JP2003226236A - Yaw rate detecting device for moving body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To detect the yaw rate of a moving body with higher accuracy than conventional by determining the reliability of detection values for two yaw rate sensors in accordance with the reference yaw rate of the moving body. <P>SOLUTION: The reference yaw rate Yrb of the vehicle is computed (S40-80) in accordance with the moving condition of the vehicle, and a size ΔYr1 of a deviation between the reference yaw rate Yrb and the detection value Yr1 for one yaw rate sensor and a size ΔYr2 of a deviation between the reference yaw rate Yrb and the detection value Yr2 for the other yaw rate sensor are computed (S90). When the sizes ΔYr1 and ΔYr2 of the yaw rate deviations are both less than a reference value K2 in determining the reliability (S120, 140), a weight k(n) is set to be the ratio of ΔYr2 to the sum of ΔYr1+ΔYr2 (S160), and the yaw rate Yr of the vehicle is computed in accordance with a weighted average of the two detection values using the weights of the detection values Yr1 and Yr2 as k(n), (1-k(n)) (S180). <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to detecting a yaw rate of a moving body such as a vehicle, and more particularly to a yaw rate detecting device for detecting a yaw rate of a moving body using two yaw rate sensors.

[0002]

2. Description of the Related Art In a vehicle such as an automobile, the yaw rate of the vehicle is detected by using two yaw rate sensors, and as one of control devices for controlling the vehicle based on the detection result,
For example, as described in Japanese Patent Laid-Open No. 2000-128004, two steering assist control amounts for controlling the vehicle behavior are calculated based on each of the two yaw rate detection values by the two yaw rate sensors, and two steering 2. Description of the Related Art An electric power steering apparatus configured to perform steering assist control using a yaw rate detection value corresponding to the smaller one of the assist control amounts or a simple average value of two steering assist control amounts as a yaw rate of the vehicle has been conventionally known.

According to such an electric power steering system, the steering assist control amount for controlling the vehicle behavior is calculated based only on the yaw rate detection value by one yaw rate sensor, and the steering assist control is performed based on the steering assist control amount. As compared with the case where the above is performed, it is possible to reduce the adverse effect of the disturbance caused by the temperature change around the yaw rate sensor, the vibration of the sensor mounting portion, and the like.

[0004]

However, in the above-described electric power steering system, the yaw rate detection value closer to the true yaw rate of the vehicle is selected or the reflection degree of the yaw rate detection value closer to the true yaw rate is reflected. Since the average value of the two yaw rate detection values is not calculated so that the vehicle yaw rate becomes higher, the yaw rate of the vehicle cannot be detected with high accuracy, and there is room for improvement in this respect.

The present invention has been made in view of the above-mentioned problems in the conventional yaw rate detecting device configured to detect the yaw rate of the vehicle by using two yaw rate sensors. The problem is that when detecting the yaw rate of a moving object using two yaw rate sensors in a moving object such as a vehicle, ship, or aircraft, the yaw rate of the moving object is estimated as a reference yaw rate based on the motion state of the moving object. Then, the reliability of the detection values of the two yaw rate sensors is determined based on the reference yaw rate, and the final yaw rate is calculated based on the two yaw rate detection values in consideration of the determination result. It is to detect the yaw rate of the moving body with high accuracy.

[0006]

According to the present invention, the above-mentioned main problem is a yaw rate detecting device for detecting a yaw rate of a moving body by using two yaw rate sensors. Means for calculating a reference yaw rate of the moving body based on the motion state of the moving body, means for calculating two deviations between the two yaw rate detection values by the two yaw rate sensors and the reference yaw rate, and the two deviations A yaw rate detection value corresponding to the smaller one of the two yaw rate detection values is reflected more largely than the other yaw rate detection value, and a means for calculating a final yaw rate based on the two yaw rate detection values is provided. Is achieved by a yaw rate detector.

According to the present invention, in order to effectively achieve the above-mentioned main subject, in the structure of the above-mentioned claim 1, the means for calculating the final yaw rate is a weight for the other yaw rate detection value. The yaw rate detection value of one of the two yaw rate detection values is increased in comparison with the above, and the two yaw rate detection values are weighted and averaged.

