CN1751937A - Controlling device for vehicle running - Google Patents
Controlling device for vehicle running Download PDFInfo
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- CN1751937A CN1751937A CN 200410082494 CN200410082494A CN1751937A CN 1751937 A CN1751937 A CN 1751937A CN 200410082494 CN200410082494 CN 200410082494 CN 200410082494 A CN200410082494 A CN 200410082494A CN 1751937 A CN1751937 A CN 1751937A
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- 238000011156 evaluation Methods 0.000 description 8
- 230000003190 augmentative effect Effects 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 4
- 230000007812 deficiency Effects 0.000 description 4
- 230000001681 protective effect Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 230000000875 corresponding effect Effects 0.000 description 2
- 230000005520 electrodynamics Effects 0.000 description 2
- 230000036039 immunity Effects 0.000 description 2
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 2
- 230000001052 transient effect Effects 0.000 description 2
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- 230000003467 diminishing effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002828 fuel tank Substances 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
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Abstract
The present invention is intended to begin the anti-skidding control initial stage, effectively increases to turn to assist torque, thereby effectively corrects vehicle yaw.The vehicle ' device, when one of left and right sides front-wheel is at least carried out anti-skidding control (S10), deviation delta P according to the brake-pressure Pf1 of the brake-pressure Pfr of right wheel and left wheel, calculate the revisal amount Tam (S30) that turns to assist torque based on the braking force difference of left and right sides front-wheel, according to basic assist torque Tab, revisal amount Tam, other turn to assist torque Tac to control and turn to assist torque (S210～290), auxiliary directional steering to the vehicle yaw that causes by the braking force difference of correcting left and right sides front-wheel, especially to the anti-skidding control at the beginning of left and right sides front-wheel at least the time be carved into specified time To with interior (S40), turn to the revisal amount Tam of assist torque to increase to greater than 1 K doubly (S50).
Description
Technical field
The present invention relates to a kind of controlling device for vehicle running, relate to a kind of travel controlling system that carries out anti-skidding control and turn to assist torque control in detail.
Background technology
Be well known that as one of travel controlling system of vehicles such as automobile, following patent documentation 1 for example related to the present invention is described, when carrying out anti-skidding control, when the braking force difference of left and right sides front-wheel is big, increase revisal and turn to assist torque, reduce to turn to the size of counter-force, thereby can correct the travel controlling system of vehicle yaw with comparalive ease.
According to this control setup that travels, in vehicle ' under the what is called that differs widely with the cooresponding surface friction coefficient of left and right sides front-wheel is striden situation on the road, one of left and right sides front-wheel is carried out anti-skidding control, it is big that the braking force difference of left and right sides front-wheel becomes, even cause vehicle yaw thus, owing to turn to assist torque to be increased revisal, turn to the size of counter-force to be reduced, so also can correct the deflection of vehicle with comparalive ease.
[patent documentation 1] spy opens flat 8-183470 communique
But, in above-mentioned existing travel controlling system, there is following problems: owing to be the braking force difference that in anti-skidding control process, detects left and right sides front-wheel, then according to this testing result control power steering gear, so becomeing greater to the delay that turns to the actual increase of assist torque from the braking force difference of left and right sides front-wheel will be inevitable, thereby can not correct vehicle yaw effectively.
In addition, in general,, prevent that unnecessarily revisal from turning to the so-called immunity region of assist torque, increase the reason that turns to assist torque to postpone so the immunity region of this control also becomes owing to set even in anti-skidding control process, produce the braking force difference.
Summary of the invention
The present invention promptly is in view of when the braking force difference of the left and right sides front-wheel in anti-skidding control process is big, the problems referred to above of existing in the existing travel controlling system that revisal turns to assist torque to reduce to turn to the size of counter-force to constitute have done by increasing, main purpose of the present invention is, at the beginning anti-skidding control initial stage, turn to assist torque by temporary transient increase, effectively increase turns to assist torque, thus the deflection that can effectively correct vehicle.
Above-mentioned main purpose, according to the present invention, be by having constituting of first invention, promptly have: the brake equipment of controlling each wheel braking force respectively, at least according to the device that turns to torque to pay to turn to assist torque, according to come based on the revisal amount of the braking force difference of left and right wheels revisal described turn to assist torque turn to the assist torque compensating device, utilize described brake equipment to carry out the control setup of anti-skidding control, it is characterized in that: described control setup, have from beginning that one of left and right wheels is at least carried out anti-skidding controlling to through till the specified time, increase that the controlling device for vehicle running of the device of described revisal amount realizes.
