JP2006175899A - Behavior controller for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To attain stable control by always setting a target yaw rate or the like in the optimal region, and to urge a driver to switch a steering operation to a proper steering status. <P>SOLUTION: A controller 40 inputs each road information, a front image, each wheel speed, a steering wheel angle, a real yaw rate and lateral acceleration. Then, the controller 40 judges whether the behavior of a vehicle is an under-steer status or an over-steer status based on those input signals, and outputs a signal to a brake driving part 13 so that the behavior of the vehicle can be stabilized while limiting a target yaw rate at a limiting yaw rate which can be generated by a vehicle 1. Also, the controller 40 decides whether or not the steering status by the current driver exceeds limitation, and when it exceeds the limitation, the controller 40 outputs a signal to a power steering controller 30 for executing the reduction correction of an assist torque by an electric motor 17 in order to urge a driver to switch the steering operation to the proper steering status. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a vehicle behavior control device that appropriately prevents an understeer tendency or an oversteer tendency of a vehicle by a braking force.

  In recent years, a vehicle behavior control device has been developed and put into practical use to improve vehicle stability by applying braking force to an appropriate wheel during cornering due to the force acting on the vehicle during cornering of the vehicle.

For example, in Japanese Patent Laid-Open No. 9-39762, a target yaw rate calculated from the driving state of a vehicle is compared with an actual yaw rate that is actually generated. If the actual yaw rate is excessive, braking force is applied to the front outer wheel of the turn. On the contrary, there is disclosed a technique for stabilizing the vehicle behavior by generating a braking force on the rear wheel when the actual yaw rate is insufficient. In this technique, during the execution of the braking force control described above, an ideal steering angle corresponding to the traveling state of the vehicle (considering the steady circular turning state) is obtained, and the ideal steering angle and the actual steering angle are calculated. It is disclosed that a characteristic value corresponding to the deviation is calculated and the assist rate of the power steering device is lowered as the deviation is larger.
JP 9-39762 A

  However, in the vehicle behavior control device disclosed in Patent Document 1 described above, the reference of the braking force control is set at a target yaw rate calculated from the driving state of the vehicle, and the ideal steering angle is also set at a steady circular turn. Considering the actual road surface condition in order to make the state ideal, there is a problem that the target yaw rate and the ideal steering angle are set excessively, making control in an appropriate region difficult. For example, when the target yaw rate or the ideal steering angle is set simply from the driving state such as the steering wheel angle and the vehicle speed on a low μ road, etc., these may exceed the limits of travel, and appropriate control may not be possible.

  The present invention has been made in view of the above circumstances, and it is possible to perform stable control by always setting a target yaw rate or the like within an optimum region, and to prompt the driver to steer to an appropriate steering state. It is an object of the present invention to provide a vehicle behavior control device that can perform this.

  The present invention provides a first parameter calculation means for calculating a parameter obtained based on a driving state of a vehicle as a first parameter, and a second parameter for calculating a parameter obtained based on a road shape on which the vehicle travels as a second parameter. Calculation means, parameter limit value calculation means for calculating a parameter determined based on the road surface condition as a parameter limit value, parameter limit means for limiting the first parameter and the second parameter with the parameter limit value, and the parameter Based on the first parameter and the second parameter subjected to the restriction processing by the restriction means, braking force control means for applying a braking force to the wheel to generate a yaw moment in the vehicle, the parameter restriction value and the current steering Based on the state, it is determined whether or not the current steering state is a steering state within a preset range. , When it is determined that the steering state of the outside area range set above previously, is characterized in that a power steering control correction means for correcting the steering assist torque.

  According to the vehicle behavior control device of the present invention, it is possible to perform stable control by always setting a target yaw rate or the like within an optimum region, and to prompt the driver to steer to an appropriate steering state. It becomes.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
1 to 14 show a first embodiment of the present invention, FIG. 1 is an explanatory diagram showing a schematic configuration of a vehicle equipped with a vehicle behavior control device, FIG. 2 is a functional block diagram of the vehicle behavior control device, and FIG. Is a characteristic diagram of the assist current set by the power steering control device, FIG. 4 is an explanatory diagram regarding the vehicle position and the node, FIG. 5 is an explanatory diagram regarding the calculation of the node angle and the curve curvature radius, and FIG. 6 is the data from the navigation device 7 is a characteristic diagram of the yaw rate limit value, FIG. 8 is a characteristic diagram of the assist torque reduction correction amount, FIG. 9 is a flowchart of a main program for vehicle behavior control, and FIG. 10 is a flowchart of a setting routine for φt1 and φt2. 11 is a flowchart of a braking force control routine using φt1 and φt2, FIG. 12 is a flowchart of an understeer prevention control routine, and FIG. 13 is an oversteer prevention control routine. FIG. 14 is a flowchart of a power steering control correction routine based on φL.

