JP5215902B2 - Vehicle behavior control device - Google Patents

Description

  The present invention relates to a vehicle behavior control device that controls the behavior of a vehicle.

  Conventionally, a technique is known in which the toe angles of the left and right rear wheels are independently variably controlled when a vehicle turns or the like (see Patent Document 1). A vehicle to which such a technique is applied variably controls the left and right actuators that independently change the toe angles of the left and right rear wheels based on the detection results of the sensors that detect the toe angles of the left and right rear wheels.

JP 2008-55921 A

  In a vehicle to which such a technology is applied, when one of the left and right actuators that independently changes the toe angle of the left and right rear wheels fails, or one of the sensors that detect the toe angles of the left and right rear wheels fails. In such a case, the vehicle's running failure is fixed by a so-called fail-safe action that fixes the toe angle of the rear wheel where the failure has occurred and controls the toe angle of the rear wheel where the failure has not occurred. Can be minimized. However, suddenly changing the toe angle of the rear wheel that has not fallen may cause disturbance in the vehicle behavior and give the driver a sense of discomfort. Therefore, it is conceivable to reduce the speed at which the toe angle of the rear wheel that has not failed is reduced so that the vehicle behavior is not disturbed by the change in the toe angle. There is a problem that it takes a long time to stabilize.

  The present invention was devised to solve the above-described problem, and can control the vehicle behavior quickly when the toe angle of one of the left and right rear wheels becomes uncontrollable. It is an object to provide an apparatus.

In order to solve the above problems, a vehicle behavior control device according to the present invention includes a left and right rear wheel toe angle changing unit that independently changes a toe angle of left and right rear wheels, and a toe angle of each of the left and right rear wheels. Control of the behavior of the left and right rear wheel toe angle detection unit to be detected and a yaw rate generation unit that is provided separately from the left and right rear wheel toe angle change unit and generates a yaw rate to the vehicle body A vehicle behavior control device that controls a rear wheel toe angle control unit that controls the left and right rear wheel toe angle change units using detection results of the left and right rear wheel toe angle detection units, and controls the yaw rate generation unit. A yaw rate control unit for controlling the torque distribution changing unit. The yaw rate generating unit is a torque distribution changing unit that changes a distribution of torque applied to the left and right rear wheels. The yaw rate control unit controls the torque distribution changing unit. Torque distribution system A section, when the rear wheel toe angle alteration unit corresponding to one of the rear wheels of the right and left is defective, the rear wheel, wherein the rear wheel toe angle control unit corresponds to one of the rear wheels of the right and left By controlling the rear wheel toe angle changing unit corresponding to the other of the left and right rear wheels based on the detection result of the toe angle detecting unit, the other toe angle of the left and right rear wheels is set to the left and right rear wheels. The direction of the left and right rear wheels is made parallel to one of the toe angles, and the torque distribution control unit controls the torque distribution changing unit to thereby adjust the yaw rate according to the toe angle of the left and right rear wheels. The driving force is distributed to the left and right rear wheels so as to cancel each other.

  Here, “to make the total toe angle of the left and right rear wheels zero” means to make the directions of the left and right rear wheels parallel. Here, even if the total toe angle is not completely zero, it may be a value that can be regarded as substantially zero in terms of control. In other words, if the directions of the left and right rear wheels are substantially parallel, it corresponds to “reducing the total toe angle of the left and right rear wheels to zero” of the present invention. According to this configuration, the yaw rate due to the fail safe action can be canceled out, so that the speed of the fail safe action can be improved and the stability of the vehicle behavior at the time of failure can be improved.