According to the present invention, in order to effectively achieve the above-mentioned main problems, in the structure of the above-mentioned claim 1, the means for calculating the reference yaw rate of the moving body is the lateral acceleration of the moving body. It is configured to calculate the reference yaw rate on the basis of (1).

According to the present invention, in order to effectively achieve the above-mentioned main problems, in the structure of the above-mentioned claim 1, the movable body has a steering device, and the reference yaw rate of the movable body is increased. Is configured to calculate the reference yaw rate based on the steering angle of the steering device (configuration of claim 4).

According to the present invention, in order to effectively achieve the above-mentioned main problem, in the structure of the above-mentioned claim 1, the movable body has a steering device, and the reference yaw rate of the movable body is increased. Means for calculating the reference yaw rate based on the lateral acceleration of the moving body when the magnitude of the lateral acceleration of the moving body is large, and the steering of the steering device when the magnitude of the lateral acceleration of the moving body is small. It is configured to calculate the reference yaw rate based on the angle (configuration of claim 5).

[0011]

According to the constitution of the above-mentioned claim 1,
The reference yaw rate of the moving body is calculated based on the motion state of the moving body, and two deviations between the two yaw rate detection values by the two yaw rate sensors and the reference yaw rate are calculated,
Based on the two yaw rate detection values, one of the yaw rate detection values corresponding to the smaller of the two deviations, that is, the yaw rate detection value of the higher reliability is reflected more greatly than the other yaw rate detection value. Since the final yaw rate is calculated, compared with the case where one of the two yaw rate detection values is the detected yaw rate, or when the simple average value of the two yaw rate detection values is the detected yaw rate, The yaw rate of the moving body can be detected with high accuracy.

According to the second aspect of the present invention, the final yaw rate has a larger weight for the one yaw rate detection value than the weight for the other yaw rate detection value, and a weighted average of the two yaw rate detection values. Therefore, when calculating the final yaw rate based on the two yaw rate detection values, the yaw rate detection value having higher reliability than the other yaw rate detection value can be reliably reflected to a large extent. .

Further, in general, since there is a specific relationship between the yaw rate and the lateral acceleration when the moving body makes a turning motion,
The yaw rate of the moving body can be estimated based on the lateral acceleration of the moving body, and this can be used as the reference yaw rate. According to the third aspect of the present invention, the reference yaw rate of the moving body is calculated based on the lateral acceleration of the moving body, so that it is possible to reliably calculate the two deviations between the two yaw rate detection values and the reference yaw rate.

In general, when the moving body has a steering device and the moving body is caused to make a turning motion by the steering device,
Since there is a specific relationship between the yaw rate of the moving body and the steering angle of the steering device, the yaw rate of the moving body can be estimated based on the steering angle of the steering device, and this can be used as the reference yaw rate. can do. According to the configuration of claim 4, the moving body has the steering device, and the reference yaw rate of the moving body is calculated based on the steering angle of the steering device. Therefore, the two yaw rate detection values and the reference yaw rate are It is possible to reliably calculate the two deviations.

Further, in general, when the moving body has a steering device and the moving body is caused to make a turning motion by the steering device, the estimation accuracy of the yaw rate is high when the lateral acceleration of the moving body is large. It is higher based on the lateral acceleration of the body, and conversely, higher based on the steering angle of the steering device when the magnitude of the lateral acceleration of the moving body is small.

According to the structure of the fifth aspect, the moving body has the steering device, and the reference yaw rate of the moving body is calculated based on the lateral acceleration of the moving body when the lateral acceleration of the moving body is large. When the lateral acceleration of the moving body is small, it is calculated based on the steering angle of the steering apparatus. Therefore, the reference yaw rate of the moving body is the lateral acceleration of the moving body or the steering apparatus of the steering apparatus regardless of the turning motion state of the moving body. It is possible to calculate the reference yaw rate of the moving body with higher accuracy than in the case where the yaw rate of the moving body is calculated based on the steering angle, and thus it is possible to detect the yaw rate of the moving body with high accuracy.