  In FIG. 1, reference numeral 1 denotes a vehicle, which is an example of a four-wheel drive vehicle having a center differential device and an automatic transmission, and the driving force of the engine 2 arranged at the front of the vehicle is an automatic transmission behind the engine 2. (Including a torque converter and the like) 3 is transmitted to the center differential device 4 through the transmission output shaft 3a. The driving force is input from the center differential device 4 to the rear wheel final reduction device 8 via the rear drive shaft 5, the propeller shaft 6, and the drive pinion 7, while from the center differential device 4 to the front drive shaft 9 To the front wheel final reduction gear 10. Here, the automatic transmission device 3, the center differential device 4, the front wheel final reduction device 10 and the like are integrally provided in a case (not shown).

  The driving force input to the rear wheel final reduction gear 8 is transmitted to the left rear wheel 12rl through the rear wheel left drive shaft 11rl and to the right rear wheel 12rr through the rear wheel right drive shaft 11rr. On the other hand, the driving force input to the front wheel final reduction gear 10 is transmitted to the left front wheel 12fl via the front wheel left drive shaft 11fl and to the right front wheel 12fr via the front wheel right drive shaft 11fr.

  On the other hand, reference numeral 13 denotes a brake drive unit of the vehicle, and a master cylinder 15 connected to a brake pedal 14 operated by a driver is connected to the brake drive unit 13. When the driver operates the brake pedal 14, the master cylinder 15 introduces brake pressure to the wheel cylinders 16fl, 16fr, 16rl, 16rr of the four wheels 12fl, 12fr, 12rl, 12rr through the brake drive unit 13, thereby The four wheels are braked and braked.

  The brake drive unit 13 is a hydraulic unit including a pressurizing source, a pressure reducing valve, a pressure increasing valve, and the like, and each wheel cylinder 16fl, 16fr, etc. according to an input signal from a control device 40 as a vehicle behavior control device described later. With respect to 16rl and 16rr, the brake pressure can be independently introduced.

  Further, in FIG. 1, reference numeral 30 denotes a power steering control device, which outputs, for example, an assist current having characteristics corresponding to steering input torque-vehicle speed shown in FIG. 3 to the electric motor 17 of the electric power steering. The assist torque is generated by the control so that the driver can obtain a solid steering feeling during high-speed driving against a light steering force when the driver is stationary. Further, the power steering control device 30 receives a signal from the control device 40 described later and performs control to reduce and correct the assist torque. The decrease correction amount is set by the control device 40 and will be described later.

  Also, the vehicle 1 is equipped with a known navigation device 21 and is connected to the control device 40. From this navigation device 21, as shown in FIG. , East longitude of own vehicle position, north latitude of own vehicle position, data relating to node immediately after own vehicle, and data relating to node of own vehicle traveling route within setting range ahead of own vehicle (data relating to node immediately preceding own vehicle, forward of own vehicle Data relating to the second node,..., Data relating to the (n−1) th node ahead of the host vehicle) are output, for example, every 500 ms. As shown in the figure, the data relating to each node includes an east direction position from the own vehicle position to the node, a north position from the own vehicle position to the node, an intersection flag for identifying whether there is an intersection at the node position, road type Information such as road width is included.

  When a destination is input by the occupant, the navigation device 21 sets an optimum guide route for the host vehicle to travel to the input destination. Then, for example, data relating to a node up to 300 m ahead of the host vehicle and data relating to a node immediately after the host vehicle are output to the control unit 40 as data relating to a node of the host vehicle travel route.

  On the other hand, when the destination is not input by the occupant, the navigation device 21 estimates the priority order of the route on which the vehicle will travel based on information such as the road type and the road width, for example. The route with the highest priority is set as the estimated route. Then, for example, data relating to the node up to 300 m ahead of the host vehicle and data relating to the node immediately after the host vehicle are output to the control unit 40 as data relating to the node of the host vehicle travel route.

  Further, the vehicle 1 is provided with a pair of (left and right) CCD cameras 22L and 22R using a solid-state imaging device such as a charge coupled device (CCD) as a stereo optical system. These left and right CCD cameras 22L and 22R are respectively mounted at a certain interval in front of the ceiling in the vehicle interior, take a stereo image of an object outside the vehicle from different viewpoints, and output an image to the control device 40.

  Further, the vehicle has wheel speed sensors 23fl, 23fr, 23rl, 23rr for detecting wheel speeds ωfl, ωfr, ωrl, ωrr of the four wheels 12fl, 12fr, 12rl, 12rr, and a handle for detecting the handle angle θH of the vehicle 1. Sensors such as an angle sensor 24, a yaw rate sensor 25 that detects the actual yaw rate φr, and a lateral acceleration sensor 26 that detects the lateral acceleration Gy are provided, and each sensor signal is output to the control device 40. .

  The control device 40 receives the above-described road information from the navigation device 21 and the above-described front image from the CCD cameras 22L and 22R. Further, from the sensors 23fl, 23fr, 23rl, 23rr, 24, 25, 26, the wheel speeds ωfl, ωfr, ωrl, ωrr of the four wheels 12fl, 12fr, 12rl, 12rr, the steering wheel angle θH, the actual yaw rate φr, Lateral acceleration Gy is input. Based on these input signals, the control device 40 determines whether the behavior of the vehicle is an understeer state or an oversteer state, and outputs a signal to the brake drive unit 13 to stabilize the vehicle behavior. Further, the control device 40 determines whether or not the current steering state by the driver exceeds the limit, and if it exceeds the limit, the power steering is performed to prompt the driver to steer to an appropriate steering state. A signal is output to the control device 30 so that the assist torque by the electric motor 17 is reduced and corrected.