The vehicle behavior control device according to the present invention includes a left and right rear wheel toe angle changing unit that independently changes a toe angle of left and right rear wheels, and a left and right rear wheel that detects respective toe angles of the left and right rear wheels. A vehicle behavior control device that controls the behavior of the vehicle in a vehicle that includes a wheel toe angle detection unit and a yaw rate generation unit that is provided separately from the left and right rear wheel toe angle change units and generates a yaw rate in the vehicle body A rear wheel toe angle control unit that controls the left and right rear wheel toe angle changing units using detection results of the left and right rear wheel toe angle detection units; and a yaw rate control unit that controls the yaw rate generation unit; The yaw rate generation unit is a torque distribution change unit that changes the distribution of torque applied to the left and right rear wheels, and the yaw rate control unit is a torque distribution control unit that controls the torque distribution change unit. Yes, the left When the rear wheel toe angle detection unit corresponding to one of the rear wheels fails, the rear wheel toe angle control unit controls the rear wheel toe angle changing unit corresponding to the other of the left and right rear wheels. By doing so, the other toe angle of the left and right rear wheels is made zero, and the torque distribution control unit controls the torque distribution changing unit to cancel the yaw rate due to the toe angles of the left and right rear wheels. As described above, the driving force is distributed to the left and right rear wheels .

  Here, “zeroing the other toe angle of the left and right rear wheels” refers to matching the direction of the rear wheels on the side where no failure has occurred with the longitudinal direction of the vehicle body. Here, even if the toe angle is not completely zero, it may be a value that can be regarded as substantially zero in terms of control. In other words, if the other direction of the left and right rear wheels is substantially along the longitudinal direction of the vehicle body, it corresponds to “reducing the other toe angle of the left and right rear wheels to zero” of the present invention. According to this configuration, the yaw rate due to the fail safe action can be canceled out, so that the speed of the fail safe action can be improved and the stability of the vehicle behavior at the time of failure can be improved.

  The yaw rate generation unit is a front wheel steering unit that steers left and right front wheels, and the yaw rate control unit is a front wheel steering control unit that controls the front wheel steering unit, and is provided on one of the left and right rear wheels. When the corresponding rear wheel toe angle changing unit or the rear wheel toe angle detecting unit fails, the front wheel steering control unit controls the front wheel steering unit to control the left and right rear wheel toe. The left and right front wheels may be steered so as to cancel the yaw rate due to corners.

  According to the present invention, when one toe angle of the left and right rear wheels becomes uncontrollable, the vehicle behavior can be quickly stabilized.

It is a figure showing typically a vehicle provided with a vehicle behavior control device concerning a first embodiment of the present invention. It is a block diagram which shows the vehicle behavior control apparatus which concerns on 1st embodiment of this invention. It is a flowchart for demonstrating the operation example of the vehicle behavior control apparatus which concerns on 1st embodiment of this invention. It is a figure which shows typically the example of control of the vehicle behavior by the vehicle behavior control apparatus which concerns on 1st embodiment of this invention, (a) (b) shows the case where the right rear-wheel toe angle change part has failed. FIGS. 4C and 4D are diagrams showing a case where the right rear wheel toe angle detection unit fails. It is a figure which shows typically a vehicle provided with the vehicle behavior control apparatus which concerns on 2nd embodiment of this invention. It is a block diagram which shows the vehicle behavior control apparatus which concerns on 2nd embodiment of this invention. It is a figure which shows typically the example of control of the vehicle behavior by the vehicle behavior control apparatus which concerns on 2nd embodiment of this invention, (a) (b) shows the case where the right rear-wheel toe angle change part has failed. FIGS. 4C and 4D are diagrams showing a case where the right rear wheel toe angle detection unit fails.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings as appropriate. Similar parts are denoted by the same reference numerals, and redundant description is omitted. The present invention is applied to a vehicle that turns a vehicle by turning left and right front wheels based on a steering operation by a driver and variably controls toe angles of left and right rear wheels during the turn.

<First embodiment>
First, the configuration of a vehicle including a vehicle behavior control device according to the first embodiment of the present invention will be described with reference to FIGS. 1 and 2. FIG. 1 is a diagram schematically illustrating a vehicle including a vehicle behavior control device according to the first embodiment of the present invention. FIG. 2 is a block diagram showing the vehicle behavior control apparatus according to the first embodiment of the present invention.

