JP4258207B2 - Coordinated control device for vehicle behavior and differential limitation - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a coordinated control device for vehicle behavior and differential limitation in a vehicle in which both a vehicle behavior control device (for example, a system called VDC and VSC) and a differential limit control device (for example, a diff lock system) are mounted. Belonging to the field.
[0002]
[Prior art]
In the vehicle behavior control device, it is necessary to independently control the braking force of each wheel in order to suppress unstable behavior such as understeer and oversteer of the controlled vehicle.
[0003]
  On the other hand, it is provided to improve the running performance on off-road etc.Front differential lock mechanism and rear differential lock mechanism limit differential between left and right wheelsIt is a device intended to do.
[0004]
When vehicle behavior control is performed on a vehicle equipped with a diff lock mechanism as described above, each wheel does not move independently due to the diff lock, and the braking force wraps around the wheels other than the brake wheel due to differential restriction. There is a problem that an appropriate vehicle behavior control effect cannot be obtained.
[0005]
In response to such a problem, in the prior art, when a differential lock detection sensor that detects whether or not the differential lock mechanism that restricts the differential is working is provided and it is determined that the differential lock mechanism that restricts the differential is working, the vehicle The behavior control is prohibited or the vehicle behavior control amount is changed (for example, see Patent Document 1).
[0006]
[Patent Document 1]
JP 2000-344077 A (first page).
[0007]
[Problems to be solved by the invention]
However, in the conventional vehicle behavior control device, the vehicle behavior control is prohibited or the vehicle behavior control amount is changed depending on only the sensor signal from the diff lock detection sensor. If the diff lock state is misjudged, the vehicle behavior control may not be prohibited even if the diff lock mechanism is operating, or the appropriate vehicle behavior control amount may not be changed, or the diff lock mechanism may not be activated. Despite being in the middle, there is a risk that vehicle behavior control will be unnecessarily prohibited.
[0008]
The present invention has been made paying attention to the above-mentioned problem, and reliably controls the control interference between the vehicle behavior and the differential limit without erroneously judging the differential limit state and permitting or prohibiting the vehicle behavior control. It is an object of the present invention to provide a cooperative control device for vehicle behavior and differential limitation that can be prevented.
[0009]
[Means for Solving the Problems]
  In order to achieve the above object, in the present invention,
  Vehicle behavior control means for controlling the behavior of the vehicle by applying braking force to each wheel independently;
  Differential restriction between left and right wheelsDifferential limiting control means for controlling
A vehicle behavior control switch that can be switched on and off by the operation of the driver, permits the operation of the vehicle behavior control means when on, and disallows when off;
It has a switching function for performing / releasing differential restriction control and a function for prohibiting / permitting vehicle behavior control, and only when the vehicle behavior control switch is turned off.Differential limit controlCooperative control means for allowing the implementation of differential limiting control by means;
It was decided to have.
[0010]
Here, the “vehicle behavior control means” means means for controlling the vehicle behavior by independently applying braking force to each wheel. For example, the vehicle steer characteristic is optimized at the time of turning or lane change. This refers to a vehicle dynamics control system (VDC system) to be controlled.
[0011]
  "Differential limit control means"Differential restriction between left and right wheelsMeans to control,For example, it refers to a differential limiting device having a differential lock mechanism between the left and right front wheels or between the left and right rear wheels, a differential limiting control system having a differential limiting clutch between the left and right front wheels or between the left and right rear wheels.Further, the differential limiting control may be operated manually by the driver's operation, or the vehicle running state (for example,Left and right wheel rotation speed differenceEtc.) may be automatically performed according to the above.
[0012]
【The invention's effect】
Therefore, in the cooperative control device for vehicle behavior and differential restriction according to the present invention, the differential control is performed only when the cooperative behavior control unit selects the vehicle behavior control non-operation state by the vehicle behavior control non-operation selection unit. Since the differential limit control is allowed to be performed by the limit control means, the control interference between the vehicle behavior and the differential limit is ensured without erroneously judging the differential limit state and permitting or prohibiting the vehicle behavior control. Can be prevented.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for realizing a cooperative control device for vehicle behavior and differential limitation according to the present invention will be described based on first to third embodiments shown in the drawings.
[0014]
(First embodiment)
First, the configuration will be described.