  That is, the control device 40 is composed of a microcomputer and its peripheral circuits, and as shown in FIG. 2, a vehicle speed calculation unit 40a, a road shape recognition unit 40b, a host vehicle traveling path estimation unit 40c, a curve approach determination unit 40d, a road surface It mainly comprises a μ estimation unit 40e, a first yaw rate calculation unit 40f, a second yaw rate calculation unit 40g, a yaw rate limit value calculation unit 40h, a yaw rate limit unit 40i, a braking force control unit 40j, and a power steering control correction unit 40k. ing.

  The vehicle speed calculation unit 40a receives four wheel speed sensors, that is, wheel speed sensors ωfl, ωfr, ωrl, ωrr of the four wheels 12fl, 12fr, 12rl, 12rr from the wheel speed sensors 23fl, 23fr, 23rl, 23rr, For example, the vehicle speed V (= (ωfl + ωfr + ωrl + ωrr) / 4) is calculated by calculating the average of these, and the own vehicle traveling path estimation unit 40c, the road surface μ estimation unit 40e, the first yaw rate calculation unit 40f, and the second yaw rate calculation are calculated. Output to the unit 40g, the braking force control unit 40j, and the power steering control correction unit 40k.

  In the road shape recognizing unit 40b, on the basis of the position information for each node transmitted from the navigation device 21, the distance from the previous node, the curve curvature radius, and the node angle are calculated for each node. These calculated values are stored and stored as attribute information of each node together with information on intersection identification, road type, road width, singular point identification described later, and the like.

Specifically, the road shape recognizing unit 40b uses the node coordinates (see FIG. 5) transmitted from the navigation device 21 and based on the vehicle position as a reference, to the node Pj (xP [j], yp [j]). ) And the previous node Pj-1 (xp [j-1], yp [j-1]), an interval Lp [j]
Lp [j] = ((xP [j] −xp [j−1]) ² + (yp [j] −yp [j−1]) ² ) ^1/2
(However, 1 ≦ j ≦ n−1)
... (1)
To calculate each node.

Subsequently, as shown in FIG. 6, for example, the road shape recognition unit 40b calculates a node angle tp [j] at each node Pj based on the node coordinates by the following equation (2).
tp [j] = sin ^-1 (((xp [j-1] -xp [j]). (yp [j] -yp [j + 1])
− (Xp [j] −xp [j + 1]) · (yp [j−1] −yp [j]))
/ (Lp [j] · Lp [j + 1])) (2)
Note that the node angle tp [j] obtained here is represented by a-value in the case of the right corner, and is represented by a + value in the case of the left corner.

Based on the above calculation results, the road shape recognition unit 40b calculates the curve curvature radius rp [j] at the node Pj by the following equation (3).
rp [j] = min (LP [j], Lp [j + 1]) / 2 / tan (| tp [j] | / 2)
... (3)
Here, min (Lp [j], Lp [j + 1]) means that the shorter one of Lp [j] and Lp [j + 1] is selected. For example, in FIG. Since Lp [j] <Lp [j + 1], min (LP [j], Lp [j + 1]) = Lp [j].

  Further, the road shape recognition unit 40b uses the data transmitted from the navigation device 21 as it is (using the data predefined in the navigation device 21 as it is), and identifies the intersection for each node (whether it is an intersection or not). Or an intersection on the guide route), the type of road (highway automobile national road, urban highway, general national road, main local road, etc.), road width, etc. are set.

  Further, the road shape recognition unit 40b performs singular point determination for each node transmitted from the navigation device 21, and when it is determined that the node Pj is a singular point, before and after removing the determined node Pj. The node angle tp [J + 1] and the curve curvature radius rp [j + 1] between the nodes Pj-1 and Pj + 1 are recalculated.

  In other words, the curve radius of curvature calculated when the distance between adjacent nodes is too close becomes a value that is too smaller than the radius of curvature of the actual road, resulting in excessive vehicle behavior control with an empty curve. Resulting in. In order to prevent this, in the road shape recognition unit 40b, such a node is considered in consideration of the road type attribute cp [j] and the road width attribute wp [j], and the node interval Lp [j] and the node angle tp. Based on [j], it is excluded as a singular point when calculating the node angle and curve curvature radius.

  Thus, the curve curvature radius rp [j] finally calculated by the road shape recognition unit 40b is output to the curve approach determination unit 40d and the second yaw rate calculation unit 40g.

  The own vehicle traveling path estimation unit 40c receives image information from the CCD cameras 22L and 22R, a steering wheel angle θH from the steering wheel angle sensor 24, and a vehicle speed V from the vehicle speed calculation unit 40a. Based on the image information from the CCD cameras 22L and 22R, the front information of the three-dimensional object data, the side wall data, and the white line data ahead of the own vehicle 1 is detected, and the traveling path of the own vehicle 1 is determined from the forward information and the driving state of the own vehicle 1. Estimate (own vehicle traveling path).