As shown in FIG. 1, a vehicle 1A according to the first embodiment of the present invention is based on a front engine / front drive (FF) vehicle, and includes left and right front wheels W _FL and W _FR and left and right rear wheels W _RL , a four-wheel drive vehicle that drives the W _RR, as the driving force transmission system, an engine 11, a transmission 12, a front differential unit 13, left and right front wheel drive shaft ₁₄ L, 14 _R, a propeller shaft 15, rear A differential device 16 and left and right rear wheel drive shafts 17 _L and 17 _R are provided. Driving force generated by the engine 11, transmission 12, front differential 13 and left and right front wheel drive shaft ₁₄ L, 14 left and right front wheels via the _{R W FL,} while being transmitted to _{W FR,} transmission 12, front differential device 13, the propeller shaft 15, rear differential gear 16 and left and right rear wheel drive shaft ₁₇ L, 17 right and left rear wheels via the _{R W RL,} is transmitted to the _{W RR.}

The vehicle 1A is the left and right rear wheels W _RL, W _RR are independently capable of changing the toe angle of the left rear wheel toe angle changing unit 21 _L, the right rear wheel toe angle changing unit 21 _R When comprises a left rear wheel toe angle detection unit 22 _L, and the right rear wheel toe angle detection unit 22 _R, a front wheel steering unit 23, a vehicle behavior control device 30A, the.

Wheel toe angle changing unit 21 _L After the left, an actuator for changing the toe angle of the left rear wheels W _RL by varying the length of such lateral link in the rear-wheel suspension system for supporting a left rear wheels W _RL to the vehicle body is there. Wheel toe angle detection unit 22 _L After the left, a device for detecting the toe angle of the left rear wheels W _RL, here, the left rear wheels W _RL of the left rear wheel toe angle changing unit 21 _L corresponding to the toe angle of the It is a sensor that detects the amount of displacement.

Similarly, the right rear wheel toe angle changing section 21 _R is changed the toe angles of the right rear wheel W _RR by varying the length of such lateral link in the rear-wheel suspension system for supporting the right rear wheel W _RR to the vehicle body It is an actuator to be made. The right rear wheel toe angle detection unit 22 _R is a device that detects the toe angle of the right rear wheel W _RR , and here, the right rear wheel toe angle change unit 21 _R corresponding to the toe angle of the right rear wheel W _RR It is a sensor that detects the amount of displacement.

As the left and right rear wheel toe angle changing units 21 _L and 21 _R , a rotary motion / linear motion conversion device combining an electric motor with a speed reducer and a screw mechanism, a cylinder device that linearly drives a piston rod with fluid pressure, and the like are known. These linear displacement actuators can be used as appropriate. Further, as the left and right rear wheel toe angle detectors 22 _L and 22 _R , a known displacement sensor such as a potentiometer can be used as appropriate. From the viewpoint of durability, a non-contact displacement sensor such as an electromagnetic displacement sensor is used. It is desirable to use

Further, the left and right rear wheel toe angle changing units 21 _L and 21 _R and the left and right rear wheel toe angle detecting units 22 _L and 22 _R have a vehicle behavior that will be described later with a fail signal when the function is lost due to failure. Output to control device 30A.

The front wheel steering section 23 is an example of a yaw rate generating section that is provided separately from the left and right rear wheel toe angle changing sections 21 _L and 21 _R, and generates a yaw rate in the vehicle body, and the left and right front wheels W _FL and W _FR. Is an actuator that turns the vehicle 1A by turning. Here, the vehicle 1A is rotated by driving the front wheel steering unit 23, and a shaft 23a provided with a pinion at the lower end, a rod 23b provided with a rack meshing with the pinion, and left and right ends of the rod 23b. Tie rods 23c _L and 23c _R that are provided and connected to the left and right front wheels are provided, and the front wheel turning unit 23 turns the left and right front wheels W _FL and W _FR by rotating the shaft 23a. The shaft 23a can be shared with a steering shaft that rotates integrally with a steering that can be operated by the driver.