In addition, according to the present invention, for effectively reaching above-mentioned main purpose, in the formation of above-mentioned first invention, described left and right wheels is a left and right sides front-wheel, and described control setup is (formation of second invention) that constitutes by the described controlling quantity that reduces deflection control when turning to the assist torque compensating device to come revisal to turn to assist torque.
In addition, according to the present invention, for effectively reaching above-mentioned main purpose, in the formation of last second invention, described control setup is by by described when turning to the assist torque compensating device to come revisal to turn to assist torque, the controlling quantity of deflection control is reduced to 0, (formation of the 3rd invention) that constitutes to forbid deflection control.
Formation according to above-mentioned first invention, because not only to come revisal to turn to assist torque based on the revisal amount of left and right wheels braking force difference, also from the anti-skidding at the beginning of left and right wheels at least controlled to through till the specified time, increase described revisal amount, so can be from the anti-skidding at the beginning of left and right wheels at least controlled to through till the specified time, really increase and turn to assist torque revisal amount based on the braking force difference of left and right wheels, thus, chaufeur is at the initial stage of the anti-skidding control of beginning, can be easily and be used to correct turning to of vehicle yaw effectively.
In addition, in general, striding in vehicle ' under the situation on road, if one of left and right sides front-wheel is carried out anti-skidding control, the superfluous deflecting torque that causes for the braking force difference that prevents left and right sides front-wheel acts on the vehicle, when carrying out deflection control, with in the restriction left and right sides front-wheel another, promptly with the wheel that carries out anti-skidding control about the brake-pressure of front-wheel of an opposite side when increasing, because the brake-pressure of the front-wheel of an opposite side increases the vehicle integral stop power deficiency that causes about restriction, the increase of vehicle braked distance will be inevitable.
Formation according to second invention, left and right wheels is a left and right sides front-wheel, because when turning to the assist torque compensating device to come revisal to turn to assist torque, reduce the controlling quantity of deflection control, so, compare with the existing situation of the controlling quantity that does not reduce deflection control and to have reduced the in shortage of vehicle integral stop power, therefore can reduce the increase of the car brakeing distance that causes by deflection control really.
In addition, formation according to claim 3, because when turning to the assist torque compensating device to come revisal to turn to assist torque, the controlling quantity of deflection control is reduced to 0 to forbid carrying out deflection control, so can prevent from really to control the vehicle integral stop power deficiency that causes, therefore can prevent to control the increase of the car brakeing distance that causes really by deflection by deflection.
According to an optimal way of the present invention, invent to the formation of the 3rd invention above-mentioned first, brake equipment is to constitute by the braking force that the brake-pressure of controlling each wheel is respectively controlled each wheel respectively, turns to the assist torque compensating device to turn to assist torque to constitute (optimal way 1) with the revisal amount revisal based on the brake-pressure difference of left and right sides front-wheel.
According to another optimal way of the present invention, to the formation of the 3rd invention, the device that the revisal amount is increased increases the revisal amount with the Magnification of stipulating and constitutes (optimal way 2) in above-mentioned first invention.
According to another optimal way of the present invention, invent to the formation of the 3rd invention above-mentioned first, the device that the revisal amount is increased is to increase the revisal amount with the regulation Magnification, and the regulation Magnification with the speed of a motor vehicle improve diminish variable setting constitutes according to the speed of a motor vehicle (optimal way 3).
According to another optimal way of the present invention, in the formation of above-mentioned second invention, be reduce with the wheel that carries out anti-skidding control about the increase limited degree (optimal way 4) of brake-pressure of front-wheel of an opposite side.
According to another optimal way of the present invention, in the formation of above-mentioned second invention, control setup is when can be when turning to the assist torque compensating device to come revisal to turn to assist torque, reduces the controlling quantity that deflection controls and constitutes (optimal way 5).
According to an optimal way of the present invention, in the formation of above-mentioned the 3rd invention, control setup is controlled and is constituted (optimal way 6) when forbidding carrying out deflection when turning to the assist torque compensating device to come revisal to turn to assist torque.