  Here, the processing of the images from the CCD cameras 22L and 22R in the own vehicle traveling path estimation unit 40c is performed as follows, for example. First, for a pair of stereo images of the environment in the approach direction of the host vehicle imaged by the CCD cameras 22L and 22R, a process for obtaining distance information over the entire image from the corresponding positional deviation amount by the principle of triangulation is performed. Thus, a distance image representing a three-dimensional distance distribution is generated. And based on this data, compared with the well-known grouping process, prestored three-dimensional road shape data, side wall data, solid object data, etc., white line data, guardrails existing along the road, Side wall data such as curbs and three-dimensional object data such as vehicles are extracted. The white line data, the side wall data, and the three-dimensional object data extracted in this way are assigned different numbers for each data.

And in the own vehicle travel path estimation part 40c, the own vehicle travel path is estimated by either of the following.
a. The own vehicle traveling path estimation based on the white line ... If the white line data on both the left and right sides or the left and right sides is obtained, and the shape of the lane in which the vehicle 1 is traveling can be estimated from these white line data, the own vehicle travels The road is formed in parallel with the white line in consideration of the width of the host vehicle 1 and the position of the host vehicle 1 in the current lane.

  b. Self-vehicle travel path estimation based on side data of guardrails, curbs, etc. Side wall data on both the left and right sides or left and right sides is obtained, and the shape of the lane in which the vehicle 1 is traveling is estimated from these side wall data If possible, the own vehicle traveling path is formed in parallel with the side wall in consideration of the width of the own vehicle 1 and the position of the own vehicle 1 in the current lane.

  c. Self-vehicle travel path estimation based on the travel trajectory of the host vehicle 1 ... The host vehicle travel path is estimated based on the driving state of the host vehicle 1. For example, the own vehicle traveling path is estimated based on the vehicle speed V and the steering wheel angle θH as follows.

It is determined whether the steering is performed when the actual steering angle δf (= θH / n: n is a steering gear ratio) obtained from the steering wheel angle θH is a predetermined value (for example, 0.57 degrees) or more. When the steering is performed with δf of 0.57 degrees or more, the current turning curvature Cua is calculated by using the actual steering angle δf and the vehicle speed V, for example, by the following equations (4) and (5).
Re = (1 + A0 · V ² ) · (L / δf) (4)
Cua = 1 / Re (5)
Here, Re is a turning radius (value derived from the driving state), and L is a wheelbase. A0 is a stability factor determined by the specifications of the vehicle. The vehicle mass is m, the distance between the front shaft and the center of gravity is Lf, the distance between the rear shaft and the center of gravity is Lr, the front equivalent cornering power is CPf, and the rear equivalent. When the cornering power is CPr, the following formula is obtained.
A0 = (− m · (Lf · CPf−Lr · CPr))
/ (2 ・ L ²・ CPf ・ CPr) (6)

  When the actual steering angle δf is smaller than 0.57 degrees, the current turning curvature Cua is set to 0 (straight running state).

  In this way, the average turning curvature is calculated from the turning curvature of the past predetermined time (for example, about 0.3 seconds) to which the obtained current turning curvature Cua is added, and the own vehicle traveling path is estimated. The vehicle traveling path thus estimated is output to the curve approach determination unit 40d.

  The curve approach determination unit 40d determines the road shape obtained from the road shape recognition unit 40b based on the information from the navigation device 21 based on the image information and the driving state from the vehicle travel path estimation unit 40c. Is entered. Then, these are compared to determine whether or not the host vehicle 1 is about to enter the curve, and the determination results are shown as a first yaw rate calculator 40f, a second yaw rate calculator 40g, and a yaw rate limit value calculator 40h. Output to. For example, even if the vehicle traveling path estimated by the host vehicle traveling path estimation unit 40c is in a turning state, a curve is not recognized in the road shape from the road shape recognition unit 40b, or there is a large difference between the two data. In some cases, the determination result is output as if the vehicle is not entering the curve. Moreover, even if the road shape (guidance route) obtained based on the information from the navigation device 21 at the intersection is straight ahead, when the own vehicle traveling path by the own vehicle traveling path estimation unit 40c is in a turning state, Determine that you are about to enter a curve.

  The road surface μ estimation unit 40e receives the steering wheel angle θH from the steering wheel angle sensor 24, the actual yaw rate φr from the yaw rate sensor 25, the lateral acceleration Gy from the lateral acceleration sensor 26, and the vehicle speed V from the vehicle speed calculation unit 40a. Is calculated and output to the yaw rate limit value calculation unit 40h. The estimation of the road surface μ in the road surface μ estimation unit 40e is, for example, the calculation method (estimating the road surface μ using adaptive control) described in Japanese Patent Application Laid-Open No. 8-2274 previously filed by the applicant. It is done using.

  The first yaw rate calculation unit 40f receives the handle angle θH from the handle angle sensor 24, the vehicle speed V from the vehicle speed calculation unit 40a, and the determination result of the curve entry from the curve entry determination unit 40d.