  The vehicle behavior control device 30A is, for example, a so-called ECU (Electronic Control Unit) composed of a CPU, a RAM, a ROM, and an input / output circuit. As shown in FIG. 31 and a front wheel steering control unit 32.

The rear wheel toe angle control unit 31 responds to the turning operation of the vehicle 1A based on detection results from a steering sensor that detects a steering operation amount, a yaw rate sensor that detects a yaw rate generated in the vehicle body, and the like during normal driving. The toe angles of the left and right rear wheels _WRL , _WRR are variably controlled independently. The rear wheel toe angle control unit 31 includes a left rear wheel toe angle changing unit 21 _L and a left rear wheel toe angle detecting unit 22 _L corresponding to any one of the left and right rear wheels W _RL and W _RR , and a right rear wheel. When either the toe angle changing unit 21 _{R or the} right rear wheel toe angle detecting unit 22 _R fails, that is, the left rear wheel toe angle changing unit 21 _L , the left rear wheel toe angle detecting unit 22 _L , the right When a fail signal output from either the rear wheel toe angle changing unit 21 _{R or the} right rear wheel toe angle detecting unit 22 _R is received, the toe angle of the rear wheel on which no failure has occurred is controlled. The so-called fail-safe action minimizes the driving failure of the vehicle 1A. Further, the rear wheel toe angle control unit 31 outputs the received fail signal to the front wheel steering control unit 32.

The front wheel steering control unit 32 includes a left rear wheel toe angle changing unit 21 _L and a left rear wheel toe angle detecting unit 22 _L corresponding to any one of the left and right rear wheels W _RL , W _RR , and a right rear wheel toe angle changing. When one of the unit 21 _R and the right rear wheel toe angle detection unit 22 _R fails, by receiving a fail signal from the rear wheel toe angle control unit 31 and controlling the front wheel steering unit 23 , rear wheels W _RL right that is controlled by the rear wheel toe angle control unit 31 _is an example of a yaw rate controller for generating a yaw rate of the vehicle 1A to cancel the yaw rate by the toe angle of W _RR, front wheel steering unit 23 is controlled to steer the left and right front wheels W _FL and W _FR so as to cancel the yaw rate due to the toe angle of the left and right rear wheels W _RL and W _RR .

<Operation example>
Next, an operation example of the vehicle behavior control device 1A will be described with reference to FIGS. 3 and 4 (see FIGS. 1 and 2 as appropriate). FIG. 3 is a flowchart for explaining an operation example of the vehicle behavior control apparatus according to the embodiment of the present invention. FIG. 4 is a diagram schematically showing an example of vehicle behavior control by the vehicle behavior control device according to the first embodiment of the present invention. FIGS. 4A and 4B show the right rear wheel toe angle changing unit failed. FIGS. 4C and 4D are diagrams illustrating a case where the right rear wheel toe angle detection unit has failed.

First, referring to FIG. 4 (a) (b), right rear wheel toe angle changing unit 21 _R will be described operation example in the case of failure. Figure 4 (a), the then failure is right rear wheel toe angle changing unit 21 _R, if the toe angle of the right rear wheel W _RR is out of control, the right rear wheel toe angle changing unit 21 _R outputs a fail signal, and the rear wheel toe angle control unit 31 of the vehicle behavior control device 30A receives the fail signal (Yes in step S1 in FIG. 3).

