JP2000142344A - Vehicle behavior control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To suppress attitude control causing interference with an external force in application of external force to a vehicle so as to improve traveling stability by detecting external force applied to the vehicle and correcting control contents by means of an attitude controlling means when the external force is detected. SOLUTION: When a vehicle deviates from a target attitude because of a collision by another vehicle or the like from the lateral side or the back side, an electronic control unit 10 in a behavior control system detects an external force applied to its own vehicle. When the external force is detected, a front wheel steering angle for computing a control starting threshold vale in the behavior control system or a contorl target value in the behavior control system is corrected so as to be increased/reduced during a predetermined time. In this way, a control content is changed in response to necessity of control in the behavior control system, and disadvantage of attitude control such as movement in the lateral collision causing direction causing mutual interference between the external working direction and the converging direction to a target attitude is eliminated. Therefore, traveling stability of a vehicle can be improved even when an external force is applied to the vehicle.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle behavior control device that converges a running posture of a vehicle, for example, when the running posture deviates from a target posture.

[0002]

2. Description of the Related Art Conventionally, a vehicle state quantity such as a yaw rate and a steering angle of a running vehicle is detected, and the vehicle skids or spins when cornering, avoiding an emergency obstacle, or suddenly changing road conditions. Numerous control devices have been proposed for suppression (for example, see Japanese Patent Application Laid-Open No. 6-69230).

[0003]

However, the above prior art only discloses a technique for correcting the running posture of the vehicle when the driving operation such as steering operation or the road surface condition is suddenly changed. No problem has been pointed out about the problem of attitude control when an external force is applied.

[0004] In particular, a problem with attitude control when an external force is applied to a vehicle is that, for example, when a vehicle is accidentally deviated from a target attitude by erroneously performing a steering operation or the like due to a side collision or a rear collision with another vehicle or the like. Malfunctions to return the running posture of the vehicle to the target posture based on the steering angle, etc., by the posture control of the vehicle. Alternatively, the vehicle may behave in a rear-collision direction, and the direction in which the external force acts and the direction in which the external force converges on the target posture may interfere with each other.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a vehicle behavior control device capable of suppressing attitude control that causes interference with an external force when an external force acts on the vehicle and improving running stability. To provide.

[0006]

SUMMARY OF THE INVENTION To solve the above problems,
In order to achieve the object, a vehicle behavior control device according to the present invention has the following configuration. That is, when the running attitude of the vehicle deviates from the target attitude, in a vehicle behavior control device having attitude control means for converging the running attitude to the target attitude, an external force detecting means for detecting an external force applied to the vehicle,
And correcting means for correcting the control content of the attitude control means when the external force is detected by the external force detecting means.

Preferably, the attitude control means includes:
When the deviation between the target posture calculated based on the vehicle state quantity and the actual posture is equal to or larger than a predetermined deviation, the posture of the vehicle is controlled so that the traveling posture converges on the target posture.

[0008] Preferably, the correction means corrects the control content in a direction in which control intervention by the attitude control means is suppressed.

Preferably, the correction means prohibits control intervention by the attitude control means.

[0010] Preferably, the attitude control means includes:
When the deviation between the target posture calculated based on at least the steering angle and the traveling posture is equal to or larger than a predetermined deviation, the posture of the vehicle is controlled so that the traveling posture converges to the target posture, and the correction means includes: The degree of convergence of the steering angle detected by the attitude control means to the target attitude is corrected in the reduction direction.

[0011] Preferably, the attitude control means includes:
When the deviation between the target posture calculated based on at least the steering angle and the traveling posture is equal to or larger than a predetermined deviation, the posture of the vehicle is controlled so that the traveling posture converges to the target posture, and the correction means includes: As the control content, the steering angle detected by the attitude control means is set to a value before the external force is detected by the detection means.

Preferably, the correcting means terminates its operation after a predetermined period.

[0013] Preferably, the predetermined period is a period from when the external force is detected by the external force detecting means to when the driver performs a driving operation.

Preferably, the predetermined period is a period from when the external force is detected by the external force detecting means to when the influence of the external force on the posture change is reduced.

Preferably, the correction means corrects the degree of suppression of control intervention by the attitude control means in a reduction direction if the vehicle is traveling at high speed or traveling on a low friction road at the time of detection of an external force by the detection means. .

Preferably, the correction means determines whether or not a change in the attitude of the vehicle is large when the external force is detected by the detection means. If the change in the attitude is large, the control intervention by the attitude control means is increased. The control content is corrected in the direction.

[0017]

As described above, according to the first aspect of the present invention, by detecting the external force applied to the vehicle and correcting the content of the control by the attitude control at the time of detecting the external force, the external force is reduced when the external force acts on the vehicle. Posture control that causes interference
Driving stability can be improved.

According to the second aspect of the present invention, when the deviation between the target posture calculated based on the vehicle state quantity and the actual posture is equal to or larger than a predetermined deviation, the traveling posture converges to the target posture. By controlling the attitude of the vehicle
It is possible to suppress the control to the target posture that may cause interference with the external force when the external force acts on the vehicle, thereby improving running stability.

According to the third aspect of the present invention, the correction means corrects the control content in a direction to suppress the control intervention by the attitude control means, thereby causing interference with the external force when the external force acts on the vehicle. Posture control can be suppressed and the vehicle can be immediately evacuated from the external force action point.

According to the fourth aspect of the present invention, the correction means inhibits the attitude control that inhibits interference with the external force when the external force acts on the vehicle by inhibiting the control intervention by the attitude control means. It can be evacuated from the point of external force action.

According to the fifth aspect of the present invention, the correction means panics by correcting the degree of convergence of the steering angle detected by the attitude control means to the target attitude in the direction of reduction. The effect of incorrect steering operation by the occupant can be reduced.

According to the sixth aspect of the present invention, the correcting means sets the steering angle detected by the attitude control means to the value before the detection of the external force by the detecting means, so that the occupant panicked. Can reduce the influence of incorrect steering operation.

According to the seventh aspect of the present invention, the correcting means terminates its operation after a predetermined period, so that the posture change due to the external force is large and it is easy to intervene in the control which may cause interference with the external force. The posture control can be suppressed, the vehicle can be immediately evacuated from the external force action point, and thereafter the running stability can be improved by the normal posture control.

According to the eighth aspect of the present invention, the predetermined period is a period from when the external force is detected by the external force detecting means to when the driving operation by the occupant is performed. During driving operation, posture control in situations where it is easy to intervene in control that may cause interference with external force is suppressed, and it is possible to evacuate immediately from the point of external force action, and thereafter improve driving stability by normal posture control it can.

According to the ninth aspect of the present invention, the predetermined period is a period from when the external force is detected by the external force detecting means to when the degree of the influence of the external force on the change in posture is reduced. When the change is large, posture control in situations where it is easy to intervene in control that may cause interference with external force can be suppressed, and the vehicle can be immediately evacuated from the point of application of external force. Can be improved.

According to the tenth aspect of the present invention, the correcting means includes:
If the vehicle is traveling at high speed or traveling on a low friction road at the time of detection of the external force by the detection means, the degree of suppression of the control intervention by the attitude control means is corrected in the reducing direction to intervene in the control that causes interference with the external force. Even in the easy situation, the running stability can be improved by giving priority to avoiding spin and side slip.