Description of drawings
Fig. 1 is the summary construction diagram of expression according to first embodiment of the steering controller for vehicle of the present invention that is applicable to the vehicle with electric type power steering device.
Fig. 2 is the diagram of circuit of the revisal amount calculation control process that turns to assist torque in expression first embodiment.
Fig. 3 is the diagram of circuit that turns to the assist torque control process in expression first embodiment.
Fig. 4 is the brake-pressure deviation delta Pf of expression left and right sides front-wheel and the diagram of curves that turns to the relation between the assist torque revisal amount Tam.
Fig. 5 is the diagram of curves that expression turns to the relation between torque Ts and the basic assist torque Tab.
Fig. 6 is the diagram of curves that concerns between expression vehicle velocity V and the speed of a motor vehicle COEFFICIENT K v.
Fig. 7 is the diagram of circuit of expression according to the revisal amount calculation control process that turns to assist torque in second embodiment of the steering controller for vehicle of the present invention that is applicable to the vehicle with electric type power steering device.
The specific embodiment
Below, be elaborated to implementing several routine preferred implementation of the present invention (below be called embodiment) with reference to accompanying drawing.
First embodiment
Fig. 1 is the summary construction diagram of expression according to first embodiment of the steering controller for vehicle of the present invention that is applicable to the vehicle with electric type power steering device.
In Fig. 1,10FL and 10FR represent the left and right sides front-wheel of the flower wheel of vehicle 12 respectively, and 10RL and 10RR represent the left and right sides rear wheel of the drive wheel of vehicle 12 respectively.Also being the left and right sides front-wheel 10FL and the 10FR of wheel flutter, is by responding chaufeur to the driven rack-gear type electric type power steering device 16 of turning to of steering handwheel 14, turning to by steering track rod 18L and 18R.
In the illustrated embodiment, electric type power steering device 16 is electrodynamic type electric power steering apparatus of tooth bar coaxial type, by electronic control package 20 controls.Electrodynamic type electric power steering apparatus 16 has the mapping device 26 of electrical motor 22 and for example ball screw type, the rotating torques of electrical motor 22 is changed into power on rack bar 24 vibration-directions, alleviate the assist torque that turns to that chaufeur turns to burden by producing the assisted diversion power that drives rack bar 24 with respect to housing 28, producing.
The braking force of each wheel is the oil hydraulic circuit 32 by brake equipment 30, controls by the brake-pressure of control wheel braking cylinder 34FR, 34FL, 34RR, 34RL.As shown in the figure, oil hydraulic circuit 32 comprises fuel tank, and all valve gears such as Hydraulic Pump, the brake-pressure of each wheel braking cylinder are usually by trampling of brake pedal 36 being operated master cylinder 38 controls that drive according to chaufeur, in addition, also follow according to controlling by electronic control package 40 as described later in detail.
On wheel 10FR～10RL, be provided with vehicle-wheel speed sensor 42FR～42RL of the wheel velocity Vwi (i=fr, fl, rr, rl) that detects each corresponding wheel, on wheel braking cylinder 34FL～34RR of wheel 10FR～10RL, be provided with pressure sensor 44FL～44RR of the brake-pressure Pi (i=fr, fl, rr, rl) that detects each corresponding wheel.In addition, on steering shaft 41, be provided with and detect the torque sensor 46 that turns to torque Ts, on master cylinder 38, be provided with the pressure sensor 48 that detects master cylinder pressure Pm.In addition, the front and back acceleration pick-up 52 that on vehicle 12, is provided with the car speed sensor 50 that detects vehicle velocity V and detects vehicle front and back acceleration/accel Gx.In addition, torque sensor 46, detects and turns to torque Ts for just with vehicle anticlockwise direction.
As shown in the figure, with the signal of expression by the detected wheel velocity Vwi of vehicle-wheel speed sensor 42FR～42RL, expression is by the signal of the brake-pressure Pi of detected each wheel of pressure sensor 44FL～44RR, expression is by the signal of pressure sensor 48 detected master cylinder pressure Pm, expression is by the signal of acceleration/accel Gx before and after the front and back acceleration pick-up 52 detected vehicles, in the input electronic control package 40.