[0017]

According to a preferred embodiment of the present invention, in the structure of claim 1 or 2,
The means for calculating the reference yaw rate of the moving body is configured to calculate the yaw rate of the moving body as the reference yaw rate based on a parameter indicating a motion state of the moving body other than the yaw rate having a specific relationship with the yaw rate of the moving body. 1).

According to another preferred aspect of the present invention, in any one of the first to fifth aspects, the moving body is any one of a vehicle, a ship and an aircraft (preferred). Aspect 2).

According to another preferred embodiment of the present invention, in the configuration of the preferred embodiment 2, the moving body is a vehicle having steered wheels, and the means for calculating the reference yaw rate of the moving body is the side of the vehicle. The reference yaw rate of the moving body is calculated based on any one of the acceleration, the steering angle of the steered wheels, and the wheel speed difference between the left and right wheels (preferred aspect 3).

According to another preferred aspect of the present invention, in the structure of claim 2, the means for calculating the final yaw rate weights the two yaw rate detection values based on the magnitudes of the two deviations. It is configured to be variably set (preferred aspect 4).

According to another preferred embodiment of the present invention, in the configuration of the preferred embodiment 4, the means for calculating the final yaw rate has a ratio of weights to two yaw rate detection values and two deviation magnitudes. It is configured to variably set the weights for the two yaw rate detection values so as to have an inverse ratio of (preferable aspect 5).

According to another preferred aspect of the present invention, in the structure of claim 3, the means for calculating the reference yaw rate of the moving body calculates the reference yaw rate based on the lateral acceleration and moving speed of the moving body. (Preferred embodiment 6).

According to another preferred aspect of the present invention, in the structure of claim 4, the means for calculating the reference yaw rate of the moving body is based on the steering angle of the steering device and the moving speed of the moving body. It is configured to calculate the reference yaw rate on the basis (preferred aspect 7).

According to another preferred embodiment of the present invention, in the configuration of the preferred embodiment 7, the moving body is a vehicle having steered wheels, and the means for calculating the reference yaw rate of the moving body is the steered wheels. It is configured to calculate the reference yaw rate based on the steering angle and the vehicle speed (preferred aspect 8).

According to another preferred aspect of the present invention, in the structure of claim 5, the moving body is a vehicle having steered wheels, and the means for calculating the reference yaw rate of the moving body is a lateral vehicle. When the magnitude of acceleration is greater than or equal to the first reference value, the reference yaw rate is calculated based on the lateral acceleration of the vehicle, and the magnitude of lateral acceleration of the vehicle is equal to or greater than the second reference value and less than the first reference value. In some cases, the reference yaw rate is calculated based on the steering angle of the steered wheels, and when the magnitude of the lateral acceleration of the vehicle is less than the second reference value, the reference yaw rate is calculated based on the wheel speed difference between the left and right wheels. (Preferred aspect 9).

[0026]

BEST MODE FOR CARRYING OUT THE INVENTION The present invention will be described in detail below with reference to the accompanying drawings.

FIG. 1 is a schematic block diagram showing a preferred embodiment of a moving body yaw rate detecting device according to the present invention applied to a vehicle.

In FIG. 1, 10FL and 10FR respectively indicate the left and right front wheels of the vehicle 12, and 10RL and 10RR respectively indicate the left and right rear wheels which are the drive wheels of the vehicle. Left and right front wheels 10FL and 10FR, which are driven wheels and steered wheels, are driven by a rack and pinion type power steering device 16 driven in response to the steering of the steering wheel 14 by a driver, through tie rods 18L and 18R. Steered.

The braking force of each wheel is applied to the wheel cylinders 24FR, 24FL, 24RR by the hydraulic circuit 22 of the braking device 20.
It is adapted to be controlled by controlling the braking pressure of 24RL. Although not shown in the figure, the hydraulic circuit 2
Reference numeral 2 includes an oil reservoir, an oil pump, various valve devices such as a pressure increasing / decreasing control valve for increasing / decreasing the pressure in the wheel cylinders, and the braking pressure of each wheel cylinder is normally set by the driver to depress the brake pedal 26. It is controlled by the master cylinder 28 driven in accordance with the above, and is controlled by controlling the pressure increasing / decreasing control valve by the electronic control unit 30 as necessary.