According to the eleventh aspect of the present invention, the correcting means comprises:
When the external force is detected by the detecting means, it is determined whether or not the posture change of the vehicle is large. If the posture change is large, the control content is corrected in a direction to increase the control intervention by the posture control means, thereby controlling the control by the posture control means. By correcting the degree of suppression of the intervention in the reduction direction, even in a situation in which the control easily interferes with an external force, the running stability can be improved by giving priority to avoiding spin, side slip, and the like.

[0028]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings. [Control Block Configuration of Posture Control Apparatus] First, a control block configuration of the vehicle behavior control apparatus according to the present embodiment will be described. FIG. 1 is a diagram showing an overall configuration of a control block of a vehicle behavior control device according to an embodiment of the present invention.

As shown in FIG. 1, the behavior control device (SCS: STABILITY CONTROLLED SYSTEM) of the present embodiment can be used, for example, when the running state of a vehicle is cornering, when an emergency obstacle is avoided, or when the road surface condition changes suddenly. This is to control the braking force applied to the front, rear, left and right wheels in order to suppress the skid and spin of the running vehicle. Each wheel has an FR (right front wheel) brake 31 such as a hydraulic disc brake, an FL (left front wheel) brake 32, an RR (right rear wheel) brake 33, RL
(Left rear wheel) A brake 34 is provided. These F
The R, FL, RR, and RL brakes 31 to 34 are connected to the hydraulic control unit 30, respectively. Hydraulic control unit 3
0 is connected to each wheel cylinder (not shown) of FR, FL, RR, RL brakes 31 to 34, and each brake 31
A braking force is applied to each wheel by introducing hydraulic pressure into the wheel cylinders No. to No. 34. The hydraulic control unit 30 includes:
The pressure unit 36 and the master cylinder 37 are connected. The master cylinder 37 generates a primary hydraulic pressure according to the depression force of the brake pedal 38. The primary hydraulic pressure is introduced into the pressurizing unit 36, is pressurized to the secondary hydraulic pressure by the pressurizing unit 36, and is introduced into the hydraulic control unit 30. The hydraulic pressure control unit 30 is electrically connected to the SCSECU 10, and receives a signal FR, according to a braking control signal from the ECU 10.
Distribution control of the fluid pressure to the FL, RR, and RL brakes 31 to 34 controls the braking force to each wheel.

SCSECU (ELECTRONIC CONTROLLED UN
The IT) 10 controls the independent braking of the front, rear, left and right wheels as the behavior control device of the present embodiment, and also controls the conventionally known ABS (anti-lock brake system), traction control system, and airbag deployment control. This is an arithmetic processing unit that also controls. The SCSECU 10 includes an FR wheel speed sensor 11, an FL wheel speed sensor 12,
R wheel speed sensor 13, RL wheel speed sensor 14, vehicle speed sensor 15, steering angle sensor 16, yaw rate sensor 17, lateral acceleration sensor 18, longitudinal acceleration sensor 19, brake pedal pressure sensor 35, EGIECU2
0, traction off switch 40, airbag device 5
0 is connected. The airbag device 50 is composed of a steering airbag and a priming agent, and in addition, a passenger airbag, a side airbag, and the like can be mounted.

An outline of the ABS control and the traction control will be described. The ABS control automatically controls the braking force applied to the wheels when a sudden braking operation is performed while the vehicle is running and the wheels are likely to lock on the road surface. It is a system that controls and stops the wheel while suppressing the lock of the wheel, and traction control is to reduce the output torque of the engine if the wheel slips on the road surface while the vehicle is accelerating,
This system suppresses slippage by increasing the braking force on the slip wheels.

The FR wheel speed sensor 11 outputs a detection signal v1 of the right front wheel speed to the SCSECU 10. The FL wheel speed sensor 12 outputs the detection signal v2 of the wheel speed of the front left wheel to the SCS.
Output to ECU10. The RR wheel speed sensor 13 outputs a detection signal v3 of the wheel speed of the right rear wheel to the SCSECU 10. The RL wheel speed sensor 14 outputs a detection signal v4 of the wheel speed of the left rear wheel to the SCSECU 10. The vehicle speed sensor 15 outputs a detection signal V of the traveling speed of the vehicle to the SCSECU 10. The steering angle sensor 16 outputs a steering rotation angle detection signal θH to the SCSECU 10. Yaw rate sensor 17 outputs detection signal ヨ ー of the yaw rate actually generated in the vehicle body to SCSECU 10. The lateral acceleration sensor 18 outputs a detection signal Y of the lateral acceleration actually generated in the vehicle body to the SCSECU 10. The longitudinal acceleration sensor 19 outputs a detection signal Z of the longitudinal acceleration actually generated on the vehicle body to the SCSECU 10. The brake pedal pressure sensor 35 is provided in the pressurizing unit 36, and outputs a detection signal PB of the pedal pressure of the brake pedal 38 to the SCSECU 10
Output to The traction off switch 40 is a switch for forcibly stopping the spin control (traction control) of the wheels, as described later.
Output to CSECU10. EGI (ELECTRONIC GASOL
INE INJECTION) ECU 20 includes an engine 21 and an AT (A
UTOMATIC TRANSMISSION) 22, throttle valve 23
And controls the output of the engine 21, the shift control of the AT 22, and the opening / closing control of the throttle valve 23.

SCSECU 10 and EGIECU 20
Includes a CPU, a ROM, and a RAM, and executes an attitude control program and an engine control program stored in advance based on the input detection signals. [Schematic Description of Posture Control] The posture control according to the present embodiment is to apply a turning moment and a deceleration force to the vehicle body by controlling the braking of each wheel, thereby suppressing the sideslip of the front wheels or the rear wheels. For example, when the rear wheel is likely to skid while the vehicle is turning (spin), a brake is mainly applied to the front outer wheel to apply an outward moment to suppress the entrainment behavior inside the turn. When the front wheels are likely to skid to the outside of the turn (drift out), an appropriate amount of brake is applied to each wheel to apply an inward moment, and the turning radius is reduced by suppressing the engine output and adding a deceleration force. Is suppressed.

Although the details of the attitude control will be described later, in general, the SCSECU 10 is provided with the vehicle speed sensor 1 described above.
5. The actual sideslip angle (hereinafter referred to as actual sideslip angle) βact and the actual yaw rate (hereinafter referred to as actual yaw rate) generated in the vehicle from the detection signals V, ψ, and Y of the yaw rate sensor 17 and the lateral acceleration sensor 18. In addition to calculating 、 act, a reference value βref is calculated from the actual sideslip angle βact to be referred to in calculating the estimated sideslip angle βcont actually used for SCS control. Further, the SCSECU 10 determines a target side slip angle βTR and a target yaw rate ψTR from the detection signal of the steering rudder angle sensor or the like as the target posture of the vehicle.
The attitude control is started when the difference between the estimated sideslip angle βcont and the target sideslip angle βTR or the difference between the actual yaw rate ψact and the target yaw rate ψTR exceeds a predetermined threshold value β0, ψ0, and the estimated actual sideslip angle βcont or the actual yaw rate ψact Is converged to the target side slip angle βTR or the target yaw rate ΔTR. [Detailed Description of Attitude Control] Next, the attitude control (hereinafter, referred to as SCS control) of the present embodiment will be described in detail.
FIG. 2 is a flowchart illustrating an overall operation for executing the posture control according to the present embodiment.