FIG. 1 is an example of a vehicle dynamics control system (a vehicle behavior control means for a rear wheel drive vehicle) to which the cooperative control device for vehicle behavior and differential limitation of the first embodiment is applied. FIG.
[0015]
This VDC system, for example, reduces vehicle side slip by engine control by fuel cut and throttle opening and closing and four-wheel independent brake control at the time of lane change or turning on a slippery road surface, thereby braking, starting, This is a system that achieves a high level of turning performance and controls the vehicle behavior as intended by the driver.
[0016]
Note that “TCS” used in the following text is an abbreviation for Traction Control System, and “ABS” is an abbreviation for Anti-lock Brake System.
[0017]
In FIG. 1, 1 is an engine, 2 is a throttle valve, 3 is a throttle motor, 4 is a rear differential, 5 is a left front wheel, 6 is a right front wheel, 7 is a left rear wheel, and 8 is a right rear wheel. The driving force of the engine 1 is controlled in accordance with the opening degree of the throttle valve 2 driven by, and the engine driving force is transmitted to the left and right rear wheels 7 and 8 via the rear differential 4.
[0018]
The rear differential 4 has a built-in differential lock mechanism 4a whose operation is controlled by a differential lock control controller 32, which will be described later. The differential lock mechanism 4a is opened to allow the left and right rear wheels 7 and 8 to be differentially operated. The differential between the left and right rear wheels 7 and 8 is limited by the fastening of 4a.
[0019]
In FIG. 1, 9 is a brake pedal, 10 is a booster, 11 is a master cylinder, 12 is a VDC / TCS / ABS actuator, 13 is a left front wheel wheel cylinder, 14 is a right front wheel wheel cylinder, 15 is a left rear wheel wheel cylinder, 16 Is the right rear wheel wheel cylinder. During normal brake operation, the brake fluid pressure generated in the master cylinder 11 by the depression of the brake pedal 9 is transmitted through the VDC / TCS / ABS actuator 12 to the four-wheel wheel cylinder. 13, 14, 15 and 16, and braking force is applied to each of the four wheels.
[0020]
The VDC / TCS / ABS actuator 12 receives a VDC / TCS / ABS actuator drive signal from a VDC / TCS / ABS controller 17 to be described later, and adjusts the brake fluid pressure of the wheel cylinder of each wheel. At the time or during TCS control, the brake fluid pressure generated by the VDC / TCS / ABS actuator 12 is supplied to a wheel cylinder that needs to be applied with a braking force among the wheel cylinders of each wheel. Further, during ABS control, the wheel cylinder pressure of each wheel is adjusted by the VDC / TCS / ABS actuator 12 so as to prevent braking lock.
[0021]
In FIG. 1, 17 is a VDC / TCS / ABS controller (vehicle behavior control means), 18 is an engine control controller, 19 is an A / T controller, 20 is a left front wheel speed sensor, 21 is a right front wheel speed sensor, and 22 is left. Rear wheel speed sensor, 23 is a right rear wheel speed sensor, 24 is a brake pressure sensor, 25 is a lateral G sensor, 26 is a yaw rate sensor, 27 is a rudder angle sensor, and 28 is a VDC off switch (vehicle behavior control non-operation selection means) , 29 is an ABS warning lamp, 30 is a VDC OFF indicator lamp, 31 is a SLIP indicator lamp, 32 is a diff lock control controller (differential restriction control means), and 33 is a diff lock changeover switch (operation restriction control change means).
[0022]
The VDC / TCS / ABS controller 17, the engine controller 18, the A / T controller 19 and the diff lock controller 32 are connected to each other by a CAN communication line.
[0023]
The VDC / TCS / ABS controller 17 includes wheel speed sensors 20, 21, 22, 23, a brake pressure sensor 24, a lateral G sensor 25, a yaw rate sensor 26, a rudder angle sensor 27, and a VDC off switch 28. The sensor signal and the switch signal are input, and the VDC / TCS / ABS actuator drive signal is output to the VDC / TCS / ABS actuator 12. In the VDC / TCS / ABS controller 17, whether or not to permit the execution of the diff lock based on the switch signal from the VDC off switch 28 and the switch signal from the diff lock changeover switch 33 input via the CAN communication line. The cooperative control is executed, and a differential lock execution process command or a differential lock release process command is output to the differential lock control controller 32.