In addition, with expression by in the detected signal and the signal input electronic control package 20 of expression that turns to torque Ts of torque sensor 46 by car speed sensor 50 detected vehicle velocity V.In addition, as scheme to know clearly and show that electronic control package 20 and 40 has the micro-computer of general structure, for example have CPU, ROM, RAM and input/output terminal device, and be connected with each other by these amphitropic common buss.
Though electronic control package 40 is not represented as diagram of circuit, but to get the braking skid amount SBi (i=fl that calculates body speed of vehicle Vb and each wheel with known in the present technique field according to the wheel velocity Vwi of each wheel, fr, rl, rr), if any one wheel braking slippage SBi is greater than a reference value of the anti-skidding control of beginning (ABS control), the beginning condition of anti-skidding control is set up, so this wheel is increased and decreased the anti-skidding control of wheel braking in-cylinder pressure, so that the braking skid amount is in specialized range, till the end condition of anti-skidding control is set up.
In addition, electronic control package 40, when being in when only one of left and right sides front-wheel being carried out the state of anti-skidding control, for example when vehicle is in the braking mode of striding on the road, for preventing that the superfluous deflecting torque that left and right sides front-wheel causes from acting on the vehicle, carry out deflection control, with another of restriction left and right sides front-wheel, promptly with the wheel of carrying out anti-skidding control about the brake-pressure of front-wheel of an opposite side increase.
In addition, electronic control package 40, according to diagram of circuit shown in Figure 2, when one of left and right sides front-wheel carries out anti-skidding control at least, assist the directional steering of the vehicle yaw that causes to rectification left and right sides front-wheel for brake-pressure deviation delta Pf according to left and right sides front-wheel, calculating is based on the revisal amount Tam of the deviation delta Pf of the brake-pressure of left and right sides front-wheel, especially when beginning anti-skidding control till through specified time To, increase the increase revisal amount Tam that turns to assist torque, and under the situation about can coordinate with electronic control package 20, to the signal of electronic control package 20 output expressions increase revisal amount Tam.
In addition, electronic control package 40, under situation about can coordinate with electronic control package 20, when electronic control package 20 outputs increase revisal amount Tam, can be by forbidding carrying out deflection control, really prevent by the caused vehicle integral stop of the increase power deficiency of controlling by deflection with the front wheel braking pressure of carrying out an opposite side about anti-skidding control wheel, in addition, can not with electronic control package 20 universal time coordinateds, do not increase the signal of revisal amount Tam and carry out deflection control, reduce the possibility of the vehicle yaw that the braking force difference of left and right wheels causes thus to electronic control package 20 output expression.
In addition, electronic control package 20, when representing the signal of increase revisal amount Tam from electronic control package 40 inputs, by controlling assist torque according to basic assist torque Tab with increase revisal amount Tam sum by electric type power steering device 16, increase revisal and turn to assist torque, thereby chaufeur is being striden in vehicle ' under the situation on road, can be easily and correct vehicle yaw effectively.
Next with reference to diagram of circuit shown in Figure 2, the revisal amount calculation control that turns to assist torque in graphic first embodiment is described.The control of carrying out according to diagram of circuit shown in Figure 2 in addition, the closed beginning of never graphic ignition lock is carried out repeatedly every specified time.
At first, in step 10, judge whether that to left and right sides front-wheel at least one of them carry out anti-skidding control, when carrying out negative evaluation, enter step 80 after in step 20, will turning to the revisal amount Tam that assists assist torque to be set at 0, when carrying out affirmative determination, enter step 30.
In step 30, be the directional steering of the auxiliary vehicle yaw that causes to the braking force difference of correcting by left and right sides front-wheel, according to the deviation delta Pf of the brake-pressure Pfl of the brake-pressure Pfr of off front wheel and the near front wheel by with the revisal amount Tam that turn to assist torque of the cooresponding image calculation of diagram of curves shown in Figure 4 based on the braking force difference of left and right sides front-wheel.
In step 40, judge whether from begin to one of left and right sides front-wheel at least carry out anti-skidding control the time be carved in the specified time To (positive constant), to make K when carrying out affirmative determination in step 50 be greater than the positive augmenting factor of 1 regulation and will turn to the revisal amount Tam revisal of assist torque to enter step 60 to K Tam, and former state enters step 60 when carrying out negative evaluation.