As shown in FIG. 2, when the ignition switch is turned on by the driver and the engine is started, the SCSECU 10 and the EGIECU are started in step S2.
20 is initially set to clear the sensor detection signal, the calculated value, and the like stored in the previous processing. In step S4, S
The CSECU 10 detects the detection signal v1 of the FR wheel speed sensor 11, the detection signal v2 of the FL wheel speed sensor 12, the detection signal v3 of the RR wheel speed sensor 13, the detection signal v4 of the RL wheel speed sensor 14, and the detection signal of the vehicle speed sensor 15. V, the detection signal θH of the steering angle sensor 16, the detection signal の of the yaw rate sensor 17, the detection signal Y of the lateral acceleration sensor 18, the detection signal Z of the longitudinal acceleration sensor 19, the detection signal PB of the brake pedal pressure sensor 35, Traction off switch 4
A switch operation signal S of 0 is input. In step S6, the SCSECU 10 calculates a vehicle state quantity based on each of the above-described detection signals. In step S7, a wheel speed correction process is executed based on the vehicle state quantity. In step S8, an ABS control target value, a control output value, and the like required for the ABS control are calculated.
In step S10, a traction control target value and a control output value required for traction control are calculated. Step S
In step 12, the SCSECU 10 calculates an SCS control target value and a control output value necessary for the SCS control from the vehicle state quantity calculated in step S6.

In step S14, a control output arbitration process of each control output value calculated in steps S8 to S12 is executed. In this control output arbitration processing, the SCS control output value, the ABS control output value, and the traction control output value are compared, and the control is shifted to the control corresponding to the largest value.
Further, as will be described later, the arbitration process between the SCS control output value and the ABS control output value is executed according to the magnitude of the driver's brake pedal pressure PB. That is, in step S14, A
When the BS control output value is the largest value, the ABS control is executed based on the ABS control output value (step S1).
6) If the SCS control output value is the largest value, SC
SCS control is executed based on the S control output value (step S18), and when the traction control output value is the largest value, traction control is executed based on the traction control output value (step S20). Thereafter, in step S22, the SCSECU 10
0, etc., is determined to be a fail-safe determination as to whether it is operating normally, and if it is determined that there is an abnormality, the control corresponding to the abnormal location is stopped, and the process returns to step S2 to repeat the above processing. Execute. [Description of SCS calculation processing] Next, step S12 in FIG.
Will be described in detail. Note that the ABS control calculation processing and the traction control calculation processing in steps S8 and S10 are well known and will not be described. FIG. 3 is a flowchart for executing the SCS operation processing of FIG.

As shown in FIG. 3, when the process is started,
In step S30, the SCSECU 10 sets the FR wheel speed v1,
FL wheel speed v2, RR wheel speed v3, RL wheel speed v4, vehicle speed V,
The steering angle θ, the actual yaw rate ψact, and the actual lateral acceleration Yact are input. In step S32, the SCSECU
Numeral 10 calculates the vertical load generated in the vehicle. This vertical load is estimated and calculated from the vehicle speed V and the lateral acceleration Y by a well-known mathematical method. In step S33, the SCSECU 10
Calculates the actual sideslip angle βact actually generated in the vehicle.
The actual sideslip angle βact is the rate of change Δβac of the actual sideslip angle βact.
It is calculated by integrating t. Δβact is
It is calculated by the following equation 1. Δβact = −ψact + Yact / V (1) Next, in step S34, the SCSECU 10
The reference value βref referred to in the calculation of the estimated sideslip angle βcont actually used for the control is calculated. This reference value βr
ef is the vehicle specifications and vehicle state quantities (vehicle speed V, yaw rate ψa
ct, actual lateral acceleration Yact, change speed Δβact of actual sideslip angle βact, change amount (differential value) of yaw rate ψact Δψac
t), estimated yaw moment D caused by braking
1.Estimated value D of the amount of lateral force reduction caused by braking
2 and is calculated using a two-degree-of-freedom model. In short, the reference value βref calculates the sideslip angle estimated based on the detected vehicle state quantity and the brake operation force. Then, in step S35, the SCSECU
10 is the estimated sideslip angle βco actually used for SCS control
Calculate nt. The estimated sideslip angle βcont is calculated by solving a differential equation derived from the following Expressions 2 and 3. That is, Δβcont = Δβact + e + Cf · (βref−βcont) (2) Δe = Cf · (Δβref−Δβact-e) (3) where e: offset correction value of the yaw rate sensor and the lateral acceleration sensor Cf: cutoff frequency As will be described in detail later, the cutoff frequency Cf corrects the estimated sideslip angle βcont so as to converge to the reference value βref in accordance with the reliability of the reference value βref.
This is a factor for changing the correction speed when resetting the integration error generated at t, and is corrected so as to be smaller as the reliability of the reference value βref is lower. Also, the reference value βre
The low reliability of f is due to the cornering power Cp of the front wheels
f or when the cornering power Cpr of the rear wheel changes.

In step S36, the SCSECU 10 calculates a wheel slip ratio and a wheel slip angle of each wheel.
The wheel slip rate and wheel slip angle are the wheel speed of each wheel.
From v1 to v4, the vehicle speed V, the estimated sideslip angle βcont, and the front wheel steering angle θH, an estimated calculation is performed by a well-known mathematical method. In step S38, the SCSECU 10 calculates a load factor for each wheel. The wheel load ratio is estimated and calculated by a well-known mathematical method from the wheel slip ratio and the wheel slip angle calculated in step S36 and the vertical load calculated in step S32. In step S40, SCSECU1
0 calculates the friction coefficient μ of the running road surface. The friction coefficient μ of the road surface is estimated and calculated by a well-known mathematical method from the actual lateral acceleration Yact and the wheel load factor calculated in step S38.

In step S41, an external force applied to the vehicle is detected as external force detection processing (details will be described later).

Next, in step S42, SCSECU1
0 calculates the target yaw rate ΔTR and the target sideslip angle βTR that are the target values to converge the actual yaw rate Δact and the estimated sideslip angle βcont. The target yaw rate ψTR is the vehicle speed V,
The road surface friction coefficient μ calculated in step S40 and the front wheel steering angle θH corrected in step S41 are estimated and calculated by a well-known mathematical method. Further, the target sideslip angle βTR is calculated by solving the differential equation of Expression 6 derived from Expressions 4 and 5 below. That is, βx = 1 / (1 + A · V ↑ 2) · {1- (M · Lf · V ↑ 2) / (2L·Lr · Cpr)} · Lr · θH / L (4) A = M · ( Cpr · Lr−Cpf · Lf) / 2L ↑ 2 · Cpr · Cpf (5) ΔβTR = C · (βx−βTR) (6) where V: vehicle speed θH: front wheel steering angle M: body mass I: Moment of inertia L: Wheel base Lf: Distance from front wheel to vehicle center of gravity Lr: Distance from rear wheel to vehicle center of gravity Cpf: Cornering power of front wheel Cpr: Cornering power of rear wheel C: Value corresponding to phase lag Represents a multiplier. For example, "L @
"2" means the square of L, and the same applies to the following description.