Subsequently, the rear wheel toe angle control unit 31 outputs the received fail signal to the front wheel steering control unit 32. Subsequently, as shown in FIG. 4 (b), the rear wheel toe angle control unit 31 controls the left rear wheel toe angle changing unit 21 _L on the basis of the detection result of the right rear wheel toe angle detection unit 22 _R By adjusting the toe angle of the left rear wheel W _{RL to} the toe angle of the right rear wheel W _RR , the total toe angle of the left and right rear wheels W _RL , W _RR is made zero as quickly as possible. rear wheel _{W RL,} which is parallel the direction of _{W RR} with (failsafe action), the front wheel steering control unit 32, left and right rear wheels _{W RL,} vehicle 1A so as to cancel the yaw rate _{Y 11} by the toe angle of _{W RR} generating a yaw rate _{Y 12} (step S2 in FIG. 3). In the present embodiment, the front wheel steering control unit 32 controls the front wheel steering unit 23 to control the left and right front wheels W _FL , so as to cancel the yaw rate Y ₁₁ due to the toe angles of the left and right rear wheels W _RL , W _RR . Turn W _FR to the right as quickly as possible. With this control, the vehicle 1A moves straight without generating a yaw rate, although it is in the diagonally right direction.

Subsequently, referring to FIG. 4 (c) (d), the right rear wheel toe angle detection unit 22 _R will be described operation example in the case of failure. As shown in FIG. 4 (c), the failure is right rear wheel toe angle detection unit 22 _R, the toe angle of the right rear wheel W _RR to not detect the toe angle of the right rear wheel W _RR is out of control If the the right rear wheel toe angle detection unit 22 _R outputs a fail signal, wheel toe angle control unit 31 after the vehicle behavior control device 30A receives the fail signal (Yes in step S1 of FIG. 3) .

Subsequently, the rear wheel toe angle control unit 31 outputs the fail signal received to the front wheel steering control unit 32, and stops the control of the right rear wheel toe angle changing unit 21 _R of the right rear wheel W _RR toe Fix the corners. Subsequently, as shown in FIG. 4 (d), the rear wheel toe angle control unit 31, by controlling the left rear wheel toe angle changing unit 21 _L, soon as possible the toe angle of the left rear wheels W _RL In other words, the direction of the left rear wheel _WRL is adjusted to the front-rear direction of the vehicle body (fail-safe action), and the front-wheel steering control unit 32 depends on the toe angles of the left and right rear wheels _WRL , _WRR. generating a yaw rate _{Y 14} to the vehicle 1A to cancel the yaw rate _{Y 13} (step S2 in FIG. 3). In this embodiment, the front wheel steering control unit 32, by controlling the front wheel steering unit 23, the left and right rear wheels _{W RL, W RR} left and right front wheels _{W FL} to cancel yaw rate _{Y 13} by the toe angle of, Turn W _FR to the right as quickly as possible. With this control, the vehicle 1A moves straight without generating a yaw rate, although it is in the diagonally right direction.

  When the front wheel steering control unit 32 controls the front wheel steering unit 23, the detection results of various sensors provided in the vehicle 1A such as the detection result (vehicle speed) of a vehicle speed sensor (not shown) can be used. .

  The vehicle behavior control device 30A according to the first embodiment can cancel the yaw rate due to the fail-safe action, so that the speed of the fail-safe action can be improved and the stability of the vehicle behavior at the time of failure is improved. Can be made. That is, when the toe angle of one of the left and right rear wheels becomes uncontrollable, the vehicle behavior can be stabilized quickly.

<Second Embodiment>
Next, a vehicle including the vehicle behavior control device according to the second embodiment of the present invention will be described with reference to FIGS. 5 and 6 with a focus on differences from the first embodiment. FIG. 5 is a diagram schematically illustrating a vehicle including the vehicle behavior control device according to the second embodiment of the present invention. FIG. 6 is a block diagram showing a vehicle behavior control apparatus according to the second embodiment of the present invention.

As shown in FIG. 5, a vehicle 1B according to the second embodiment of the present invention includes a driving force distribution change unit 24 and a vehicle behavior control device 30B instead of the vehicle behavior control device 30A. Vehicle behavior control device 30B, the left and right rear wheels W _RL, and the left rear wheel toe angle changing unit 21 _L and the left rear wheel toe angle detection unit 22 _L corresponding to one of W _RR, right rear wheel toe angle alteration unit When either 21 _{R or the} right rear wheel toe angle detection unit 22 _R fails, the driving force distribution change unit 24 is controlled.

