Vehicle attitude control device

Abstract

A control portion stores an actual brake force distribution characteristic line indicating relation between a front brake force allocated to the front wheel and a rear brake force allocated to the rear wheel, wherein the actual brake force distribution characteristic line is determined based on an ideal brake force distribution characteristic line so that, in achieving a given deceleration, a ratio of the front brake force to the rear brake force becomes smaller in the case that the distribution is calculated by using the actual brake force distribution characteristic line than in the case that the distribution is calculated by using the ideal brake force distribution characteristic line. The control portion calculates the distribution by using the actual brake force distribution characteristic line and determines, based on the calculated distribution, the wheel cylinder pressures to be generated at the front wheel cylinder the rear wheel cylinder.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

The invention, together with additional objective, features and advantages thereof, will be best understood from the following description, the appended claims and the accompanying drawings. In the drawings:

FIG. 1 is a schematic diagram showing an overall structure of a vehicle attitude control device according to the first embodiment of the present invention;

FIG. 2 is a detailed diagram showing portions of the vehicle attitude control device shown in FIG. 1;

FIG. 3 is a graph showing a mapping relation corresponding to an actual brake force distribution used for the vehicle attitude control device shown in FIG. 1;

FIG. 4 is a schematic diagram showing an overall structure of a vehicle attitude control device according to the second embodiment of the present invention;

FIG. 5 is a graph showing a mapping relation corresponding to an actual brake force distribution used for the vehicle attitude control device shown in FIG. 4;

FIG. 6 is a schematic diagram showing an overall structure of a vehicle attitude control device according to the third embodiment of the present invention;

FIG. 7 is a graph showing a mapping relation corresponding to an actual brake force distribution used for the vehicle attitude control device shown in FIG. 6;

FIG. 8 is a graph showing a mapping relation corresponding to an actual brake force distribution used for the vehicle attitude control device according to the fourth embodiment of the present invention;

FIG. 9 is a schematic diagram showing an overall structure of a vehicle attitude control device according to the fifth embodiment of the present invention;

FIG. 10 is a graph showing a mapping relation corresponding to an actual brake force distribution used for the vehicle attitude control device shown in FIG. 9;

FIG. 11 is a schematic diagram showing an overall structure of a vehicle attitude control device according to the sixth embodiment of the present invention;

FIG. 12 is a graph showing a mapping relation corresponding to an actual brake force distribution used for the vehicle attitude control device shown in FIG. 11;

FIG. 13 is a graph showing a mapping relation corresponding to an actual brake force distribution used for the vehicle according to the seventh to the tenth embodiments of the present invention;

FIG. 14 is a graph showing a mapping relation corresponding to an actual brake force distribution used for the vehicle according to the seventh to the eleventh embodiments of the present invention;

FIG. 15 is a graph showing a mapping relation corresponding to an actual brake force distribution used for the vehicle according to the seventh to the twelfth embodiments of the present invention;

FIG. 16 is a graph showing a mapping relation corresponding to a conventional actual brake force distribution determined based on an ideal brake force distribution; and

FIG. 17 is a schematic diagram showing a spring oscillation model indicating a state of movements during braking.

Claims

1. A vehicle attitude control device for controlling attitude of a vehicle, comprising: a control portion for: calculating a deceleration of the vehicle according to an amount of an operation of a brake operating member performed by a driver;calculating a distribution of a brake force on a front wheel of the vehicle and a rear wheel of the vehicle based on the calculated deceleration; anddetermining wheel cylinder pressures to be generated at a front wheel cylinder installed to the front wheel and a rear wheel cylinder installed to the rear wheel; andan actuator for controlling the front wheel cylinder and the rear wheel cylinder to achieve the determined wheel cylinder pressures,wherein:the control portion: stores an actual brake force distribution characteristic line indicating relation between a front brake force allocated to the front wheel and a rear brake force allocated to the rear wheel, wherein the actual brake force distribution characteristic line is determined based on an ideal brake force distribution characteristic line so that, in achieving a given deceleration, a ratio of the front brake force to the rear brake force becomes smaller in the case that the distribution is calculated by using the actual brake force distribution characteristic line than in the case that the distribution is calculated by using the ideal brake force distribution characteristic line;calculates the distribution by using the actual brake force distribution characteristic line; anddetermines, based on the calculated distribution, the wheel cylinder pressures to be generated at the front wheel cylinder the rear wheel cylinder; andthe actual brake force distribution characteristic line to be used changes based on a first physical quantity of the vehicle including at least one of a steering angle, a change rate of the steering angle, a yaw rate, and a lateral acceleration, so that, in achieving the given deceleration, the ratio of the front brake force to the rear brake force becomes larger in the case that the first physical quantity is nonzero than in the case that the first physical quantity is zero.

2. The vehicle attitude control device according to claim 1, wherein the actual brake force distribution characteristic line to be used changes based on the first physical quantity, so that, in achieving the given deceleration, the ratio of the front brake force to the rear brake force becomes larger as the first physical quantity becomes larger.

3. The vehicle attitude control device according to claim 1, wherein the actual brake force distribution characteristic line to be used in the case that the first physical quantity is nonzero changes based on a second physical quantity of the vehicle including at least one of a speed of the vehicle, a difference in rotational speed between the front wheel and the rear wheel, and an acceleration in a front-rear direction, so that, in achieving the given deceleration, the ratio of the front brake force to the rear brake force becomes larger in the case that the second physical quantity becomes larger.

4. The vehicle attitude control device according to claim 2, wherein the actual brake force distribution characteristic line to be used in the case that the first physical quantity is nonzero changes based on a second physical quantity of the vehicle including at least one of a speed of the vehicle, a difference in rotational speed between the front wheel and the rear wheel, and an acceleration in a front-rear direction, so that, in achieving the given deceleration, the ratio of the front brake force to the rear brake force becomes larger in the case that the second physical quantity becomes larger.