Then, the yaw rate based on the driving state of the host vehicle 1 is calculated as the first yaw rate φ1 by the following expression (7), and in particular, when the determination result from the curve approach determination unit 40d is a result of the curve approach, this calculation is performed. The first yaw rate φ1 is output to the yaw rate limiting unit 40i.
φ1 = (1 / (1 + T · s)) · Gγδf (0) · δf (7)
Here, T is a time constant, s is a Laplace operator, Gγδf (0) is a yaw rate steady gain, and yaw rate steady gain Gγδf (0) is obtained by the following equation (8).
Gγδf (0) = (1 / (1 + A0 · V ² )) · (V / L) (8)
Note that the above equation (7) is an equation that approximates the response delay of the vehicle expressed by the secondary system to the primary system. Thus, the first yaw rate calculation unit 40f is provided as the first parameter calculation means.

  The second yaw rate calculation unit 40g has the vehicle speed V from the vehicle speed calculation unit 40a, the curve curvature radius rp [j] finally calculated from the road shape recognition unit 40b, and the determination result of the curve entry from the curve entry determination unit 40d. Is entered.

When the determination result from the curve approach determination unit 40e is a result of curve approach, the yaw rate based on the road shape is calculated as the second yaw rate φ2 by the following equation (9), and is output to the yaw rate limiting unit 40i. That is, the second yaw rate calculator 40g is provided as a second parameter calculator.
φ2 = V / rp [j] (9)

  The yaw rate limit value calculation unit 40h receives the steering wheel angle θH from the steering wheel angle sensor 24, the road surface μ from the road surface μ estimation unit 40e, and the determination result of the curve approach from the curve approach determination unit 40d.

  Then, for example, referring to a map set in advance as shown in FIG. 7, the yaw rate limit value φL indicates the limit yaw rate that the vehicle 1 can generate at the steering wheel angle θH in the state of the road surface μ. And output to the yaw rate limiting unit 40i and the power steering control correction unit 40k. That is, the yaw rate limit value calculation unit 40h is provided as parameter limit value calculation means.

  The yaw rate limiter 40i receives the first yaw rate φ1 from the first yaw rate calculator 40f, the second yaw rate φ2 from the second yaw rate calculator 40g, and the yaw rate limit value φL from the yaw rate limit value calculator 40h. The

  Then, the absolute values | φ1 | and | φ2 | of the first yaw rate φ1 and the second yaw rate φ2 are both limited so as not to exceed the absolute value | φL | of the yaw rate limit value φL, and the yaw rates φt1 and φt2 are set. The first and second yaw rates φt1 and φt2 that have been set and subjected to the restriction processing are output to the braking force control unit 40j. That is, the yaw rate limiting unit 40i is provided as parameter limiting means.

  The braking force control unit 40j performs the first and second processings in which the steering angle θH from the steering angle sensor 24, the actual yaw rate φr from the yaw rate sensor 25, the vehicle speed V from the vehicle speed calculation unit 40a, and the yaw rate limiting unit 40i are limited. The yaw rates φt1 and φt2 are input.

  Then, the yaw rate deviation Δφt1 (= φr−φt1) between the first yaw rate φt1 subjected to the restriction process and the actual yaw rate φr is calculated, and the braking force is obtained when the absolute value | Δφt1 | of the yaw rate deviation Δφt1 is equal to or larger than the set value C1. Start control.

  In the braking force control, the absolute value | φt1 | of the first yaw rate φt1 subjected to the restriction process is compared with the absolute value | φr | of the actual yaw rate φr, and the absolute value | φt1 of the first yaw rate φt1 subjected to the restriction process is compared. When | is determined to be greater than the absolute value | φr | of the actual yaw rate φr, the vehicle 1 has an understeer tendency, so that understeer prevention control is executed. Conversely, if it is determined that the absolute value | φt1 | of the first yaw rate φt1 subjected to the restriction process is smaller than the absolute value | φr | of the actual yaw rate φr, the vehicle 1 tends to oversteer, so that the oversteer prevention control is performed. Is executed.

  In the understeer prevention control, the absolute value | φt1 | of the first yaw rate φt1 subjected to the restriction process is compared with the absolute value | φt2 | of the second yaw rate φt2 subjected to the restriction process, and the yaw rate having the larger absolute value is compared. Whether or not to execute the understeer prevention control is again determined based on the reference.

  Specifically, when the absolute value | φt1 | of the first yaw rate φt1 subjected to the restriction process is larger, it is determined whether | φt1 | − | φr |> α1 (α1 is set in advance). If the absolute value | φt2 | of the limited second yaw rate φt2 is larger, it is determined whether or not | φt2 | − | φr |> α2 (α2 is set in advance) Value). Here, α1 <α2. By using the yaw rate having the larger absolute value in this way for determining the control operation, unnecessary control intervention is prevented and the driver can be prevented from feeling uncomfortable due to the control intervention.

