naoto Okubo, Tokyo (JP)
Assigned to Honda Motor Co., Ltd., Tokyo (JP)
Filed by Honda Motor Co., Ltd., Tokyo (JP)
Filed on Feb. 22, 2023, as Appl. No. 18/172,316.
Claims priority of application No. 202210331089.4 (CN), filed on Mar. 31, 2022.
Prior Publication US 2023/0311853 A1, Oct. 5, 2023
Int. Cl. B60W 30/045 (2012.01); B60W 40/109 (2012.01); B60W 40/114 (2012.01); B60W 40/11 (2012.01); B60W 40/112 (2012.01)
CPC B60W 30/045 (2013.01) [B60W 40/109 (2013.01); B60W 40/114 (2013.01); B60W 40/11 (2013.01); B60W 40/112 (2013.01); B60W 2520/125 (2013.01); B60W 2520/14 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A vehicle turning control device, comprising:
a control state detecting part, detecting a control state amount of a vehicle;
a motion state detecting part, detecting a motion state amount of the vehicle, wherein the motion state amount comprises at least speed and lateral acceleration;
a saturated rear-wheel lateral offset angle obtaining part, calculating, when a rear-wheel lateral force is saturated in turning of the vehicle, a saturated rear-wheel lateral offset angle as a critical value based on the control state amount and the motion state amount;
an actual rear-wheel lateral offset angle calculating part, calculating an actual rear-wheel lateral offset angle based on the motion state amount;
a vehicle body lateral offset angular speed calculating part, calculating a vehicle body lateral offset angular speed based on the motion state amount;
a first correction amount calculating part, calculating a first correction amount for correcting a comparison value of the saturated rear-wheel lateral offset angle and the actual rear-wheel lateral offset angle based on the speed;
a second correction amount calculating part, calculating a second correction amount for correcting the vehicle body lateral offset angular speed based on the speed and the first correction amount; and
a target yaw momentum calculating part, calculating a target yaw momentum based on the saturated rear-wheel lateral offset angle, the actual rear-wheel lateral offset angle, the comparison value corrected by the first correction amount, and the vehicle body lateral offset angular speed corrected by the second correction amount.