Next, in step S44 shown in FIG.
The CSECU 10 calculates the absolute value of the value obtained by subtracting the estimated sideslip angle βcont from the target sideslip angle βTR as the SCS control start threshold β0.
It is determined whether or not this is the case (| βTR−βcont | ≧ β0?). In step S44, the estimated side slip angle βco is calculated from the target side slip angle βTR.
When the absolute value of the value obtained by subtracting nt is equal to or greater than the SCS control start threshold value β0 (Yes in step S44), the process proceeds to step S46, and the SCS control target value is set to the target side slip angle βTR. On the other hand, if the absolute value of the value obtained by subtracting the estimated sideslip angle βcont from the target sideslip angle βTR in step S44 does not exceed the SCS control start threshold β0 (No in step S44), the process proceeds to step S52, and the SCSECU 10 determines the target yaw rate ψTR It is determined whether or not the absolute value of the value obtained by subtracting the actual yaw rate ψact is equal to or more than the SCS control start threshold ψ0 (| ψTR
−ψact | ≧ ψ0? ). In step S52, the absolute value of the value obtained by subtracting the actual yaw rate ψact from the target yaw rate ψTR is S
When the CS control start threshold value is equal to or greater than ψ0 (Y in step S52)
es) The process proceeds to step S54 to set the SCS control target value to the target yaw rate ψTR. On the other hand, if the absolute value of the value obtained by subtracting the actual yaw rate ψact from the target yaw rate ψTR does not exceed the SCS control start threshold ψ0 in step S52 (No in step S52), the process returns to step S30 and repeats the above processing.

Next, at step S50, the SCSECU
10 is an SCS control amount βam actually used for SCS control.
Calculate t. In step S56, SCSEC
U10 is the SCS control amount actually used for SCS control.
Calculate amt. [Arbitration process between SCS control and ABS control] Next, the SCS control and the arbitration process between the SCS control and the ABS control will be described with reference to FIGS. 5 to 7 are flowcharts for executing the arbitration process between the SCS control and the ABS control.

In the arbitration process described below, even if the SCS control start condition is satisfied, if the ABS control is being performed, the ABS control is prioritized, or the SCS control output value is corrected based on the ABS control output value. When both the SCS control start condition and the ABS control start condition are satisfied, one of the controls is executed according to the magnitude of the driver's brake pedal pressure PB.

The specific processing will be described.

As shown in FIG. 5, in step S58,
The SCSECU 10 determines whether a failure has occurred in the hydraulic control unit 30 and the like used for SCS control. If a failure has occurred in step S58 (yes in step S58)
s), the process proceeds to step S74, the SCS control is stopped, and the process returns to step S2 shown in FIG. 2 to repeatedly execute the above processing. On the other hand, if no failure has occurred in step S58 (No in step S58), the process proceeds to step S60. In step S60, the SCSECU 10 determines whether or not the SCS control flag FSCS is set to "1". When the SCS control flag FSCS is set to "1", it indicates that SCS control is being executed. Step S6
If the value is 0 and the SCS control flag FSCS is set to "1" (Yes in step S60), the process proceeds to step S76 to determine whether the ABS control flag FABS is set to "1". When the ABS control flag FABS is set to "1", it indicates that the ABS control is being executed. On the other hand, if the SCS control flag FSCS is not set to "1" in step S60 (No in step S60), the process proceeds to step S62 to determine whether the ABS control is being executed. If the ABS control is being executed in step S62 (Yes in step S62), the process proceeds to step S80 described later.
On the other hand, if the ABS control is not being executed in step S62 (No in step S62), the process proceeds to step S64. In step S64, the SCSECU 10 determines whether the traction control is being executed. If the traction control is being executed in step S64 (Yes in step S64), the process proceeds to step S78, in which the braking control in the traction control is stopped (that is, only the engine torque down control can be executed), and the process proceeds to step S66. On the other hand, when traction control is not being executed in step S64 (No in step S62), the process proceeds to step S66.

In step S66, the SCSECU 10 selects and calculates a wheel to be subjected to SCS control, calculates a target slip ratio to be distributed to the selected wheel, and calculates an SCS control amount βamt or ψamt according to the target slip ratio. I do. Thereafter, in step S68, an engine control amount according to the required torque reduction amount is calculated. Then, SCS control is executed in step S70, and SC control is performed in step S72.
After setting the S control flag FSCS to "1", the process returns to step S2 to repeatedly execute the above processing.

In step S76, the ABS control flag FABS
Is set to "1" (Yes in step S76)
s), and proceed to step S80 shown in FIG. Step S8
At 0, the SCSECU 10 corrects the ABS control amount based on the SCS control amount βamt or ψamt. Thereafter, in step S82, the SCSECU 10 determines whether the ABS control has been completed. If the ABS control is not completed in step S82 (No in step S82), step S8
At step 4, the SCS control flag FSCS is set to "1".
In step S86, the ABS control flag FABS is set to "1", and the process returns to step S30. On the other hand, if the ABS control is completed in step S82 (step S82).
82; Yes), SCS control flag FS in step S88
CS is reset to "0" and AB is set in step S90.
The S control flag FABS is reset to "0", and the process returns to step S30.

Further, in step S76, the ABS control flag
If FABS is not set to "1" (step S76)
No), the process proceeds to step S92 shown in FIG. In step S92, the SCSECU 10 determines whether or not the brake pedal pressure PB is equal to or greater than a predetermined threshold value P0 (PB ≧ P0?). If the brake depression force PB is equal to or more than the predetermined threshold value P0 in step S92 (Yes in step S92), the process proceeds to step S94, where the SCS control is stopped, and the process is switched to ABS control in step S96. Then, in a step S98, the ABS control flag FABS is set to "1", and the process returns to the step S30. On the other hand, in step S92, the brake pedal pressure
If PB does not exceed the predetermined threshold value P0 (N in step S92)
o), and proceed to step S100. In step S100, the SCSECU 10 determines whether the SCS control has been completed. If the SCS control is not completed in step S100 (No in step S100), the above-described step S100
Returning to step 68, the subsequent processing is executed. On the other hand, if the SCS control is completed in step S100 (Yes in step S100), the SCS control flag FSCS is reset to "0" in step S102, and the step S1 is executed.
In step 04, the ABS control flag FABS is reset to "0", and the process returns to step S30. [Description of Wheel Speed Correction Processing] Next, details of the wheel speed correction processing shown in step S7 of FIG. 2 will be described. FIG.
3 is a flowchart for executing a wheel speed correction process of FIG. 2. FIG. 9 is a schematic diagram showing the procedure for correcting the wheel speed.

For example, the diameter of an auxiliary wheel (hereinafter referred to as a tempered wheel) used for puncturing is about 5 to 15% smaller than that of a normal wheel, and the wheel speed is higher than that of other normal tires. The wheel speed correction process is executed to remove the adverse effects due to such variations in the diameter of the tempered wheels and the normal wheels. The disadvantages are as follows.
That is, in the ABS control, when the wheel speed of only one wheel is high, the reference vehicle speed increases, and it is erroneously determined that the normal wheels other than the tempered wheels have a tendency to lock.

In the traction control, if a tempered wheel is mounted on the drive wheel, it is erroneously determined that the normal wheel as the other drive wheel is spinning.

A normal wheel has a maximum error of 5% in its diameter.
Affect control.

As shown in FIG. 9, when the processing is started,
In step S110, the SCSECU 10 determines the FR wheel speed v
1. FL wheel speed v2, RR wheel speed v3, RL wheel speed v4 are input. In step S112, the SCSECU 10 determines whether or not the vehicle is traveling normally. The term “during steady running” indicates a state other than extreme acceleration / deceleration or corner running where the reliability of the wheel speed is reduced. Step S112
If the vehicle is not running normally (No in step S112),
It returns to step S110. Step S1
12 when the vehicle is traveling normally (Ye in step S112).
s), the process proceeds to step S114, and the SCSECU 10
R wheel speed v1, FL wheel speed v2, RR wheel speed v3, RL wheel speed
It is determined whether or not any one wheel of v4 is equal to or greater than a predetermined threshold value va. If any one of the wheels is equal to or larger than the predetermined threshold value va in step S114 (Yes in step S114), the process proceeds to step S114.
Proceed to 116. On the other hand, if none of them exceeds the predetermined threshold value in step S114 (No in step S114), the process proceeds to step S122 to execute the wheel speed correction for the normal wheels.