When | φt1 | − | φr |> α1 or | φt2 | − | φr |> α2 is satisfied, for example, the target braking force BF2r is calculated based on the following formula (10), A signal is output to the brake drive unit 13 so as to apply the target braking force BF2r to the wheels.
BF2r = G1 ・ ((ΔA ・ 4 ・ L ²・ CPf ・ CPr ・ V)
/ ((CPf · CPr) / dr)) · φr (10)
Here, G1 is a gain, dr is a rear tread, and ΔA is
ΔA = ((δf / (Gγδf (0) · δf + Δφt2))
− (1 / Gγδf (0))) / (L · V) (11)
It is. Note that Δφt2 in the equation (11) is
Δφt2 = φr− (φt2 + β) (12)
It is. Here, the reason why Δφt2 is not simply φr−φt2 is that when the understeer prevention control is activated, the host vehicle 1 is already in the understeer state, and the yaw rate φt2 based on the road shape for passing the curve is obtained. If controlled, the target amount may be insufficient. Therefore, this shortage can be compensated as φt2 + β. Β is a value calculated in advance from the time and absolute amount after the understeer state. Further, it may be a constant value.

  On the other hand, in the oversteer prevention control, the absolute value | φt1 | of the first yaw rate φt1 subjected to the restriction process is compared with the absolute value | φt2 | of the second yaw rate φt2 subjected to the restriction process. Whether or not the oversteer prevention control is executed again is determined based on the yaw rate.

  Specifically, when the absolute value | φt1 | of the first yaw rate φt1 subjected to the restriction process is smaller, it is determined whether or not | φr | − | φt1 |> α4 (α4 is set in advance). If the absolute value | φt2 | of the limited second yaw rate φt2 is smaller, it is determined whether or not | φr | − | φt2 |> α3 (α3 is set in advance) Value). Here, α3 <α4. By using the yaw rate having the larger absolute value in this way for determining the control operation, unnecessary control intervention is prevented and the driver can be prevented from feeling uncomfortable due to the control intervention.

When | φr | − | φt1 |> α4 or | φr | − | φt2 |> α3 is satisfied, for example, the target braking force BF2f is calculated based on the following equation (13), and the turning outer front wheel On the other hand, a signal is output to the brake drive unit 13 so as to apply the target braking force BF2f.
BF2f = G1 · ((ΔA · 4 · L 2 · CPf · CPr · V)
/ ((CPf · CPr) / df)) · φr (13)
Here, df indicates a front tread.

  Thus, the braking force control part 40j is provided as a braking force control means.

  The power steering control correction unit 40k receives the steering wheel angle θH from the steering wheel angle sensor 24, the vehicle speed V from the vehicle speed calculation unit 61, and the yaw rate limit value φL from the yaw rate limit value calculation unit 40h.

Then, based on the yaw rate limit value φL, for example, the target steering angle θL is calculated by the following equation (14), and the absolute value of the difference (θH−θL) between the current actual steering angle θH and the target steering angle θL | When θH−θL | is larger than a preset threshold value λ, according to the absolute value | θH−θL | of the difference (θH−θL) between the current actual steering angle θH and the target steering angle θL, for example, With reference to a map set in advance as shown in FIG. 8, the assist torque reduction correction amount ΔTas is set and output to the power steering control device 30.
θL = ((1 + T · s) / Gγδf (0)) · φL · n (14)

  Here, as shown in FIG. 8, the assist torque reduction correction amount ΔTas is set larger as the difference (θH−θL) between the current actual steering angle θH and the target steering angle θL increases, and the power steering control device 30 reduces the amount of assist torque. In other words, it is difficult for the driver to steer away from the target steering angle θL because the handle becomes heavy, and thus, steering to the target steering angle θL is urged.

  Thus, the power steering control correction unit 40k is provided as power steering control correction means.

  Next, the vehicle behavior control executed by the control device 40 will be described with reference to the flowchart of FIG. This program is repeatedly executed every predetermined time. First, in step (hereinafter abbreviated as “S”) 101, necessary parameters (each road information, front image, four wheels 12fl, 12fr, 12rl, 12rr) Wheel speeds ωfl, ωfr, ωrl, ωrr, steering wheel angle θH, actual yaw rate φr, lateral acceleration Gy, etc.).

  Next, in S102, necessary parameters (vehicle speed V, road surface μ, etc.) are calculated.

  In step S103, the road shape recognition unit 40b recognizes the road shape such as the final curve curvature radius rp [j] based on the position information for each node transmitted from the navigation device 21.

  Next, the process proceeds to S104, and the own vehicle traveling path estimation unit 40c estimates the own vehicle traveling path from any one of the above-described a, b, and c based on the image information from the CCD cameras 22L and 22R and the driving state.

  In S105, the curve approach determination unit 40d compares the road shape obtained based on the information from the navigation device 21 with the own vehicle traveling path obtained based on the image information and the driving state, It is determined whether or not the vehicle 1 is about to enter the curve. If the vehicle 1 is about to enter the curve, the process proceeds to S106. Otherwise, the routine is exited. The determination in S105 is, for example, when the vehicle travels in a turning state and the curve is not recognized by the road shape, or when there is a large deviation between the two data, the vehicle enters the curve. Judge as not doing. Further, even if the road shape (guidance route) obtained based on information from the navigation device 21 at the intersection is straight ahead, it is determined that the vehicle is going to enter a curve when the vehicle traveling route is in a turning state. To do.

  When it is determined that the vehicle has entered the curve in S105 and the process proceeds to S106, the first yaw rate calculation unit 40f calculates the yaw rate based on the driving state of the host vehicle 1 as the first yaw rate φ1 by the above-described equation (7).