[0024]
The engine controller 18 outputs an injector drive signal to the engine 1 during fuel cut control by VDC control, and outputs a throttle motor control signal to the throttle motor 3 during throttle opening / closing control.
[0025]
The differential lock controller 32 receives a differential lock execution processing command from the VDC / TCS / ABS controller 17 to fasten the differential lock mechanism 4a, and receives a differential lock release processing command from the VDC / TCS / ABS controller 17. Then, the differential lock mechanism 4a is released.
[0026]
Next, the operation will be described.
[0027]
[Coordinated control processing of VDC and diff lock]
FIG. 2 is a flowchart showing the flow of cooperative control processing of VDC and diff lock executed by the VDC / TCS / ABS controller 17 of the first embodiment. Each step will be described below.
[0028]
In step S40, a VDC off switch state (a VDC off request state when ON, a VDC permission state when OFF) is read from the VDC off switch 28 by a switch signal, and the process proceeds to step S41.
[0029]
In step S41, based on the VDC off switch state read in step S40, it is determined whether or not it is a VDC off request. If Yes, the process proceeds to step S42, and if No, the process proceeds to step S43.
[0030]
In step S42, VDC off processing for prohibiting VDC control is performed, and the process proceeds to step S44.
[0031]
In step S43, it is determined whether or not diff lock is in progress (during diff lock execution processing in step S47 described later). If Yes, the process proceeds to step S42, and if No, the process proceeds to step S44.
[0032]
In step S44, the diff lock state (diff lock on request state when ON, diff lock off request state when OFF) is read by a switch signal from the diff lock changeover switch 33, and the process proceeds to step S45.
[0033]
In step S45, it is determined whether or not there is a diff lock-on request. If Yes, the process proceeds to step S46, and if No, the process proceeds to step S48.
[0034]
In step S46, it is determined whether or not VDC is off (during VDC off processing in step S42). If Yes, the process proceeds to step S47, and if No, the process proceeds to step S48.
[0035]
In step S47, a command for executing the diff lock process is output to the diff lock controller 32, and the process proceeds to return.
[0036]
In step S48, a command for diff lock release processing is output to the diff lock controller 32, and the process proceeds to return.
[0037]
Step S45, step S46 and step S47 correspond to the cooperative control means of claim 2. The flow from step S41 to step S43 to step S42 corresponds to the cooperative control means of claim 3.
[0038]
[Coordinated control action of VDC and differential lock]
First, when the differential lock mechanism 4a is released and both the VDC off switch 28 and the differential lock changeover switch 33 are OFF, in the flowchart of FIG. 2, step S40 → step S41 → step S43 → step S44 → step S45 → step S48. In step S48, the release of the diff lock mechanism 4a is maintained.
[0039]
When the driver turns on the diff lock changeover switch 33 in the diff lock released state, in the flowchart of FIG. 2, the flow proceeds from step S40 → step S41 → step S43 → step S44 → step S45 → step S46 → step S48. In S48, the release of the differential lock mechanism 4a is maintained. That is, even if the driver has a differential lock on request, the differential lock release state is maintained unless the VDC off switch 28 is turned on.
[0040]
Next, when the driver turns on the VDC off switch 28, in the flowchart of FIG. 2, the flow proceeds from step S40 → step S41 → step S42 → step S44 → step S45 → step S46 → step S47. A command for execution processing is output to the diff lock controller 32, and the diff lock mechanism 4a is fastened. That is, the fastening of the diff lock mechanism 4a is permitted with the VDC off process based on the diff lock on request and the VDC off request as a start condition.
[0041]
When the driver turns off the VDC off switch 28 during the differential lock, in the flowchart of FIG. 2, the flow proceeds from step S40 → step S41 → step S43 → step S42 → step S44 → step S45 → step S46 → step S47, In step S47, the fastening of the differential lock mechanism 4a is maintained. That is, during the differential lock, even if the driver turns off the VDC off switch 28, the fastening of the differential lock mechanism 4a is maintained without returning to the VDC on state.
[0042]
Further, when the driver turns off the diff lock changeover switch 33 during the diff lock, in the flowchart of FIG. 2, the flow proceeds to step S40 → step S41 → step S43 → step S42 → step S44 → step S45 → step S48, step S48. The differential lock release processing command is output to the differential lock control controller 32, and the differential lock mechanism 4a is released. That is, when the diff lock mechanism 4a is fastened, the diff lock mechanism 4a is released under the condition that the diff lock switch 33 is turned off regardless of the selected position of the VDC off switch 28.