In step S116, the SCSECU 10
Determines whether or not only one of the wheels has a predetermined threshold or more for a predetermined time. If it is determined in step S116 that only one wheel is equal to or greater than the predetermined threshold for a predetermined time (Yes in step S116), the process proceeds to step S118.
On the other hand, when the state in which only one wheel is equal to or more than the predetermined threshold has not continued for the predetermined time in step S116 (step S11
(No in 6), the process proceeds to step S122, and the wheel speed is corrected for the normal wheel. In step S118,
The SCSECU 10 determines that one of the wheels is a tempered wheel because only one of the wheels has a predetermined threshold or more for a predetermined time. Then, in step S120, SCSECU1
0 executes the wheel speed correction for the tempered wheel.

The wheel speed correction for a normal wheel or a tempered wheel is executed by the following procedures shown in FIG. That is, the RR wheel speed is corrected based on the FR wheel speed,
The FL wheel speed is corrected based on the FR wheel speed, and finally the RL wheel speed is corrected based on the FL wheel speed. However, when the FR wheel is a tempered wheel, the reference wheel is set to another wheel. [External Force Detection Processing] Next, the external force detection processing in step S41 in FIG. 3 will be described with reference to FIG. FIG. 10 is a flowchart showing the external force detection processing.

This external force detection processing is performed, for example, when the vehicle deviates from the target posture due to a side collision or a rear collision with another vehicle or the like.
If the vehicle is controlled to return its running posture to its original position, it will behave in the direction approaching the other vehicle, that is, in the direction of side collision again, although it should originally have to separate from the other vehicle, and the direction of action of the external force And the direction of convergence to the target posture interfere with each other. In order to eliminate the adverse effects of this attitude control, when an external force is applied to the vehicle, the front wheel steering angle θH for calculating the SCS control start threshold value β0, ψ0 and the SCS control target value βTR, ψTR is calculated according to the impact. This is a process of changing the control content according to the necessity of the SCS control by correcting in the increasing or decreasing direction.

As shown in FIG. 10, in step S132, the SCSECU 10 detects an external force applied to the host vehicle. This external force detection is performed when the absolute value of the longitudinal acceleration Z is equal to or more than a predetermined threshold value Z1 (| Z | ≧ Z1?) Or the absolute value of the lateral acceleration Y is equal to or more than a predetermined threshold value Y1 (| Y | ≧ Y1?). It is determined that an external force has acted on. As another external force detection method, the absolute value of the yaw rate ψ is equal to or greater than a predetermined threshold ψ1 (| ψ | ≧ ψ1?) Or the absolute value of the absolute value Δβ of the change rate of the sideslip angle β is set to the predetermined threshold β
The condition may be 1 or more (| Δβ | ≧ β1?).

If an external force is detected in step S132 (YES in step S132), an external force detection flag FOB is set to "1" in step S134. The external force detection flag FOB is set to "1" during a predetermined period T1 after the detection of the external force, and is thereafter reset. During this predetermined period T1, SC
S control start threshold β0, ψ0 and SCS control target value βTR, ψTR
Is corrected in the increasing or decreasing direction. If no external force is detected in step S132 (NO in step S132), it is determined in step S133 whether the external force detection flag FOB is set.

If the external force detection flag FOB is being set in step S133 (YES in step S133), since the predetermined period T1 has not elapsed since the detection of the external force, step S14 is performed.
If the external force detection flag FOB is reset in step S133 (NO in step S133),
Since the predetermined period T1 has elapsed after the detection of the external force, step S15
Proceed to 2.

In step S136, the longitudinal acceleration Z
To determine whether the absolute value of the lateral acceleration Y is greater than or equal to a predetermined threshold Y2 (| Z | ≧ Z2> Z1?) Or the absolute value of the lateral acceleration Y is greater than or equal to a predetermined threshold Y2 (| Y | ≧ Y2> Y1?). Thus, the degree of impact applied to the vehicle is determined. As another method, the absolute value of the yaw rate ψ is equal to or more than a predetermined threshold ψ1 (| ψ | ≧ ψ2> ψ1?) Or the absolute value of the absolute value Δβ of the change rate of the side slip angle β is equal to or more than the predetermined threshold β1 (| Δβ | ≧ β2> β1?).

If the condition in step S136 is not satisfied (NO in step S136), it is determined that the impact on the vehicle is large, but the posture change due to the external force is not suddenly changed, and in step S138 the SCS control start threshold value β0, ψ0
To β1, 11 to make it difficult to intervene in SCS control,
The SCS control gives priority to separating the vehicle from another vehicle or the like to which the external force has been applied, rather than returning the vehicle to the original posture. Here, β0 <β1 and ψ0 <ψ1.

In step S140, the correction coefficient A for the front wheel steering angle θH is set to A1, and correction is performed so that the steering angle amount becomes smaller than the actual value. That is, the following equation 7
Using the front wheel steering angle θH corrected by
The CS control target values βTR and ΔTR are calculated. However, 1 = A> A1.

ΘH = A · θH (7) In the above steps S138 and S140, the occupant may panic and suddenly operate the steering wheel when the running posture changes due to the external force applied to the vehicle. In order to avoid interfering with the attitude control based on the incorrect steering angle θH, the steering angle θH is corrected to a value smaller than the actual value, and the estimated side slip angle βcont and the target side slip angle βTR are corrected. Or the difference between the actual yaw rate ψact and the target yaw rate ψTR becomes smaller than the actual value, making it difficult to exceed the predetermined threshold values β0, ψ0, thereby correcting the direction to make it difficult to intervene in the SCS control.

On the other hand, if the condition in step S136 is satisfied (YES in step S136), it is determined that the impact to the vehicle is large and the posture change due to external force is large, and in step S142, the SCS control start thresholds β0 and ψ0 are set to β2 , To make it easier to intervene in the SCS control and quickly re-establish the posture. Here, β0> β2 and ψ0> ψ2.

In step S144, the correction coefficient A of the front wheel steering angle θH is set to A2, and correction is performed so that the steering angle amount becomes larger than the actual value. That is, using the front wheel steering angle θH corrected by the above equation 7, SC
The S control target values βTR and ΔTR are calculated. However, 1 = A <A2.

In steps S142 and S144, since the running posture may be greatly changed due to the external force applied to the vehicle, the steering angle θH becomes larger than the actual value in order to quickly reset the running posture. The difference between the estimated sideslip angle βcont and the target sideslip angle βTR or the difference between the actual yaw rate ψact and the target yaw rate ψTR becomes larger than the actual value, making it easier to exceed the predetermined threshold values β0, 方向 0. Has been corrected.

In step S146, the counter T is set to a predetermined period T1, and in step S148, the counter value T is set.
1 is subtracted and counted every cycle. Step S
At 150, the counter value T1 becomes zero and the predetermined period T
It is determined whether or not 1 has been completed. The predetermined period T1 is set to a period from when the external force is detected in step S132 to when the degree of the influence of the external force on the posture change is reduced, and until the longitudinal acceleration, the lateral acceleration, or the like falls below or falls below a predetermined threshold. Is set to continue for a fixed time.

If the predetermined period T1 has ended in step S150 (YES in step S150), step S1
At 52, the correction coefficient A is reset to return to the original value 1, at step S154 the SCS control start threshold values β0, ψ0 are reset to return to the original value, and at step S156, the external force detection flag is set.
After resetting the FOB, the process proceeds to step S42 in FIG.