Wheel speed sensors 32FR to 32RL for detecting the wheel speeds Vwi (i = fr, fl, rr, rl) of the corresponding wheels as peripheral speeds are provided to the wheels 10FR to 10RL, respectively, and the steering wheel 14 is connected thereto. A steering angle sensor 34 for detecting the steering angle θ is provided on the steering column.

The vehicle 12 has a first yaw rate sensor 36 for detecting the first yaw rate Yr1 of the vehicle, a second yaw rate sensor 38 for detecting the second yaw rate Yr2 of the vehicle, and a lateral acceleration Gy of the vehicle. A lateral acceleration sensor 40 for detecting is provided. The steering angle sensor 3
4, yaw rate sensors 36, 38 and lateral acceleration sensor 4
0 indicates that the left turning direction of the vehicle is positive and the steering angle, yaw rate and lateral acceleration are detected.

As shown, the wheel speed sensors 32FR-32FR
A signal indicating the wheel speed Vwi detected by RL, a signal indicating the steering angle θ detected by the steering angle sensor 34, a signal indicating the yaw rates Yr1 and Yr2 detected by the yaw rate sensors 36 and 38, respectively, and a lateral acceleration sensor 40. A signal indicating the detected lateral acceleration Gy is input to the electronic control unit 30.

Although not shown in detail in the figure, the electronic control unit 30 has, for example, a CPU, a ROM, a RAM, and an input / output port unit, which are generally connected to each other by a bidirectional common bus. It includes a microcomputer with various configurations.

The electronic control unit 30 calculates the reference yaw rate Yrb of the most reliable vehicle according to the running state of the vehicle according to the flow chart shown in FIG.
A first yaw rate deviation ΔYr1 between the reference yaw rate Yrb and the yaw rate detection value Yr1 and a second yaw rate deviation ΔYr2 between the reference yaw rate Yrb and the yaw rate detection value Yr2 are calculated, and the smaller of these deviations is calculated. The final yaw rate Yr is calculated based on the two yaw rate detection values so that the one yaw rate detection value Yr1 or Yr2 is reflected more greatly than the other yaw rate detection value Yr2 or Yr1.

In the illustrated embodiment, the electronic control unit 30 calculates the degree of instability of the vehicle based on the running state of the vehicle including the calculated yaw rate, and the running stability of the vehicle based on the degree of instability of the vehicle. The braking control amount of each wheel for improving the driving performance is calculated, and the braking pressure of each wheel is controlled based on the braking control amount to perform the traveling motion control of the vehicle for improving the traveling stability of the vehicle.

Next, the yaw rate detection control routine in the illustrated embodiment will be described with reference to the flow chart shown in FIG. The control according to the flowchart shown in FIG. 2 is started by closing an ignition switch (not shown) and is repeatedly executed at predetermined time intervals.

First, at step 10, a signal indicating the wheel speed Vwi detected by the wheel speed sensors 32FR to 32RL is read. Although not shown in FIG. 2, after starting the control, the weight k (n), which will be described later, is set to 0.5 and the yaw rate detection values Yr1 and Yr2 are set to 0 prior to step 10. Step 1
Proceed to 80.

In step 20, determination is made as to whether or not the vehicle is traveling in a substantially linear region (region where the wheels are gripping), as is known in the art.
That is, it is determined whether or not the vehicle is in a non-grip state such as spin or drift out. When a negative determination is made, the weight k (n) is determined to be the previous value k (n-1) in step 30. ), The process proceeds to step 180, and when a positive determination is made, the process proceeds to step 40.