[0043]
[VDC control action]
In the VDC control, a target side slip amount is calculated based on the driver's steering operation amount obtained from the steering angle sensor 27 and the brake operation amount obtained from the brake pressure sensor 24. In addition, the actual side slip amount of the vehicle is calculated based on information sent from the lateral G sensor 25, the yaw rate sensor 26, the wheel speed sensors 20, 21, 22, 23, and the like. Then, according to the deviation between the target skid amount and the actual skid amount of the vehicle, the VDC / TCS / ABS actuator 12 is output with a VDC / TCS / ABS actuator drive signal to adjust the brake braking force, The engine output is controlled by opening and closing the throttle to automatically improve the running stability of the vehicle.
[0044]
In other words, the degree of understeering or oversteering of the vehicle is determined based on the deviation between the target skid amount and the actual skid amount of the vehicle. If the vehicle is understeering or oversteering, adjusting the brake braking force and engine output By the control, control is performed so that the side slip amount of the vehicle matches the target side slip amount.
[0045]
For example, when it is determined that there is a large oversteer tendency during a lane change on a slippery road surface, the engine output is controlled according to the degree, and the braking force of the four wheels is controlled to generate an oversteer suppression moment. Reduce the oversteer tendency. Here, the oversteer suppressing moment (force for suppressing oversteer) is generated by applying a braking force to the front and rear wheels on the turning outer wheel side.
[0046]
Further, when it is determined that the understeer tendency is large when turning on a slippery road surface, the brake force of the four wheels is controlled according to the degree, and an understeer suppression moment is generated to reduce the understeer tendency. Here, the understeer suppressing moment (force for suppressing understeer) is generated by applying a braking force to the rear wheel on the turning inner wheel side.
[0047]
[Diflock control action]
As described above, in the VDC control, it is necessary to independently control the braking force (braking force) of each wheel in order to suppress unstable behavior such as understeer and oversteer of the controlled vehicle.
On the other hand, the differential lock mechanism 4a provided for improving the running performance in off-road or the like is intended to limit the differential between the left and right rear wheels 7 and 8, and therefore, for example, VDC When the braking force is applied to one of the left and right rear wheels 7 and 8 in the control, if the diff lock mechanism 4a is fastened, the braking force acting on one of the rear wheels is transmitted to the other rear wheel via the diff lock mechanism 4a. It is transmitted to the wheels, and braking force acts on both the left and right rear wheels 7 and 8, so that an appropriate VDC control effect that stabilizes the vehicle behavior cannot be obtained.
In other words, the VDC control and the diff lock control need to reliably avoid control interference in which both controls are performed at the same time.
[0048]
On the other hand, in the first embodiment apparatus, as is apparent from step S45, step S46, and step S46, which are the cooperative control steps in the flowchart of FIG. If the condition that the VDC is off in S46 is not satisfied, the process does not proceed to the differential lock execution process in step S47. Therefore, as shown in the differential lock control timing chart of FIG. 3, the VDC is turned off at the time of to and the time of t1 is reached. If there is a diff lock request while the VDC is off, the diff lock state is entered. When the diff lock request is released while the VDC is off at the time t2, the diff free state is entered, and then the VDC control is permitted at the time t3. The controllable area (until time to and after time t3) and the diff lock control area (from time t1 to time t2) -Control interference between the VDC control and the diff lock control can be surely avoided without wrapping.
[0049]
Next, in the prior art, for example, in the case of an abnormality that determines “diff-free state” even though it is “diff-locked state” by a signal from the differential internal switch, the diff-lock control area (from time t1 to time t2) VDC control may be performed in However, in the first embodiment apparatus, as shown in the time chart when the diff lock state is erroneously determined in FIG. 4, the diff lock control area is set only when there is a diff lock on request during VDC off without using the diff internal switch or the like. Therefore, it is possible to reliably avoid control interference between the VDC control and the diff lock control.