Note that, instead of correcting the steering angle θH by the correction coefficient A in step S142, the reliability of the steering angle θH may be set to a steering angle before detection of an external force, which is higher than before the collision. Good.

Further, in the above step S138, as shown in FIG. 11, the corrected SCS control start threshold value β1, ほ ど 1 becomes smaller as the vehicle speed V becomes higher when the external force is detected, as shown in FIG. The larger the friction coefficient μ of the traveling road surface, the greater the corrected SCS control start threshold β1,
The degree of suppression of the posture control intervention may be corrected in the reduction direction by correcting ψ1 in the direction to increase.

Further, as shown in FIG.
If the condition of No. 36 is not satisfied (N in step S136)
O), SCS control may be stopped in step S160. Alternatively, it may be determined that the posture control is impossible due to the damage of the wheels due to the external force, and at this time, the SCS control may be forcibly stopped. Further, a prohibition switch for prohibiting the above-described external force detection processing may be provided in the vehicle cabin so that the operation or non-operation can be determined by the occupant's will according to the wheel damage or the occupant's driving skill.

As shown in FIG. 14, a predetermined period T1
Instead of setting and counting down, after the detection of the external force, the steering angle θH is equal to or more than the predetermined value θH1 and is within the range of the predetermined value θH2 (θH1 ≦ θH ≦ θH2) until the first steering operation is detected as in step S170 ( That is, steps S138 and S140 or 142 until the occupant performs an active repositioning operation, for example, until the steering is maintained at a predetermined amount for a predetermined time after a sharp large steering operation is performed. And the processing of S144 may be continued. As described above, when the first steering operation is detected, it can be determined that the occupant is out of the panic state due to the side collision or the rear collision. [External Force Detection Processing When Airbag is Expanded] Next, with reference to FIG. 15, an external force detection processing when the airbag is expanded will be described. FIG. 15 is a flowchart illustrating an external force detection process when the airbag is deployed.

This external force detection processing is an application example of FIG. 10 and is a processing performed when an external force enough to deploy the airbag acts on a vehicle equipped with the airbag.

As shown in FIG. 15, in step S182, SCSECU 10 detects an external force applied to the host vehicle. This external force detection is performed under the same conditions as in step S132 of FIG.

If an external force is detected in step S182 (YES in step S182), an external force detection flag FOB is set to "1" in step S184. Step S
If no external force is detected in step 182 (step S18)
2 is NO), and in a step S183, it is determined whether or not the external force detection flag FOB is set.

If the external force detection flag FOB is being set in step S183 (YES in step S183), the process proceeds to step S194, in which the external force detection flag FOB is set in step S183.
If the FOB has been reset (NO in step S183), the process proceeds to step S208. Step S194,
The processing content of S208 will be described later.

In step S186, it is determined whether or not the airbag deployment flag FAB is set. If the airbag deployment flag FAB is set in step S186 (YES in step S186), the process proceeds to step S186.
At 188, the SCS control start thresholds β0, ψ0 are corrected to β1, ψ1 to make it difficult to intervene in the SCS control. However, β0 <β1,
ψ0 <ψ1. If the airbag deployment flag FAB has been reset in step S186 (NO in step S186), the process proceeds to step S136 in FIG.

In step S190, the correction coefficient A for the front wheel steering angle θH is set to A1, and correction is performed so that the steering angle amount becomes smaller than the actual value. That is, using the front wheel steering angle θH corrected by the above equation 7, SC
The S control target values βTR and ΔTR are calculated. However, 1 = A> A1.

In step S192, the counter T is set to a predetermined period T2, and in step S198, the counter value T is set.
2 is counted down every cycle. Step S
At 1196, it is determined whether the counter value T2 has become zero and the predetermined period T2 has ended. The predetermined period T2 is set to a period from the deployment of the airbag in step S186 to the collapse of the airbag or a period until the degree of influence of the external force on the posture change is reduced. It may be set so as to continue for a predetermined time until the value falls below the predetermined threshold value or after falling below the predetermined threshold value.

If the predetermined period T2 has ended in step S196 (YES in step S196), step S1
At 98, the SCS control start thresholds β0, ψ0 are corrected to β2, ψ2 to facilitate intervention in the SCS control. Where β0> β2, ψ
0> ψ2. In step S196, a predetermined period T2
Is not completed (NO in step S196),
The process from step S42 in FIG. 3 is executed while the settings in steps S188 and S190 are maintained.

In step S200, the correction coefficient A for the front wheel steering angle θH is set to A2, and correction is performed so that the steering angle amount becomes larger than the actual value. That is, using the front wheel steering angle θH corrected by the above equation 7, SC
The S control target values βTR and ΔTR are calculated. However, 1 = A <A2.

At step S202, the counter T is set to a predetermined period T1, and at step S204, the counter value T is set.
1 is subtracted and counted every cycle. Step S
At 206, the counter value T1 becomes zero and the predetermined period T
It is determined whether or not 1 has been completed. The predetermined period T1 is set to a period from the time when the airbag is deflated in step S196 to the time when the degree of influence of the external force on the posture change is reduced, but until the longitudinal acceleration, the lateral acceleration, or the like falls below the predetermined threshold. Alternatively, it may be set so as to continue for a certain period of time after falling.

If the predetermined period T1 has ended in step S206 (YES in step S206), step S2
08, the correction coefficient A is reset to the original value 1, and the SCS control start threshold values β0, ψ0 are reset to the original value in step S154, and the external force detection flag is set in step S156.
After resetting the FOB, the process proceeds to step S42 in FIG.
If the predetermined period T1 has not ended in step S206 (NO in step S206), step S19.
8. The process from step S42 in FIG. 3 is executed while the setting state of S200 is maintained.

In steps S188 to S196, when an external force is applied to the vehicle so that the airbag is deployed, the occupant may suddenly operate the steering by the deployment of the airbag. In order to avoid intervening in the attitude control based on the steering angle θH, the steering angle θH is corrected to a value smaller than the actual value, and the difference between the estimated side slip angle βcont and the target side slip angle βTR or the actual yaw rate By making the difference between ψact and the target yaw rate よ り TR smaller than the actual value and making it difficult to exceed the predetermined threshold values β0 and ψ0, correction is made in a direction that makes it difficult to intervene in the SCS control.

Further, the above steps S198 to S206
Up to now, the airbag is deflated and the occupant can operate the steering etc., so that the steering angle θH is corrected to a value larger than the actual value in order to quickly reestablish the running posture, and the estimated sideslip angle βcont And the target sideslip angle β
TR difference or actual yaw rate ψact and target yaw rate ψTR
Is larger than the actual value and easily exceeds the predetermined threshold values β0 and ψ0, so that the correction is made in a direction that facilitates the intervention in the SCS control.

Instead of making a correction in the direction that facilitates the intervention of the SCS control in steps S198 to S206, the correction may be made in a direction that makes it difficult for the occupant to intervene in the SCS control.

Also, instead of correcting the steering angle θH with the correction coefficient A in step S190, the reliability of the steering angle θH may be set to a steering angle before detection of an external force, which is higher than before the collision. Good. [Deployment Control of Airbag] Next, a deployment control process of the airbag device 50 will be described with reference to FIG. FIG.
FIG. 6 is a flowchart showing the deployment control process of the airbag device.