Driving force distribution changing unit 24, the left and right rear wheel toe angle changing unit 21 _L, 21 _R provided separately, an example of a yaw rate generation section for generating a yaw rate in the vehicle body, left and right rear wheels W _RL a device for changing the distribution of driving force transmitted to the W _RR, in the present embodiment is composed of a pair of the electromagnetic clutch 24 _L, 24 _R. Electromagnetic clutch 24 _L is provided between the output terminal and the left rear wheel drive shaft 17 _L of the rear differential device 16, a vehicle behavior control device 30B left rear wheel drive shaft 17 from the rear differential device 16 by the control of the _L This is a clutch that changes the magnitude of the driving force transmitted to the motor. Similarly, the electromagnetic clutch 24 _R is provided between the output end and a right rear wheel drive shaft 17 _R of the rear differential device 16, the right rear wheel drive from the rear differential device 16 by the control of the vehicle behavior control device 30B a clutch for changing the magnitude of the driving force transmitted to the shaft 17 _R.

As shown in FIG. 6, the vehicle behavior control device 30 </ b> B includes a driving force distribution control unit 33 instead of the front wheel steering control unit 32 as a functional block. The driving force distribution control unit 33 includes a left rear wheel toe angle changing unit 21 _L and a left rear wheel toe angle detecting unit 22 _L corresponding to any of the left and right rear wheels W _RL , W _RR , and a right rear wheel toe angle changing. When either the unit 21 _{R or the} right rear wheel toe angle detection unit 22 _R fails, the fail signal is received from the rear wheel toe angle control unit 31 by controlling the driving force distribution changing unit 24. together, rear wheels W _RL right that is controlled by the rear wheel toe angle control unit 31 _is an example of a yaw rate controller for generating a yaw rate of the vehicle 1B to cancel the yaw rate by the toe angle of W _RR, driving force distribution by controlling the changing unit 24, the left and right rear wheels _{W RL, W RR} wheels _W RL of left and right rear so as to cancel the yaw rate by the toe angle _of, changing the distribution of driving force of _{W RR.}

<Operation example>
Subsequently, an operation example of the vehicle behavior control device 1B will be described with reference to FIGS. 3 and 7 (see FIGS. 5 and 6 as appropriate). FIG. 7 is a diagram schematically showing an example of vehicle behavior control by the vehicle behavior control apparatus according to the second embodiment of the present invention, and FIGS. 7A and 7B show a case where the right rear wheel toe angle changing unit fails. FIGS. 4C and 4D are diagrams illustrating a case where the right rear wheel toe angle detection unit has failed.

First, referring to FIG. 7 (a) (b), right rear wheel toe angle changing unit 21 _R will be described operation example in the case of failure. Figure 7 (a), the then failure is right rear wheel toe angle changing unit 21 _R, if the toe angle of the right rear wheel W _RR is out of control, the right rear wheel toe angle changing unit 21 _R outputs a fail signal, and the rear wheel toe angle control unit 31 of the vehicle behavior control device 30B receives the fail signal (Yes in step S1 in FIG. 3).

Subsequently, the rear wheel toe angle control unit 31 outputs the received fail signal to the driving force distribution control unit 33. Subsequently, as shown in FIG. 7 (b), the rear wheel toe angle control unit 31 controls the left rear wheel toe angle changing unit 21 _L on the basis of the detection result of the right rear wheel toe angle detection unit 22 _R by, wheels W _RL after the left and right to meet as soon as possible to the toe angle of the right rear wheel W _RR the toe angle of the left rear wheel W _RL, the total toe angle of W _RR to zero with (fail-safe action) , driving force distribution control unit 33, left and right rear wheels _{W RL,} to generate a yaw rate _{Y 22} to the vehicle 1B to cancel the yaw rate _{Y 21} by the toe angle of _{W RR} (step S2 in FIG. 3). In the present embodiment, the driving force distribution control unit 33, by controlling the driving force distribution changing unit 24, the left and right rear wheels W _RL, so as to cancel the yaw rate Y ₂₁ by the toe angle of W _RR, left rear wheel W _RL driving force right rear wheel W left and right rear wheels to be greater than the driving force of the _RR W _RL, which as soon as possible adjust the driving force of W _RR. With this control, the vehicle 1B proceeds straight without generating a yaw rate, although it is in the diagonally right direction.