In step 40, the lateral acceleration G of the vehicle
It is determined whether or not the absolute value of y is greater than or equal to the first reference value Gy1 (a positive constant), that is, whether or not the vehicle is in a turning state in which the magnitude of lateral acceleration is large, and a positive determination is made. Is performed, the vehicle speed V is estimated based on the wheel speed Vwi of each wheel in a manner known in the art in step 50, and the yaw rate of the vehicle based on the lateral acceleration Gy of the vehicle is calculated according to the following equation 1. Yrg is calculated and the yaw rate Y is calculated.
When rg is set to the reference yaw rate Yrb and a negative determination is made, the routine proceeds to step 60. Yrg = Gy / V (1)

In step 60, the lateral acceleration G of the vehicle
It is determined whether the absolute value of y is greater than or equal to a second reference value (a positive constant) smaller than the first reference value Gy1 and less than the first reference value Gy1, that is, the vehicle has a large lateral acceleration. Is determined to be a relatively small turning state, and when a positive determination is made, in step 70, the stability factor is Kh, the vehicle speed is V, the steering angle is θ, and the steering gear is Assuming that the ratio is N and the vehicle wheel base is L, the target yaw rate Yre
Is calculated, the yaw rate Yrs of the vehicle based on the steering angle θ is calculated according to the following equation 3 using T as a time constant and s as a Laplace operator, and the yaw rate Yrs is set to the reference yaw rate Yrb, and a negative determination is made. If so, that is, if the vehicle is in a turning state or a substantially straight traveling state in which the magnitude of lateral acceleration is very small, the routine proceeds to step 80. Yre = Vθ / (1 + KhV ² ) NL (2) Yrs = Yre / (1 + Ts) (3)

In step 80, the wheel speed difference between the left and right wheels is set to ΔVw, and the tread of the vehicle is set to Tr.
Accordingly, the yaw rate Yrw of the vehicle is calculated based on the wheel speed difference ΔVw between the left and right wheels, and the yaw rate Yrw is set to the reference yaw rate Yrb. The wheel speed difference ΔVw is the wheel speed difference Vwfr between the left and right front wheels which are non-driving wheels when the vehicle is accelerated.
It is preferably set to −Vwfl and set to a wheel speed difference Vwrr−Vwrl between the left and right rear wheels that are drive wheels when the vehicle is not accelerated. Yrw = ΔVw / Tr (4)

In step 90, the magnitude ΔYr1 of the first yaw rate deviation between the reference yaw rate Yrb and the yaw rate detection value Yr1 is calculated according to the following equation 5, and
A second yaw rate deviation ΔYr2 between the reference yaw rate Yrb and the yaw rate detection value Yr2 is calculated according to the following equation 6. ΔYr1 = | Yrb−Yr1 | (5) ΔYr2 = | Yrb−Yr2 | (6)

In step 100, both the first yaw rate deviation magnitude ΔYr1 and the second yaw rate deviation magnitude ΔYr2 are the first reference value K1 for the abnormality determination.
It is determined whether or not the value is (a positive constant) or less, that is, whether or not both of the yaw rate sensors 36 and 38 are normal, and when a negative determination is made, in step 110, as shown in FIG. The routine jumps to a not-shown yaw rate sensor abnormality determination routine, and proceeds to step 120 when an affirmative determination is made.

In step 120, it is determined whether the first yaw rate deviation magnitude ΔYr1 is equal to or larger than the second reference value K2 (a positive constant smaller than the first reference value K1) for reliability determination. Of the first yaw rate deviation Δ
Whether the reliability of the yaw rate detection value Yr1 corresponding to Yr1 is low or not is determined. When a positive determination is made, the weight k (n) is set to 0 in step 130, and a negative determination is made. If so, the process proceeds to step 140.

In step 140, it is judged whether the second yaw rate deviation magnitude ΔYr2 is greater than or equal to the second reference value K2 for the reliability judgment, that is, the second yaw rate deviation magnitude ΔYr2 is determined. Whether or not the reliability of the corresponding yaw rate detection value Yr2 is low is determined, and when a positive determination is made, the weight k (n) is set to 1 in step 150, and when a negative determination is made. In step 160, the weight k (n) is calculated according to the following equation (7). k (n) = ΔYr2 / (ΔYr1 + ΔYr2) (7)

In step 170, the smoothing process (moving average process) of the weight k (n) is performed according to the following equation 8 with A being a positive constant larger than 0 and smaller than 1, and then step 180. Go to. k (n) = A · k (n-1) + (1-A) k (n) (8)

In step 180, the weight for the yaw rate detection value Yr1 is set to k (n) and the yaw rate detection value Yr2 is set.
The yaw rate Yr of the vehicle is calculated according to the following equation 9 in which the weight for (1−k (n)) is calculated, and that value is used as the yaw rate Yr of the vehicle detected by the yaw rate detection device to calculate the degree of instability of the vehicle. At the same time, the weight k (n) is rewritten to k (n-1) in preparation for the next cycle.