In step 60, the absolute value of judging the revisal amount Tam turn to assist torque whether greater than the protection of transmit leg with a reference value Tama (positive constant), when carrying out affirmative determination, enter step 80 after will turning to the revisal amount Tam of assist torque to be set at Tama in step 70, former state enters step 80 when carrying out negative evaluation.
In step 80, judge whether to be in can the co-operative control control of braking with electronic control package 40 with turn to the state of assist torque control with electronic control package 20, for example, whether judgement can the sending and receiving signal between these control setups, whether can control simultaneously by each control setup, when carrying out affirmative determination in step 90 deflection control be under an embargo, in step 100, expression is turned to the signal of the revisal amount Tam of assist torque to send to turn to assist torque control with electronic control package 20, in step 110, can expression not turned to the signal of the revisal amount Tam of assist torque to send to when carrying out negative evaluation to turn to assist torque control to carry out deflection and control with electronic control package 20.
Next with reference to diagram of circuit shown in Figure 3 the assist torque control that turns in graphic first embodiment is described.In addition, according to the closed beginning of the also never graphic ignition lock of the control of diagram of circuit shown in Figure 3, carry out repeatedly every specified time.
In step 210, read the signal of expression deflection angle θ s etc., in step 220, according to turn to torque T from the cooresponding image of diagram of curves shown in Figure 5 calculate basic assist torque Tab ', in step 230, according to vehicle velocity V from the cooresponding image of diagram of curves shown in Figure 6 calculate speed of a motor vehicle COEFFICIENT K v, in step 240,, calculate basic assist torque Tab ' after the revisal with speed of a motor vehicle COEFFICIENT K v as the product of speed of a motor vehicle COEFFICIENT K v and basic assist torque Tab '.
In step 250, judge turn to assist torque revisal amount Tam whether greater than take over party's protection with a reference value Tamp (positive constant), enter step 270 after in step 260, will turning to the revisal amount of assist torque to be set at Tamp when carrying out affirmative determination, when carrying out negative evaluation, former state enters step 270.
In step 270, carry out inertia compensation as known main points with the present technique field, that calculates other turns to assist torque Tac, in step 280,, turn to the revisal amount Tam of assist torque as basic assist torque Tab, other turn to assist torque Tac sum to calculate finally to turn to assist torque Ta, in step 290, will give electrical motor 22 with the cooresponding signal output of assist torque Ta, carry out the assist torque that turns to that alleviates the required steering effort of chaufeur and control.
Like this according to graphic first embodiment, when left and right sides front-wheel is not all carried out anti-skidding control, in step 10, carry out negative evaluation, in step 20, turn to the revisal amount of assist torque to be set to 0, in step 210～290, turn to assist torque thus according to basic assist torque Tab and other the assist torque Tac control that turns to.
Relative therewith, when one of left and right sides front-wheel is at least carried out anti-skidding control, in step 10, carry out affirmative determination, in step 30, directional steering for the auxiliary vehicle yaw that causes to the braking force difference of correcting by left and right sides front-wheel, calculate the revisal amount Tam that turns to assist torque according to the deviation delta Pf of the brake-pressure Pfl of the brake-pressure Pfr of off front wheel and the near front wheel based on the braking force difference of left and right sides front-wheel, thus, in step 210～290, according to basic assist torque Tab, revisal amount Tam, other the assist torque Tac control of turning to turns to assist torque, thus the directional steering of the auxiliary vehicle yaw that causes to the braking force difference of correcting by left and right sides front-wheel.
Especially according to graphic first embodiment, when to the anti-skidding control at the beginning of left and right sides front-wheel at least the time when being carved in the specified time To, in step 40, carry out affirmative determination, owing in step 50, will turn to the revisal amount Tam of assist torque to increase to doubly greater than 1 K, so can increase really based on from the anti-skidding at the beginning revisal amount that turns to assist torque that controls to through the braking force difference of the left and right wheels till the specified time to left and right sides front-wheel at least, thereby chaufeur can also be corrected vehicle yaw easily effectively at the beginning anti-skidding control initial stage.