[0050]
Next, in the prior art, for example, when the signal from the differential internal switch starts misjudging as `` diff free state '' in the middle of the diff lock, the time t2 from the time t1 ′ when the misjudgment started There is a possibility that the VDC control is performed in the differential lock control area up to. However, in the first embodiment apparatus, as shown in the time chart when the diff lock state is erroneously determined in FIG. 5, the diff lock control area is set only when there is a diff lock on request while the VDC is off, without using the diff internal switch or the like. Therefore, it is possible to reliably avoid control interference between the VDC control and the diff lock control.
[0051]
Next, in the prior art, for example, in the case of an abnormality in which it is determined to be a “diff lock state” although it is in a “def free state” by a signal from the differential internal switch, an erroneous determination region (from the time t4 to t VDC control may be prohibited in the period up to However, in the first embodiment apparatus, as shown in the time chart when the diff lock state is erroneously determined in FIG. 6, the VDC permission is kept as it is during the VDC permission regardless of the presence or absence of the diff lock on request without using the diff internal switch or the like. Therefore, the VDC control can be executed as necessary.
[0052]
Next, the effect will be described.
In the cooperative control device for vehicle behavior and differential limitation of the first embodiment, the effects listed below can be obtained.
[0053]
(1) Between the VDC / TCS / ABS controller 17 that controls the behavior of the vehicle and the left and right rear wheels 7 and 8 by having a VDC off switch 28 operated by the driver and applying braking force to each wheel independently. The differential lock control controller 32 that controls the differential limit of the differential lock control controller 32 allows the differential lock control controller 32 to execute the differential lock control only when the VDC non-operation state is selected by the VDC off switch 28. Since the cooperative control means is provided, it is possible to reliably prevent the control interference between the vehicle behavior and the differential restriction without erroneously judging the differential restriction state and permitting or prohibiting the vehicle behavior control.
[0054]
(2) A diff lock changeover switch 33 is provided for selecting whether or not to perform diff lock control by a driver's operation. When the cooperative control means determines that there is a diff lock on request by the diff lock changeover switch 33 in step S45. In step S46, only when it is determined that the VDC is off by selecting the VDC off by the VDC off switch 28, the process proceeds to step S47 to perform the diff lock execution process. Control interference between the VDC control and the diff lock control can be surely prevented by the processing using the signal judgment from.
[0055]
(3) Based on the differential lock execution processing in step S47, the cooperative control means determines that the VDC control allowance is selected by the VDC off switch 28 when it is determined in step S43 that the differential lock mechanism 4a is in the differential lock state. However, since the VDC control process is not performed and the VDC off process is performed, the differential lock mechanism 4a is engaged and the differential lock is started, and the VDC off switch 28 is switched to the VDC control acceptable side. However, the differential lock state can be maintained.
[0056]
(Second embodiment)
The first embodiment shows an example in which the existing VDC off switch 28 and the diff lock changeover switch 33 are used as they are to prevent control interference by a cooperative control program.
On the other hand, the second and third embodiments are examples in which cooperative control is achieved by newly providing one changeover switch instead of these two switches 28 and 33.
[0057]
In the second embodiment, as shown in FIG. 7, one rotary type changeover switch 50 (cooperative control means) is employed.
[0058]
The changeover switch 50 has a switching function for performing / releasing diff lock and a switching function for prohibiting / permitting VDC control. In order to switch from the switch position where VDC control is permitted to the diff lock position, VDC must be prohibited. It has a switch structure that goes through the position.
[0059]
That is, the changeover switch 50 includes a first switch position 50a in which the diff lock is released and the VDC control is permitted, a second switch position 50b in which the diff lock is released and the VDC control is prohibited, and a third switch position 50c where the diff lock and the VDC control are prohibited. The first switch position 50a and the third switch position 50c are arranged at both ends of a rotary switch operation unit 50d (switch operation member), and the second switch position 50b is a rotary switch. It arrange | positioned in the center part of the operation part 50d. Since other configurations are the same as those of the first embodiment, illustration and description thereof are omitted.
[0060]
Explaining the operation, the rotary switch operating portion 50d of the changeover switch 50 is gripped and switched from the first switch position 50a where the VDC control is permitted to the third switch position 50c (FIG. 7) which is the differential lock position. The VDC control prohibition must be passed through the second switch position 50b.
[0061]
Next, the effect will be described.
In the cooperative control device for vehicle behavior and differential restriction of the second embodiment, the following effects can be obtained in addition to the effect (1) of the first embodiment.