Subsequently, referring to FIG. 7 (c) (d), the right rear wheel toe angle detection unit 22 _R will be described operation example in the case of failure. As shown in FIG. 7 (c), and failure is right rear wheel toe angle detection unit 22 _R, the toe angle of the right rear wheel W _RR to not detect the toe angle of the right rear wheel W _RR is out of control If the the right rear wheel toe angle detection unit 22 _R outputs a fail signal, wheel toe angle control unit 31 after the vehicle behavior control device 30B receives the fail signal (Yes in step S1 of FIG. 3) .

Subsequently, the rear wheel toe angle control unit 31 outputs the fail signal received to the driving force distribution control unit 33, and stops the control of the right rear wheel toe angle changing unit 21 _R of the right rear wheel W _RR toe Fix the corners. Subsequently, as shown in FIG. 7 (d), the rear wheel toe angle control unit 31, by controlling the left rear wheel toe angle changing unit 21 _L, soon as possible the toe angle of the left rear wheels W _RL And the driving force distribution control unit 33 generates the yaw rate Y ₂₄ in the vehicle 1B so as to cancel the yaw rate Y ₂₃ caused by the toe angles of the left and right rear wheels W _RL , W _RR (FIG. 3 step S2). In the present embodiment, the driving force distribution control unit 33, by controlling the driving force distribution changing unit 24, the left and right rear wheels W _RL, so as to cancel the yaw rate Y ₂₃ by the toe angle of W _RR, left rear wheel W _RL driving force right rear wheel W left and right rear wheels to be greater than the driving force of the _RR W _RL, which as soon as possible adjust the driving force of W _RR. With this control, the vehicle 1B proceeds straight without generating a yaw rate, although it is in the diagonally right direction.

  When the driving force distribution control unit 33 controls the driving force distribution changing unit 24, the detection results of various sensors provided in the vehicle 1B such as the detection result (vehicle speed) of a vehicle speed sensor (not shown) are used. it can.

  Similarly to the vehicle behavior control device 30A according to the first embodiment, the vehicle behavior control device 30B according to the second embodiment can cancel the yaw rate due to the failsafe action, so that the speed of the failsafe action is improved. In addition, the stability of the vehicle behavior at the time of failure can be improved. That is, when the toe angle of one of the left and right rear wheels becomes uncontrollable, the vehicle behavior can be stabilized quickly.

As mentioned above, although embodiment of this invention was described, this invention is not limited to the said embodiment, A design change is possible suitably in the range which does not deviate from the summary of this invention. For example, in the vehicle 1A according to the first embodiment, the method of turning the front wheels W _FL and W _FR by the front wheel turning unit 23 is not limited to the above. Further, as a reference form, in the vehicle behavior control device 30B according to the second embodiment, a device (for example, a device for changing the distribution of the driving force transmitted to the left and right front wheels W _FL and W _FR by the driving force distribution changing unit 24 (for example, The drive force distribution control unit 33 controls the drive force distribution change unit 24 to change the distribution of the drive force transmitted to the left and right front wheels W _FL , W _FR , thereby failing. The structure which cancels the yaw rate by a safe action may be sufficient. Further, for example, when both the right rear wheel toe angle changing unit 21 _R and the right rear wheel toe angle detecting unit 22 _R have failed, the processes shown in FIGS. 4C and 4D or FIGS. 7C and 7D are performed. According to the operation example shown, it is possible to cancel the yaw rate caused by the fail-safe action.