In addition, according to graphic first embodiment, allow to coordinate control of braking with electronic control package 40 with when turning to assist torque control to use the state of electronic control package 20 when being in, owing in step 80, carry out affirmative determination, deflection control is under an embargo in step 90, so can turn to assist torque to guarantee the smooth-ride state of vehicle by increase, can prevent from really simultaneously to control the vehicle integral stop power deficiency that the increase of the brake-pressure of the front-wheel of an opposite side about the wheel that suppresses with the anti-skidding control of implementation causes by deflection, thereby compared with the past, can reduce the vehicle braked distance really.
In addition, do not allow to coordinate control of braking with electronic control package 40 with turn under the situation of assist torque control with the state of electronic control package 20 being in, when one of left and right sides front-wheel is carried out anti-skidding control, owing in step 80, carry out negative evaluation, in step 90, carry out deflection control by allowing deflection to control, so striding in vehicle ' under the situation on road, one of left and right sides front-wheel is carried out anti-skidding control, reduced the possibility of the vehicle yaw that the brake-pressure difference by left and right sides front-wheel causes really.
Second embodiment
Fig. 7 is that expression is applicable to vehicle with electric type power steering device, according to of the present invention, and the diagram of circuit of the revisal amount calculation control process that turns to assist torque in second embodiment of steering controller for vehicle.In addition, in Fig. 7, the identical number of steps of number of steps that mark and Fig. 2 are marked on the step identical with step shown in Figure 2.
In this second embodiment, step 10～80, identical the carrying out of situation with above-mentioned first embodiment, when in step 80, carrying out negative evaluation, do not reduce the control that the temporary transient termination of deflection controlling quantity is carried out according to process shown in Figure 7, in step 95, reduce to enter step 100 after the deflection controlling quantity when carrying out affirmative determination with the rate of descent of stipulating.In addition, the reducing of deflection controlling quantity be by reduce with the wheel that carries out anti-skidding control about the increase limited degree of front wheel braking pressure of an opposite side carry out.
Like this according to second embodiment, allow to coordinate control of braking with electronic control package 40 with when turning to assist torque control to use the state of electronic control package 20 when being in, in step 80, carry out affirmative determination, because the rate of descent with regulation in step 95 reduces the deflection controlling quantity, so can reduce the possibility of the vehicle yaw that the brake-pressure difference by left and right sides front-wheel causes by deflection control, can prevent effectively simultaneously that vehicle single-piece brake-pressure is too not enough, and can also correct turning to of vehicle yaw easily effectively at the beginning anti-skidding control initial stage.
In addition, according to above-mentioned first and second embodiment, because in step 60 and step 70, prevent to represent the excessive signal that turns to assist torque revisal amount Tam with electronic control package 40 by control of braking to turning to assist torque control to send with electronic control package 20, prevent in this external step 250 and 260 that turning to the revisal amount Tam of assist torque is excessive numerical value, so can prevent from really to turn to assist torque control with the excessive assist torque revisal amount Tam that turns to that detection mistake or the miscommunication between electronic control package by sensor cause.
More than specific implementations of the present invention is had been described in detail, but the present invention but is not limited to above-mentioned embodiment, for technical personnel, other all possible implementation should be conspicuous within the scope of the invention.
For example, in the respective embodiments described above, though to the augmenting factor K that turns to assist torque revisal amount Tam be greater than 1 regulation on the occasion of, also can change into augmenting factor K is set according to vehicle velocity V in greater than 1 scope along with vehicle velocity V improves with diminishing changeably.
In addition, in the respective embodiments described above, though the augmenting factor K to the revisal amount Tam that turns to assist torque turns back to 1 through specified time To, but also can change augmenting factor K into and turn back to 1 gradually, so that turn to the increase revisal amount of the revisal amount Tam of assist torque to reduce gradually through specified time To.
In addition, in the respective embodiments described above, in step 60 and step 70, send to electronic control package 40 by control of braking and to turn to assist torque control to turn to assist torque revisal amount Tam by protective treatment with electronic control package 20, though in step 250 and step 260, by control of braking with electronic control package 40 send to turn to assist torque control with electronic control package 20 turn to assist torque revisal amount Tam by protective treatment, also can omit protective treatment in step 60 and the step 70 or the protective treatment in step 250 and the step 260.