As shown in FIG. 16, in step S222, the SCSECU 10 inputs the lateral acceleration Y and the longitudinal acceleration Z. If the longitudinal acceleration Z exceeds a predetermined threshold Z3 as an airbag deployment condition in step S224, (YES in step S224), the steering airbag is deployed in step S226, and at the same time, if the lateral acceleration Y exceeds a predetermined threshold Y3, the side airbag is also deployed. In step S228, when the airbag is deployed in step S226, the airbag deployment flag FAB is set to "1".
Is set to If the airbag deployment condition is not satisfied in step S224 (NO in step S224), the airbag deployment flag FAB remains reset to "0" in step S230.

The airbag deployment flag FAB indicates whether or not the airbag has been deployed, and is not reset once the flag is set. [External Force Detection Process According to External Force Acting Direction] Next, an external force detecting process according to the external force acting direction will be described with reference to FIG. FIG. 17 is a flowchart illustrating an external force detection process according to the direction of action of the external force.

This external force detection processing is performed, for example, to calculate the SCS control start threshold values β0, ψ0 and the SCS control target values βTR, ψTR according to the direction of action of the external force such as a rear collision, a side collision or a front collision. This is a process of correcting the steering angle θH in the increasing or decreasing direction to change the control content according to the degree of SCS control required.

As shown in FIG. 17, in step S132, the SCSECU 10 detects an external force applied to the host vehicle. This external force detection is performed when the absolute value of the longitudinal acceleration Z is equal to or more than a predetermined threshold value Z1 (| Z | ≧ Z1?) Or the absolute value of the lateral acceleration Y is equal to or more than a predetermined threshold value Y1 (| Y | ≧ Y1?). It is determined that an external force has acted on. As another external force detection method, the absolute value of the yaw rate ψ is equal to or greater than a predetermined threshold ψ1 (| ψ | ≧ ψ1?) Or the absolute value of the absolute value Δβ of the change rate of the sideslip angle β is set to the predetermined threshold β
The condition may be 1 or more (| Δβ | ≧ β1?).

If an external force is detected in step S232 (YES in step S232), an external force detection flag FOB is set to "1" in step S234. The external force detection flag FOB is set to "1" during a predetermined period T1 after the detection of the external force, and is thereafter reset. During this predetermined period T1, SC
S control start threshold β0, ψ0 and SCS control target value βTR, ψTR
Is corrected in the increasing or decreasing direction. If no external force is detected in step S232 (NO in step S232), it is determined in step S233 whether the external force detection flag FOB is set.

If the external force detection flag FOB is being set in step S233 (YES in step S233), the predetermined period T1 has not elapsed since the detection of the external force, so step S24 is performed.
If the external force detection flag FOB is reset in step S233 (NO in step S233),
Since the predetermined period T1 has elapsed after the detection of the external force, step S24 is performed.
Proceed to 8.

In step S236, it is determined whether or not a complete rear collision occurs in which the external force acts substantially parallel to the traveling direction of the vehicle from the rear to the front of the vehicle.

In the rear collision detection in step S236, the lateral acceleration Y and the yaw rate ψ are substantially zero, and at the same time, the longitudinal acceleration Z has the directionality in the forward direction and the magnitude is equal to or larger than the predetermined threshold value Z1. It is determined whether or not. Note that the estimated side slip angle βcont may be used in the rear collision detection.

If the condition of step S236 is satisfied (YES in step S236), the process proceeds to step S238.
CS control start threshold β0, ψ0 is corrected to β2, ψ2 and SCS
The vehicle easily intervenes in the control, and the running posture collapsed by the rear collision and the rapid acceleration forward are quickly restored by the SCS control. Here, β0 <β2 and ψ0 <ψ2.

In step S240, the correction coefficient A for the front wheel steering angle θH is set to A2, and correction is performed so that the steering angle amount becomes larger than the actual value. That is, the following equation 7
Using the front wheel steering angle θH corrected by
The CS control target values βTR and ΔTR are calculated. However, 1 = A <A2.

.Theta.H = A.multidot..theta.H (7) In steps S238 and S240, there is a possibility that the running posture has changed greatly due to the rear-end collision of the vehicle. θH is corrected to a value larger than the actual value, and the difference between the estimated sideslip angle βcont and the target sideslip angle βTR or the actual yaw rate ψac
The difference between t and the target yaw rate ψTR becomes larger than the actual value, and the threshold value is easily exceeded the predetermined threshold values β0 and ψ0, so that the correction is made in a direction that facilitates the intervention in the SCS control.

In step S242, the counter T is set to a predetermined period T1, and in step S244, the counter value T is set.
1 is subtracted and counted every cycle. Step S
At 246, the counter value T1 becomes zero and the predetermined period T
It is determined whether or not 1 has been completed. The predetermined period T1 is set to a period from when the external force is detected in step S236 to when the degree of influence of the external force on the posture change is reduced, and until the longitudinal acceleration, the lateral acceleration, or the like falls below or falls below a predetermined threshold. May be set to continue for a certain period of time.

If the predetermined period T1 has ended in step S246 (YES in step S246), step S2
At 48, the correction coefficient A is reset to the original value 1, and at step S250, the SCS control start threshold values β0, ψ0 are reset to the original value, and at step S252, the external force detection flag is set.
After resetting the FOB, the process proceeds to step S42 in FIG.

On the other hand, if the condition in step S236 is not satisfied (NO in step S236), it is determined in step S254 whether the external force is a side impact acting from the side of the vehicle or an oblique rear impact acting from diagonally rearward to forward. .

In the side collision detection in step S236, it is determined whether the longitudinal acceleration Z and the yaw rate ψ are substantially zero and, at the same time, whether the absolute value of the lateral acceleration Y is equal to or greater than a predetermined threshold Y1. In the case of oblique rear-end collision detection, the longitudinal acceleration Z
Has a directionality in the forward direction and the magnitude thereof is equal to or greater than a predetermined threshold value Z1, and at the same time, the absolute value of the
It is determined whether it is 1 or more. Note that the estimated side slip angle βcont may be used in side collision detection or diagonal rear collision.

On the other hand, if the condition of step S254 is satisfied (YES in step S254), it is determined that the impact to the vehicle is large, but the posture change due to the external force is not so large as to change suddenly, and in step S256 the SCS control start threshold value is determined. β0 and ψ0 are corrected to β1 and ψ1 to make it difficult to intervene in the SCS control, and priority is given to separating the vehicle from other vehicles or the like to which an external force has been applied, rather than restoring the running posture of the vehicle by the SCS control. Here, β0 <β1 and ψ0 <ψ1.

In step S258, the correction coefficient A for the front wheel steering angle θH is set to A1, and correction is performed so that the steering angle amount becomes smaller than the actual value. That is, using the front wheel steering angle θH corrected by the above equation 7, SC
The S control target values βTR and ΔTR are calculated. However, 1 = A> A1. Thereafter, the process proceeds to step S242 to execute the SCS control with the correction value for a predetermined period T1.

In the above steps S256 and S258, the occupant may panic and suddenly operate the steering when the vehicle is impacted sideways or obliquely rearward and the running posture is changed. In order to avoid intervening in the attitude control based on the steering angle θH, the steering angle θH is corrected to a value smaller than the actual value, and the difference between the estimated side slip angle βcont and the target side slip angle βTR or the actual yaw rate ψact and target yaw rate ψT
By making the difference of R smaller than the actual value and making it difficult to exceed the predetermined threshold values β0, ψ0, the correction is made in a direction that makes it difficult to intervene in the SCS control.