1A, 1B Vehicle 21 _L Left rear wheel toe angle changing unit 21 _R Right rear wheel toe angle changing unit 22 _L Left rear wheel toe angle detecting unit 22 _R Right rear wheel toe angle detecting unit 23 Front wheel steering unit (yaw rate generating unit)
24 Driving force distribution changing unit (yaw rate generating unit)
30A, 30B Vehicle behavior control device 31 Rear wheel toe angle control unit 32 Front wheel steering control unit (yaw rate control unit)
33 Driving force distribution control unit (yaw rate control unit)

Claims (3)

A left and right rear wheel toe angle changing section for independently changing the toe angles of the left and right rear wheels;
Left and right rear wheel toe angle detectors for detecting respective toe angles of the left and right rear wheels;
A yaw rate generating unit that is provided separately from the left and right rear wheel toe angle changing units, and generates a yaw rate in the vehicle body;
A vehicle behavior control device for controlling the behavior of the vehicle in a vehicle comprising:
A rear wheel toe angle control unit for controlling the left and right rear wheel toe angle changing units using detection results of the left and right rear wheel toe angle detecting units;
A yaw rate controller for controlling the yaw rate generator;
With
The yaw rate generating unit is a torque distribution changing unit that changes the distribution of torque applied to the left and right rear wheels,
The yaw rate control unit is a torque distribution control unit that controls the torque distribution change unit,
When the rear wheel toe angle changing portion corresponding to one of the left and right rear wheels has failed,
The rear wheel toe angle control unit corresponds to the other of the left and right rear wheels based on the detection result of the rear wheel toe angle detection unit corresponding to one of the left and right rear wheels. By controlling the other toe angle of the left and right rear wheels to one toe angle of the left and right rear wheels to make the directions of the left and right rear wheels parallel, and the torque distribution control unit, A vehicle behavior control device that distributes driving force to the left and right rear wheels so as to cancel a yaw rate due to a toe angle of the left and right rear wheels by controlling the torque distribution changing unit . A left and right rear wheel toe angle changing section for independently changing the toe angles of the left and right rear wheels;
Left and right rear wheel toe angle detectors for detecting respective toe angles of the left and right rear wheels;
A yaw rate generating unit that is provided separately from the left and right rear wheel toe angle changing units, and generates a yaw rate in the vehicle body;
A vehicle behavior control device for controlling the behavior of the vehicle in a vehicle comprising:
A rear wheel toe angle control unit for controlling the left and right rear wheel toe angle changing units using detection results of the left and right rear wheel toe angle detecting units;
A yaw rate controller for controlling the yaw rate generator;
With
The yaw rate generating unit is a torque distribution changing unit that changes the distribution of torque applied to the left and right rear wheels,
The yaw rate control unit is a torque distribution control unit that controls the torque distribution change unit,
When the rear wheel toe angle detection unit corresponding to one of the left and right rear wheels fails,
The rear wheel toe angle control unit controls the rear wheel toe angle changing unit corresponding to the other of the left and right rear wheels, thereby setting the other toe angle of the left and right rear wheels to zero and the torque. A vehicle behavior control device , wherein a distribution control unit distributes driving force to the left and right rear wheels so as to cancel a yaw rate due to a toe angle of the left and right rear wheels by controlling the torque distribution changing unit. . The yaw rate generating unit is a front wheel steering unit that steers left and right front wheels,
The yaw rate control unit is a front wheel steering control unit that controls the front wheel steering unit,
When the rear wheel toe angle changing unit or the rear wheel toe angle detecting unit corresponding to one of the left and right rear wheels has failed,
The front wheel steering control unit controls the front wheel steering unit to steer the left and right front wheels so as to cancel a yaw rate due to a toe angle of the left and right rear wheels. The vehicle behavior control device according to claim 2.

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