  Next, the process proceeds to S107, and the second yaw rate calculation unit 40g calculates the yaw rate based on the road shape as the second yaw rate φ2 by the above-described equation (9).

  Next, in S108, the yaw rate limit value calculation unit 40h generates the vehicle 1 with the steering wheel angle θH in the state of the road surface μ with reference to a preset map as shown in FIG. 7, for example. The limit yaw rate that can be set is calculated as the yaw rate limit value φL.

  Thereafter, when the process proceeds to S109, the yaw rate limiting unit 40i executes the limiting process (setting of φt1, φt2) of the first and second yaw rates φ1, φ2 by the yaw rate limiting value φL.

  The setting of φt1 and φt2 is executed, for example, according to the flowchart of FIG. 10. First, in S201, the absolute value | φ1 | of the first yaw rate φ1 and the absolute value | φL | of the yaw rate limit value φL are compared.

  If the absolute value | φ1 | of the first yaw rate φ1 does not exceed the absolute value | φL | of the yaw rate limit value φL as a result of the comparison in S201 (if | φ1 | <| φL |), the first The yaw rate φ1 is determined to be a yaw rate that can be generated by the vehicle 1 and the process proceeds to S202, and the first yaw rate φ1 is set as it is to the first yaw rate φt1 subjected to the restriction process (φt1 = φ1).

  Conversely, if the absolute value | φ1 | of the first yaw rate φ1 is greater than or equal to the absolute value | φL | of the yaw rate limit value φL as a result of the comparison in S201 (if | φ1 | ≧ | φL |), The yaw rate φ1 is determined to be a yaw rate that is difficult for the vehicle 1 to generate, and the process proceeds to S203, and the yaw rate limit value φL is set to the first yaw rate φt1 subjected to the limit process (φt1 = φL).

  Next, in S204, the absolute value | φ2 | of the second yaw rate φ2 is compared with the absolute value | φL | of the yaw rate limit value φL.

  If the absolute value | φ2 | of the second yaw rate φ2 does not exceed the absolute value | φL | of the yaw rate limit value φL as a result of the comparison in S204 (if | φ2 | <| φL |), the second value The yaw rate φ2 is determined to be a yaw rate that can be generated by the vehicle 1 and the process proceeds to S205, and the second yaw rate φ2 is set as it is to the second yaw rate φt2 subjected to the restriction process (φt2 = φ2). Exit.

  Conversely, if the absolute value | φ2 | of the second yaw rate φ2 is greater than or equal to the absolute value | φL | of the yaw rate limit value φL (in the case of | φ2 | ≧ | φL |) as a result of the comparison in S204, The yaw rate φ2 is determined to be a yaw rate that is difficult for the vehicle 1 to generate, and the process proceeds to S206. The second yaw rate φt2 subjected to the limit process is set with the yaw rate limit value φL (φt2 = φL), and the routine is exited. .

  Returning to the flowchart of FIG. 9 again, after setting φt1 and φt2 in S109, the process proceeds to S110, where braking force control by φt1 and φt2 is executed by the braking force control unit 40j. This braking force control is executed in accordance with, for example, the flowcharts shown in FIGS. 11 to 13. First, the yaw rate deviation Δφt1 (= φr−φt1) between the first yaw rate φt1 and the actual yaw rate φr subjected to the limiting process in S301 is calculated. To do.

  Next, the process proceeds to S302, in which it is determined whether or not the absolute value | Δφt1 | of the yaw rate deviation Δφt1 is greater than or equal to the set value C1. If not, exit the routine.

  Assuming that the absolute value | Δφt1 | of the yaw rate deviation Δφt1 is equal to or greater than the set value C1 in S302, the process proceeds to S303, where the absolute value | φt1 | of the limited first yaw rate φt1 and the absolute value | φr | And the absolute value | φt1 | of the first yaw rate φt1 subjected to the restriction process is determined to be larger than the absolute value | φr | of the actual yaw rate φr, the vehicle 1 tends to understeer. Proceeding to S304, understeer prevention control is executed. On the other hand, when it is determined that the absolute value | φt1 | of the first yaw rate φt1 subjected to the restriction process is smaller than the absolute value | φr | of the actual yaw rate φr, the vehicle 1 tends to oversteer, so the process proceeds to S305. Then, the oversteer prevention control is executed.

  For example, as shown in the flowchart of FIG. 12, the understeer prevention control executed in S304 is first performed by the absolute value | φt1 | of the first yaw rate φt1 restricted in S401 and the second yaw rate φt2 restricted. The absolute values of | φt2 | are compared.

  When the absolute value | φt1 | of the first yaw rate φt1 subjected to the restriction process is larger than the absolute value | φt2 | of the second yaw rate φt2 subjected to the restriction process (in the case of | φt1 |> | φt2 |), S402 To determine whether or not | φt1 | − | φr |> α1 (α1 is a preset value). If | φt1 | − | φr |> α1, the process proceeds to S404 and thereafter. If | φt1 | − | φr | ≦ α1, the routine is directly exited.