On the other hand, if the condition in step S254 is not satisfied (NO in step S254), it is determined in step S260 whether the external force is a front collision acting from the front of the vehicle or an oblique front collision acting from diagonally forward to rear.

In the frontal collision detection in step S260, the lateral acceleration Y and the yaw rate ψ are substantially zero, and at the same time, the longitudinal acceleration Z has the directionality in the retreating direction and the magnitude is equal to or larger than the predetermined threshold value Z1. It is determined whether or not. In addition, in the oblique front collision detection, the front-rear direction acceleration Z has a directionality in the retreating direction and the magnitude thereof is equal to or more than a predetermined threshold value Z1, and at the same time, the absolute value of the lateral acceleration Y is equal to or more than a predetermined threshold value Y1. Determine whether or not. Note that the estimated side slip angle βcont may be used in frontal collision detection or diagonal frontal collision detection.

If the condition of step S260 is satisfied (YES in step S260), the process proceeds to step S256, and if not (NO in step S260), the process proceeds to step S248.

It should be noted that instead of correcting the steering angle θH with the correction coefficient A in steps S240 and S258,
The reliability of the steering angle θH may be set to the steering angle before detection of the external force, which is higher in reliability than before the collision.

Further, the predetermined threshold values Y1, Z1 and Z2 of the lateral acceleration and the longitudinal acceleration are corrected so as to increase as the vehicle speed V increases when the external force is detected, or increase as the friction coefficient μ of the road surface decreases. The correction may be made in a certain direction.

In step S260, when the previous correction coefficient is set to A1 or A2, or when the SCS start threshold is set to β0 or ψ0, each value is not reset suddenly, but is gradually reset to the original value. May be returned.

Further, steps S236, S254, S2
At 60, the state where the occupant is likely to panic may be detected, and the SCS control may be corrected only when the panic is detected. Accordingly, the above-described correction is performed only when a panic cannot be dealt with, so that the occupant-driven operation can be performed after the panic.

The present invention can be applied to a modified or changed embodiment without departing from the spirit of the present invention.

For example, as the correction of the SCS control, the correction coefficient of the steering angle is corrected. However, the gain related to the steering angle of the SCS control is corrected.
A part of the control calculation processing of the SCS control for the steering operation may be corrected.

[0114]

[Brief description of the drawings]

FIG. 1 is a diagram showing an overall configuration of a control block of a vehicle behavior control device according to an embodiment of the present invention.

FIG. 2 is a flowchart illustrating an overall operation for executing the posture control according to the present embodiment.

FIG. 3 is a flowchart for executing the SCS calculation processing of FIG. 2;

FIG. 4 is a flowchart for executing the SCS calculation processing of FIG. 2;

FIG. 5 is a flowchart for executing arbitration processing between SCS control and ABS control.

FIG. 6 is a flowchart for executing arbitration processing between SCS control and ABS control.

FIG. 7 is a flowchart for executing arbitration processing between SCS control and ABS control.

FIG. 8 is a flowchart for executing a wheel speed correction process of FIG. 2;

FIG. 9 is a schematic diagram showing a wheel speed correction procedure.

FIG. 10 is a flowchart showing an external force detection process in step S41 of FIG. 3;

FIG. 11 is a diagram illustrating a relationship when the SCS control start threshold value is corrected according to the vehicle speed.

FIG. 12 is a diagram illustrating a relationship when the SCS control start threshold value is corrected according to a road surface friction coefficient.

FIG. 13 is a flowchart showing a modified example of the external force detection process of FIG.

FIG. 14 is a flowchart illustrating a modification of the external force detection process of FIG. 10;

FIG. 15 is a flowchart illustrating an external force detection process when the airbag is deployed.

FIG. 16 is a flowchart showing a deployment control process of the airbag device.

FIG. 17 is a flowchart showing an external force detection process according to the acting direction of the external force.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 ... SCSECU 11 ... FR wheel speed sensor 12 ... FL wheel speed sensor 13 ... RR wheel speed sensor 14 ... RL wheel speed sensor 15 ... vehicle speed sensor 16 ... steering steering angle sensor 17 ... Yaw rate sensor 18 ... lateral acceleration sensor 19 ... front and back Direction acceleration sensor 20 ... EGIECU 21 ... Engine 22 ... Automatic transmission 23 ... Throttle valve 30 ... Hydraulic pressure control unit 31 ... FR brake 32 ... FL brake 33 ... RR brake 34 ... RL brake 35 ... Brake pressing force sensor 36 ... Pressure unit 37: Master cylinder 38: Brake pedal 40: Traction off switch 50: Airbag device

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Akihiro Kobayashi 3-1, Shinchi, Fuchu-cho, Aki-gun, Hiroshima Mazda F-term (reference) 3D045 BB40 EE21 GG00 GG05 GG25 GG26 GG27 3D046 BB28 BB29 BB31 BB32 CC02 FF09 HH00 HH02 HH08 HH25 HH26 HH36

Claims (11)

[Claims] 1. A behavior control device for a vehicle, comprising: attitude control means for converging a running attitude of a vehicle to a target attitude when the running attitude of the vehicle deviates from a target attitude, wherein the external force detecting means detects an external force applied to the vehicle. And a correcting means for correcting the control content of the attitude control means when detecting the external force by the external force detecting means. 2. The posture control means according to claim 1, wherein when the deviation between the target posture calculated based on the vehicle state quantity and the actual posture is equal to or larger than a predetermined deviation, the posture of the vehicle is converged to the target posture. The vehicle behavior control device according to claim 1, wherein the control is performed. 3. The vehicle behavior control device according to claim 1, wherein the correction unit corrects the control content in a direction to suppress control intervention by the attitude control unit. 4. The vehicle behavior control device according to claim 3, wherein said correction means prohibits control intervention by said attitude control means. 5. The vehicle according to claim 1, wherein the attitude control means is configured to converge on the target attitude when the deviation between the target attitude and the travel attitude calculated based on at least the steering angle is equal to or greater than a predetermined deviation. 4. The control device according to claim 3, wherein the control unit corrects a degree of convergence to the target position with respect to the steering angle detected by the position control unit in the reduction direction. 5. The behavior control device for a vehicle according to any one of the preceding claims. 6. The attitude control means according to claim 1, wherein when the deviation between the target attitude and the travel attitude calculated based on at least the steering angle is greater than or equal to a predetermined deviation, the vehicle attitude is converged to the target attitude. The attitude is controlled, and the correction unit sets the steering angle detected by the attitude control unit as a value of the control before the detection of the external force by the detection unit. Vehicle behavior control device. 7. The behavior control device for a vehicle according to claim 3, wherein the correction means ends its operation after a predetermined period. 8. The vehicle behavior control device according to claim 7, wherein the predetermined period is a period from when an external force is detected by the external force detection unit to when a driving operation is performed by an occupant. 9. The vehicle according to claim 7, wherein the predetermined period is a period from when the external force is detected by the external force detecting unit to when the degree of the influence of the external force on the posture change is reduced. Behavior control device. 10. The apparatus according to claim 1, wherein the correction means corrects the degree of control intervention by the attitude control means in a decreasing direction if the vehicle is traveling at a high speed or running on a low friction road when the external force is detected by the detection means. The vehicle behavior control device according to claim 3. 11. The correction means determines whether a change in the attitude of the vehicle is large at the time of detection of an external force by the detection means. If the change in the attitude is large, the correction means increases the control intervention by the attitude control means. The vehicle behavior control device according to claim 3, wherein the control content is corrected.