Thus, according to the illustrated embodiment, the reference yaw rate Yrb of the vehicle is calculated based on the motion state of the vehicle in steps 40 to 80, and the reference yaw rate Yrb and the yaw rate detection value Yr1 are calculated in step 90. The first yaw rate deviation magnitude ΔYr1 and the second yaw rate deviation magnitude ΔYr2 between the reference yaw rate Yrb and the yaw rate detection value Yr2 are calculated. The magnitudes of these yaw rate deviations ΔYr1 and ΔYr2 are the yaw rate detection values Yr1.
And Yr2 are indicators of reliability.

Then, in steps 120 and 140, both the first yaw rate deviation magnitude ΔYr1 and the second yaw rate deviation magnitude ΔYr2 are less than the second reference value K2 for reliability determination, and the yaw rate When it is determined that the detected values Yr1 and Yr2 are both highly reliable, in step 160, the weight k (n) is set to the second value for the sum ΔYr1 + ΔYr2 of the magnitudes of the first and second yaw rate deviations. It is set to the ratio of the yaw rate deviation magnitude ΔYr2,
In step 180, the yaw rate Yr of the vehicle is calculated with the weight for the yaw rate detection value Yr1 set to k (n) and the weight for the yaw rate detection value Yr2 set to (1-k (n)).

Therefore, according to the illustrated embodiment, the weight k (n) for the yaw rate detection value Yr1 is smaller than the second yaw rate deviation magnitude ΔYr2, and the first yaw rate deviation magnitude ΔYr1 is small. The higher the reliability of the value Yr1, the higher the value, and conversely the first yaw rate deviation magnitude ΔYr1 compared to the second yaw rate deviation magnitude ΔYr2.
Is larger, the lower the reliability of the yaw rate detection value Yr1, the lower the value. Therefore, one yaw rate detection value corresponding to the smaller deviation of the two deviations ΔYr1 and ΔYr2, that is, the one having the higher reliability is the yaw rate of the other yaw rate. The final yaw rate Yr can be calculated based on the two yaw rate detection values so that the yaw rate Yr of the vehicle can be detected with high accuracy.

In general, the yaw rate of the vehicle is the lateral acceleration Gy of the vehicle, the steering angle θ, and the wheel speed difference ΔVw between the left and right wheels as described above.
However, when the vehicle is in a turning state in which the magnitude of the lateral acceleration is large, the lateral acceleration Gy of the vehicle is higher than the other estimated yaw rates.
The yaw rate Yrg of the vehicle based on the steering angle θ is high, and the yaw rate Yrs of the vehicle based on the steering angle θ is high when the vehicle is in a turning state in which the lateral acceleration is relatively small. When the vehicle is in a turning state or a substantially straight traveling state where the lateral acceleration is very small, the yaw rate Yrw of the vehicle based on the wheel speed difference ΔVw of the left and right wheels is more reliable than other estimated yaw rates. .

According to the illustrated embodiment, the reference yaw rate Yrb, which is used as a reference for determining the reliability of the yaw rate detection values Yr1 and Yr2, is the magnitude of the lateral acceleration of the vehicle in steps 40-80. When the vehicle is in a large turning state, the yaw rate Yrg of the vehicle based on the lateral acceleration Gy of the vehicle is set to the reference yaw rate Yrb, and when the vehicle is in a turning state where the magnitude of the lateral acceleration is relatively small, the yaw rate Yrs of the vehicle based on the steering angle θ. When the vehicle is in a turning state in which the magnitude of lateral acceleration is very small or in a substantially straight traveling state, the yaw rate Yrw of the vehicle is set based on the wheel speed difference ΔVw between the left and right wheels. Regardless of the yaw rate Yrg, Yrs, or Yrw, the first yaw rate deviation magnitude ΔYr1 and the second yaw rate deviation are set. The size of the rate deviation Δ
Accurately calculate Yr2, which gives the vehicle yaw rate Yr
Can be detected with high accuracy.