In addition, in the respective embodiments described above, though vehicle is the back-wheel drive car, but be suitable for vehicle of the present invention also can be front wheel drive car or four-wheel drive vehicle, in addition, turn to assist torque as long as can arbitrarily control, power steering gear also can be an arbitrary structures well-known in the art.
Claims (3)
1. a controlling device for vehicle running is characterized in that having: the brake equipment of controlling the braking force of each wheel respectively; At least can be according to the device that turns to torque to pay to turn to assist torque; According to revisal amount based on the braking force difference of left and right wheels, revisal is described turn to assist torque turn to the assist torque compensating device; With utilize described brake equipment to carry out the control setup of anti-skidding control; Described control setup has from beginning that one of left and right wheels is at least carried out anti-skidding controlling to through till the specified time, increases the device of described revisal amount.
2. controlling device for vehicle running as claimed in claim 1 is characterized in that, described left and right wheels is a left and right sides front-wheel, and when by described when turning to the assist torque compensating device to come revisal to turn to assist torque, described control setup will reduce the controlling quantity of deflection control.
3. controlling device for vehicle running as claimed in claim 2 is characterized in that, described control setup is being decreased to 0 with the controlling quantity of deflection control by described when turning to the revisal of assist torque compensating device to turn to assist torque, thereby forbids carrying out deflection control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100824949A CN100408406C (en) | 2004-09-20 | 2004-09-20 | Controlling device for vehicle running |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100824949A CN100408406C (en) | 2004-09-20 | 2004-09-20 | Controlling device for vehicle running |
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|---|---|
| CN1751937A true CN1751937A (en) | 2006-03-29 |
| CN100408406C CN100408406C (en) | 2008-08-06 |
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| CNB2004100824949A Expired - Fee Related CN100408406C (en) | 2004-09-20 | 2004-09-20 | Controlling device for vehicle running |
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| CN103124663A (en) * | 2010-08-30 | 2013-05-29 | E-Aam传动系统公司 | Method of controlling a torque vectoring mechanism and torque vectoring system |
| CN108422987A (en) * | 2018-02-08 | 2018-08-21 | 江苏大学 | Automatic distribution control device and control method for braking force of pull type motor home |
| CN108466610A (en) * | 2018-02-08 | 2018-08-31 | 江苏大学 | A kind of automatic assigned unit of caravan trailer brake force and its control method |
| CN113386856A (en) * | 2020-03-12 | 2021-09-14 | 大众汽车股份公司 | Consideration of deviation of manual torque in vehicle steering system |
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| JP5808977B2 (en) * | 2011-08-19 | 2015-11-10 | Ntn株式会社 | Turning efficiency improvement device for vehicle yaw moment generation |
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| JPH10315992A (en) * | 1997-05-16 | 1998-12-02 | Jidosha Kiki Co Ltd | Electric power steering device |
| JP3105847B2 (en) * | 1997-11-04 | 2000-11-06 | 本田技研工業株式会社 | Steering wheel control structure for electrically steered vehicles |
| JP3630278B2 (en) * | 1998-10-08 | 2005-03-16 | 本田技研工業株式会社 | Electric power steering device |
| JP3862224B2 (en) * | 2001-11-28 | 2006-12-27 | 本田技研工業株式会社 | Vehicle operation control device |
| JP3908074B2 (en) * | 2002-04-08 | 2007-04-25 | アイシン精機株式会社 | Electric steering control device and vehicle anti-skid control device having the same |
-
2004
- 2004-09-20 CN CNB2004100824949A patent/CN100408406C/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103124663A (en) * | 2010-08-30 | 2013-05-29 | E-Aam传动系统公司 | Method of controlling a torque vectoring mechanism and torque vectoring system |
| CN103124663B (en) * | 2010-08-30 | 2016-02-17 | E-Aam传动系统公司 | The method of control torque vector mechanism and torque vector system |
| CN108422987A (en) * | 2018-02-08 | 2018-08-21 | 江苏大学 | Automatic distribution control device and control method for braking force of pull type motor home |
| CN108466610A (en) * | 2018-02-08 | 2018-08-31 | 江苏大学 | A kind of automatic assigned unit of caravan trailer brake force and its control method |
| CN113386856A (en) * | 2020-03-12 | 2021-09-14 | 大众汽车股份公司 | Consideration of deviation of manual torque in vehicle steering system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100408406C (en) | 2008-08-06 |
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