[0062]
(4) The changeover switch 50 has a function for switching the execution / release of the diff lock and a function for switching the prohibition / permission of the VDC control. In order to switch from the switch position where the VDC control is permitted to the diff lock position, Since the switch structure passes through the VDC prohibition position, the switching of the differential lock can be easily performed / released and the prohibition / permission of VDC control can be easily switched by one operation by the changeover switch 50. Control interference in diff lock control can be prevented. In addition, by integrating the two switches that the VDC system and the differential lock system have individually, the switch mounting space, the number of parts, and the switch cost can be reduced.
[0063]
(5) The changeover switch 50 includes a first switch position 50a in which the diff lock is released and the VDC control is permitted, a second switch position 50b in which the diff lock is released and the VDC control is prohibited, and a third switch position 50c where the diff lock and the VDC control are prohibited. The first switch position 50a and the third switch position 50c are arranged at both ends of the rotary switch operation unit 50d, and the second switch position 50b is the center of the rotary switch operation unit 50d. Therefore, the control interference between the VDC control and the diff lock control can be prevented by a simple switch operation with the three-position switch excluding the combination of performing the diff lock and permitting the VDC control.
[0064]
(Third embodiment)
In the third embodiment, as shown in FIG. 8, one seesaw type changeover switch 60 (cooperative control means) is employed.
[0065]
The change-over switch 60 has a function for switching the execution / release of the differential lock and a function for switching the prohibition / permission of VDC control. In order to switch from the switch position where the VDC control is permitted to the differential lock position, the VDC must be prohibited. It has a switch structure that goes through the position.
[0066]
That is, the change-over switch 60 includes a first switch position 60a in which the diff lock is released and VDC control is permitted, a second switch position 60b in which the diff lock is released and VDC control is prohibited, and a third switch position 60c that is diff-locked and VDC control is prohibited. And the first switch position 60a and the third switch position 60c are arranged at both ends of a seesaw switch operation part 60d (switch operation member), and the second switch position 60b is a seesaw switch. It arrange | positioned in the center part of the operation part 60d. Since other configurations are the same as those of the first embodiment, illustration and description thereof are omitted.
[0067]
The operation will be described. In order to switch from the first switch position 60a in which the VDC control is permitted to the third switch position 60c in the differential lock position by the seesaw switch operation of the changeover switch 60, the second switch position in which the VDC control is prohibited. 50b (FIG. 8) must be passed.
[0068]
About the effect of the cooperative control apparatus of the vehicle behavior and differential limitation of 3rd Example, since it is the same as that of 2nd Example, description is abbreviate | omitted.
[0069]
As mentioned above, although the cooperative control apparatus of the vehicle behavior and differential restriction | limiting of this invention has been demonstrated based on 1st Example-3rd Example, about a concrete structure, it is not restricted to these Examples, Design changes and additions are allowed without departing from the spirit of the invention according to each claim of the claims.
[0070]
For example, in the first to third embodiments, an example of the VDC system is shown as the vehicle behavior control means, but the system is not limited to the VDC system as long as the system independently controls the braking force of each wheel.
[0071]
  In the first to third embodiments, an example of the differential lock system for the left and right rear wheels is shown as the differential limiting control means, but the differential lock system for the left and right front wheels controlled by manual operation.And differential limiting torque control system in which differential limiting torque is variably controlled by the difference in rotational speed between the left and right wheelsIt may be.
[Brief description of the drawings]
FIG. 1 is an overall system diagram showing a rear-wheel drive vehicle to which a cooperative control device for vehicle behavior and differential restriction of a first embodiment is applied.
FIG. 2 is a flowchart showing a flow of VDC and differential lock cooperative control processing executed by the VDC / TCS / ABS controller of the first embodiment.
FIG. 3 is a differential lock timing chart in the first embodiment apparatus;
FIG. 4 is a comparison time chart between a case of erroneous determination of a diff lock state in which it is always erroneously determined as diff-free in the prior art, and a case of using the first embodiment apparatus.
FIG. 5 is a comparison time chart between a case of a diff lock state erroneous determination that has started erroneously determined as diff free during diff lock in the prior art and a case of using the first embodiment apparatus.
FIG. 6 is a comparison time chart between a case of erroneous determination of a diff lock state in which it is always erroneously determined as diff lock in the prior art and a case of using the first embodiment apparatus.
