Patent ID: 8392068
Filing Date: 2013-03-05
Classification: B60K,B60T,B60W

Abstract:
1. A vehicle behavior control device for controlling a behavior during a turn of a vehicle including a steering wheel operated by a driver for steering the vehicle and wheel turning means for turning a wheel to be turned in accordance with the operation of the steering wheel, the vehicle behavior control device comprising: wheel turning speed detection means for detecting a wheel turning speed of the wheel to be turned by the wheel turning means; vehicle speed detection means for detecting a vehicle speed of the vehicle; transfer function determination means for determining, by using the vehicle speed detected by the vehicle speed detection means, a transfer function which is determined based on a specification of the vehicle, receives the wheel turning speed of the wheel to be turned as an input, and outputs a yaw moment for making constant a frequency response characteristic of a motion state amount generated on the vehicle by the turning of the wheel to be turned by the wheel turning means in response to a periodic turn of the wheel to be turned; target yaw moment calculation means for calculating, by using the transfer function determined by the transfer function determination means and the wheel turning speed detected by the wheel turning speed detection means, a target yaw moment to be generated in a wheel turning direction of the wheel to be turned; forward/backward force calculation means for calculating, by using the target yaw moment calculated by the target yaw moment calculation means, a left-wheel-side forward/backward force to be generated on a left wheel side of front/rear left/right wheels of the vehicle, and a right-wheel-side forward/backward force to be generated on a right wheel side of the front/rear left/right wheels of the vehicle; forward/backward force imparting means for imparting the left-wheel-side forward/backward force calculated by the forward/backward force calculation means to the left wheel side of the vehicle, and imparting the right-wheel-side forward/backward force calculated by the forward/backward force calculation means to the right wheel side of the vehicle; and operation direction detection means for detecting an operation direction of the steering wheel operated by the driver, wherein, in a state in which the vehicle in a turning state is decelerating by a decelerating braking force imparted to the front/rear left/right wheels, when the decelerating braking force imparted to the right wheel side or the left wheel side corresponding to a turning-outer-wheel side of the vehicle in the turning state is smaller than the right-wheel-side forward/backward force or the left-wheel-side forward/backward force corresponding to the turning-outer-wheel side of the vehicle in the turning state for generating the target yaw moment calculated by the target yaw moment calculation means, the forward/backward force calculation means adds a difference between the deceleration braking force and the right-wheel-side forward/backward force or the left-wheel-side forward/backward force corresponding to the turning-outer-wheel side of the vehicle to the left-wheel-side forward/backward force or the right-wheel-side forward/backward force corresponding to a turning-inner-wheel side of the vehicle in the turning state to calculate a sum as a final left-wheel-side forward/backward force or right-wheel-side forward/backward force corresponding to the turning-inner-wheel side of the vehicle, and when a generated direction of a motion state amount generated on the vehicle correspondingly to the operation direction of the steering wheel detected by the operation direction detection means and a generated direction of a motion state amount generated on the vehicle by the left-wheel-side forward/backward force and the right-wheel-side forward/backward force are different from each other, the forward/backward force calculation means calculates the left-wheel-side forward/backward force and the right-wheel-side forward/backward force as “0”.