Further, according to the illustrated embodiment, even when the yaw rate sensors 36 and 38 are normal and the positive determination is made in step 100, the first yaw rate deviation magnitude ΔYr1 becomes the first value. When the yaw rate Yr1 is less than the second reference value K2 (step 120) and the reliability of the yaw rate Yr1 is low, the weight k (n) is set to 0 in step 130, and the final yaw rate Yr is set to the second yaw rate Yr2. Therefore, the yaw rate of the vehicle can be accurately detected without being affected by the unreliable yaw rate Yr1.

Similarly, even if the yaw rate sensors 36 and 38 are normal and a positive determination is made in step 100, the second yaw rate deviation magnitude ΔY is obtained.
r2 is greater than or equal to the second reference value K2 (step 140),
When the reliability of the yaw rate Yr2 is low, step 15
At 0, the weight k (n) is set to 1 and the final yaw rate Yr is set to the first yaw rate Yr1. Therefore, the yaw rate of the vehicle is accurately detected without being affected by the unreliable yaw rate Yr2. be able to.

Further, according to the illustrated embodiment, the weight k (n)
Is calculated by the averaging process (moving average process) based on the weight k (n) of the current cycle and the weight k (n-1) of the previous cycle in step 160, and is caused by the sudden change of the weight k (n). It is possible to reliably prevent a sudden change in the yaw rate Yr that occurs and a sudden change in the control amount of the traveling motion control of the vehicle that uses the yaw rate Yr.

Also according to the illustrated embodiment, step 2
When it is determined that the vehicle is not running in a substantially linear region at 0, that is, when the vehicle cannot accurately calculate the reference yaw rates Yrg, Yrs, and Yrw. , The weight k (n) is the previous value k in step 30 without executing step 40 and subsequent steps.
Since it is maintained at (n-1), the standard yaw rate Yrg of the vehicle,
It is possible to reliably prevent the vehicle yaw rate Yr from being calculated to an incorrect value due to the incorrect calculation of Yrs and Yrw.

Further in accordance with the illustrated embodiment, step 1
00, the yaw rate sensor 36 and the yaw rate sensor 36 are determined by determining whether the first yaw rate deviation magnitude ΔYr1 and the second yaw rate deviation magnitude ΔYr2 are both less than or equal to a first reference value K1 for abnormality determination. It is determined whether or not all of 38 are normal, and when a negative determination is made, the routine jumps to a yaw rate sensor abnormality determination routine in step 110, and only when a positive determination is made, step 120 and subsequent steps are performed. Is executed, the yaw rate sensor 3
It is possible to reliably prevent the yaw rate Yr of the vehicle from being calculated to an abnormal value when an abnormality such as a disconnection or a short circuit occurs in 6 or 38.

Although the present invention has been described above in detail with respect to specific embodiments, the present invention is not limited to the above-mentioned embodiments, and various other embodiments within the scope of the present invention. It will be apparent to those skilled in the art that

For example, in the illustrated embodiment, the reference yaw rate Yrb is the yaw rate Yrg of the vehicle based on the lateral acceleration Gy of the vehicle in steps 40 to 80 when the vehicle is in a turning state in which the magnitude of the lateral acceleration is large. Is set to the reference yaw rate Yrb, and when the vehicle is in a turning state in which the magnitude of lateral acceleration is relatively small, it is set to the yaw rate Yrs of the vehicle based on the steering angle θ, and the vehicle is in a turning state in which the magnitude of lateral acceleration is very small. Alternatively, when the vehicle is traveling substantially straight, the yaw rate Yrw of the vehicle is set based on the wheel speed difference ΔVw between the left and right wheels, but the reference yaw rate Yrb is the lateral acceleration Gy of the vehicle regardless of the traveling state of the vehicle. Of the yaw rate Yrg of the vehicle based on the steering angle θ, the yaw rate Yrs of the vehicle based on the steering angle θ, and the yaw rate Yrw of the vehicle based on the wheel speed difference ΔVw between the left and right wheels. It may be modified to be crab set.