FIG. 7 is a perspective view showing a changeover switch employed in the cooperative control device for vehicle behavior and differential limitation according to the second embodiment.
FIG. 8 is a perspective view showing a changeover switch employed in the cooperative control device for vehicle behavior and differential limitation according to the third embodiment.
[Explanation of symbols]
1 engine
2 Throttle valve
3 Throttle motor
4 Rear differential
5 Left front wheel
6 Right front wheel
7 Left rear wheel
8 Right rear wheel
9 Brake pedal
10 Booster
11 Master cylinder
12 VDC / TCS / ABS actuator
13 Left front wheel wheel cylinder
14 Right front wheel wheel cylinder
15 Left rear wheel wheel cylinder
16 Right rear wheel wheel cylinder
17 VDC / TCS / ABS controller (vehicle behavior control means)
18 Engine control controller
19 A / T controller
20 Left front wheel speed sensor
21 Right front wheel speed sensor
22 Left rear wheel speed sensor
23 Right rear wheel speed sensor
24 Brake pressure sensor
25 Horizontal G sensor
26 Yaw rate sensor
27 Rudder angle sensor
28 VDC off switch (vehicle behavior control non-operation selection means)
29 ABS warning light
30 VDC OFF indicator light
31 SLIP indicator
32 Differential lock controller (Differential limit control means)
33 Differential lock changeover switch (Differential limit control changeover means)
50 changeover switch (cooperative control means)
50a First switch position
50b Second switch position
50c 3rd switch position
50d Rotary switch operation part (switch operation member)
60 changeover switch (cooperative control means)
60a First switch position
60b Second switch position
60c 3rd switch position
60d Seesaw switch operation part (switch operation member)

Claims (6)

Vehicle behavior control means for controlling the behavior of the vehicle by applying braking force to each wheel independently;
Differential limit control means for controlling the differential limit between the left and right wheels;
A vehicle behavior control switch that can be switched on and off by a driver's operation, permits the operation of the vehicle behavior control means when on, and disallows when off;
Cooperative control means that has a switching function for executing / releasing differential restriction control and a function for prohibiting / permitting vehicle behavior control, and permits the operation of the differential restriction control means only when the vehicle behavior control switch is turned off. When,
A cooperative control device for vehicle behavior and differential limitation, characterized by comprising: In the cooperative control device for vehicle behavior and differential limitation according to claim 1,
The cooperative control unit executes the vehicle behavior control with priority over the differential restriction control. In the cooperative control device for vehicle behavior and differential limitation according to claim 1 or 2,
A differential limit control switching means for selecting whether to perform differential limit control or not according to the driver's operation is provided.
The cooperative control means performs differential restriction control only when there is a request for differential restriction control to be performed by the differential restriction control switching means and vehicle behavior control non-operation is selected by the vehicle behavior control switch. A coordinated control device for vehicle behavior and differential limitation, characterized by allowing the implementation. In the cooperative control device for vehicle behavior and differential limitation according to claim 3,
If it is determined that the differential restriction control mechanism is in the differential restriction based on the permission of the execution of the differential restriction control, the cooperative control means may select the vehicle behavior control permission by the vehicle behavior control switch. A cooperative control device for vehicle behavior and differential limitation, characterized in that the vehicle behavior control is not returned to the permitted state. In the cooperative control device for vehicle behavior and differential limitation according to claim 1 or 2,
The cooperative control means is a changeover switch having a switching function of differential restriction control execution / cancellation and a vehicle behavior control prohibition / permission switching function,
In order to switch from the switch position where the vehicle behavior control is permitted to the position where the differential restriction control is performed, the changeover switch has a switch structure which always passes through the prohibition position of the vehicle behavior control. Coordinated control device for vehicle behavior and differential limitation. In the cooperative control device for vehicle behavior and differential limitation according to claim 5 ,
The changeover switch includes a first switch position for releasing differential restriction and permitting vehicle behavior control, a second switch position for releasing differential restriction and prohibiting vehicle behavior control, and performing differential restriction and prohibiting vehicle behavior control. It has three switch positions, the third switch position,
The first switch position and the third switch position are arranged at both ends of the switch operation member, and the second switch position is arranged at the center of the switch operation member. Control device.

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