US 12,454,313 B2
Motion control device for vehicle, computer-readable medium that stores motion control program, and motion control method for vehicle
Yosuke Ohmori, Tokyo (JP)
Assigned to ADVICS CO., LTD., Kariya (JP); J-QuAD DYNAMICS INC., Tokyo (JP); DENSO CORPORATION, Kariya (JP); AISIN CORPORATION, Kariya (JP); and JTEKT CORPORATION, Kariya (JP)
Filed by ADVICS CO., LTD., Kariya (JP); J-QUAD DYNAMICS INC., Tokyo (JP); DENSO CORPORATION, Kariya (JP); AISIN CORPORATION, Kariya (JP); and JTEKT CORPORATION, Kariya (JP)
Filed on Jan. 26, 2023, as Appl. No. 18/159,854.
Claims priority of application No. 2022-013222 (JP), filed on Jan. 31, 2022.
Prior Publication US 2023/0278624 A1, Sep. 7, 2023
Int. Cl. B62D 7/15 (2006.01); B62D 6/00 (2006.01)
CPC B62D 7/15 (2013.01) [B62D 6/00 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A motion control device for a vehicle, the vehicle including a steering wheel, wheels that include a front wheel and a rear wheel, a front wheel steering shaft that operates as the steering wheel rotates, a front wheel steering actuator that adjusts a steered angle of the front wheel, a rear wheel steering actuator that adjusts a steered angle of the rear wheel, and a longitudinal force adjustment actuator that adjusts longitudinal forces of the wheels, the motion control device comprising:
a request value acquisition unit configured to obtain a motion amount request value that is a request value of a motion amount of the vehicle used to turn the vehicle:
a limit value setting unit configured to set a first motion amount limit value in correspondence with a range that enables the front wheel steering actuator to be activated, set a second motion amount limit value in correspondence with a range that enables the rear wheel steering actuator to be activated, and set a third motion amount limit value in correspondence with a range that enables the longitudinal force adjustment actuator to be activated;
a first command unit configured to obtain, as a first motion amount command value, a value corresponding to a smaller one of the motion amount request value and the first motion amount limit value and command the front wheel steering actuator to be activated based on the first motion amount command value;
a second command unit configured to obtain, as a second motion amount command value, a value corresponding to a smaller one of the second motion amount limit value and a first remaining request value obtained by subtracting the first motion amount command value from the motion amount request value and command the rear wheel steering actuator to be activated based on the second motion amount command value; and
a third command unit configured to obtain, as a third motion amount command value, a value corresponding to a smaller one of the third motion amount limit value and a second remaining request value obtained by subtracting the second motion amount command value from the first remaining request value and command the longitudinal force adjustment actuator to be activated based on the third motion amount command value.