In the illustrated embodiment, the first yaw rate deviation magnitude ΔYr1 is greater than or equal to the second reference value K2 in steps 120 and 130, and the yaw rate Yr
When the reliability of 1 is low, the weight k (n) is set to 0,
Further, in steps 140 and 150, the magnitude ΔYr2 of the second yaw rate deviation is not less than the second reference value K2,
When the reliability of the yaw rate Yr2 is low, the weight k (n) is set to 1;
150 is omitted, and the yaw rate deviation magnitudes ΔYr1, Δ
The final yaw rate Yr may be modified so as to be calculated by the weighted average of the two yaw rate detection values Yr1 and Yr2 regardless of the magnitude of Yr2.

Further, in the illustrated embodiment, the weight k
(n) is calculated in step 160 by the smoothing process (moving average process) based on the current cycle weight k (n) and the previous cycle weight k (n-1). The rounding process of the weight k (n) may be omitted.

In the illustrated embodiment, the final yaw rate Yr is used for controlling the traveling motion of the vehicle, but the yaw rate detected by the yaw rate detecting device of the present invention is the auxiliary steering of the vehicle. It may be used for any control of the mobile, such as control of the device.

Further, in the illustrated embodiment, the yaw rate detecting device of the present invention is configured to detect the yaw rate of the vehicle, but the moving body to which the yaw rate detecting device of the present invention is applied is not limited to the vehicle. However, the yaw rate of the moving body may be estimated based on a motion parameter of the moving body other than the yaw rate, and the estimated yaw rate may be used as the reference yaw rate, and may be a ship, an aircraft, or the like.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram showing a preferred embodiment of a yaw rate detecting device according to the present invention applied to a vehicle.

FIG. 2 is a flowchart showing a yaw rate detection control routine in the illustrated embodiment.

[Explanation of symbols]

10FR-10RL ... Wheels 20 ... Braking device 28 ... Master cylinder 30 ... Electronic control unit 32FR to 32RL ... Wheel speed sensor 34 ... Steering angle sensor 36 ... First yaw rate sensor 38 ... Second yaw rate sensor 40 ... Lateral acceleration sensor

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) B62D 137: 00 G01P 15/00 J

Claims (5)

[Claims] 1. A yaw rate detecting device for detecting a yaw rate of a moving body by using two yaw rate sensors, a means for calculating a reference yaw rate of the moving body based on a motion state of the moving body, and the two yaw rates. Means for calculating two deviations between the two yaw rate detection values by the sensor and the reference yaw rate, and one yaw rate detection value corresponding to the smaller one of the two deviations compared to the other yaw rate detection value. And a means for calculating a final yaw rate on the basis of the two yaw rate detection values so that the yaw rate detection apparatus has a large yaw rate. 2. The means for calculating the final yaw rate is configured to increase the weight for the one yaw rate detection value in comparison with the weight for the other yaw rate detection value and weight average the two yaw rate detection values. The yaw rate detection device according to claim 1, wherein the yaw rate detection device is a yaw rate detection device. 3. The yaw rate detecting device according to claim 1, wherein the means for calculating the reference yaw rate of the moving body calculates the reference yaw rate based on the lateral acceleration of the moving body. 4. The moving body has a steering device, and the means for calculating the reference yaw rate of the moving body calculates the reference yaw rate based on the steering angle of the steering device. The yaw rate detection device described in 1. 5. The moving body has a steering device, and the means for calculating the reference yaw rate of the moving body determines the reference yaw rate based on the lateral acceleration of the moving body when the lateral acceleration of the moving body is large. The reference yaw rate is calculated based on the steering angle of the steering device when the lateral acceleration of the moving body is small.
The yaw rate detection device described in 1.