  When the absolute value | φt1 | of the first yaw rate φt1 subjected to the restriction process is equal to or smaller than the absolute value | φt2 | of the second yaw rate φt2 subjected to the restriction process (in the case of | φt1 | ≦ | φt2 |), S403 To determine whether or not | φt2 | − | φr |> α2 (α2 is a preset value). If | φt2 | − | φr |> α2, the process proceeds to S404 and thereafter. If | φt2 | − | φr | ≦ α2, the routine is exited. That is, the determination is made based on the larger yaw rate subjected to the restriction process.

  Then, if | φt1 | − | φr |> α1 in S402 or | φt2 | − | φr |> α2 in S403 and the process proceeds to S404, the yaw rate deviation based on φt2 + β is determined according to the above equation (12). Δφt2 is calculated.

  Next, the process proceeds to S405, where the target braking force BF2r is calculated by the above-described equation (10). The process proceeds to S406, where the target braking force BF2r is output to the turning inner rear wheel, and the routine is exited.

  On the other hand, in the oversteer prevention control executed in S305, for example, as shown in the flowchart of FIG. 13, first, the absolute value | φt1 | of the first yaw rate φt1 restricted in S501 and the second subjected to the restriction processing. The absolute value | φt2 | of the yaw rate φt2 is compared.

  When the absolute value | φt1 | of the first yaw rate φt1 subjected to the restriction process is larger than the absolute value | φt2 | of the second yaw rate φt2 subjected to the restriction process (in the case of | φt1 |> | φt2 |), S502 To determine whether or not | φr | − | φt2 |> α3 (α3 is a preset value). If | φr | − | φt2 |> α3, the process proceeds to S504 and thereafter. If | φr | − | φt2 | ≦ α3, the routine is directly exited.

  When the absolute value | φt1 | of the first yaw rate φt1 subjected to the restriction process is equal to or smaller than the absolute value | φt2 | of the second yaw rate φt2 subjected to the restriction process (in the case of | φt1 | ≦ | φt2 |), S503 Is determined whether or not | φr | − | φt1 |> α4 (α4 is a preset value). If | φr | − | φt1 |> α4, the process proceeds to S504 and thereafter. If | φr | − | φt1 | ≦ α4, the routine is directly exited. That is, the determination is made based on the yaw rate subjected to the smaller restriction process.

  When | φr | − | φt2 |> α3 in S502 or | φr | − | φt1 |> α4 in S503 and the process proceeds to S504, the yaw rate deviation based on φt2 + β is determined according to the above equation (12). Δφt2 is calculated.

  Next, the process proceeds to S505, where the target braking force BF2f is calculated by the above-described equation (13), and the process proceeds to S506, where the target braking force BF2f is output to the turning outer front wheel and the routine is exited.

  As described above, the braking force control by φt1 and φt2 is executed in S110 of FIG. 9, and the process further proceeds to S111, where the power steering control correction based on the yaw rate limit value φL is executed in the power steering control correction unit 40k. Exit the program.

  This power steering control correction is executed, for example, according to the flowchart shown in FIG. 14. First, in S601, the target steering angle θL is calculated by the above-described equation (14) based on the yaw rate limit value φL.

  In step S602, the absolute value | θH-θL | of the difference (θH−θL) between the current actual steering angle θH and the target steering angle θL is compared with a preset threshold value λ. As a result of this comparison, if | θH−θL | ≦ λ and there is no difference between the current actual steering angle θH and the target steering angle θL, the routine is directly exited.

  Conversely, if | θH−θL |> λ and there is a difference exceeding λ between the current actual steering angle θH and the target steering angle θL, the process proceeds to S603, where the current actual steering angle θH and the target steering angle are determined. According to the absolute value | θH−θL | of the difference (θH−θL) from the angle θL, for example, referring to a map set in advance as shown in FIG. Set, proceed to S604, output to the power steering control device 30, and exit the routine.

  Thus, according to the first embodiment, the first and second yaw rates φt1 and φt2 targeted by the braking force control unit 40j and the ideal steering angle by the power steering control correction unit 40k are always set. Since they are set so as not to exceed the yaw rate limit value φL, they do not become excessive target values, and appropriate control can always be performed and stable controllability can be obtained.

  Further, when the driver steers beyond the limit, the power steering control correction unit 40k is notified to the driver in the form of a reduction in assist force, so that the driver can be prompted to return to an appropriate steering state.

  Furthermore, since the braking force control by the braking force control unit 40j according to the first embodiment is controlled by the yaw rate based on the road shape in addition to the yaw rate based on the driving state, it is natural and optimal according to the driving environment. Braking force control can be performed.

  In the first embodiment, the road shape recognition unit 40b obtains the road shape based on the information from the navigation device 21, but the present invention is not limited to this, for example, curve information by a radar or a camera. If this is obtained, this information may be used. Further, curve information may be obtained from information supplied by ITS (Intelligent Transportation System).

  Next, FIGS. 15 to 21 show a second embodiment of the present invention, FIG. 15 is an explanatory diagram showing a schematic configuration of a vehicle equipped with a vehicle behavior control device, and FIG. 16 is a functional block diagram of the vehicle behavior control device. 17 is a flowchart of a main program for vehicle behavior control, FIG. 18 is a flowchart of a φt1 setting routine, FIG. 19 is a flowchart of a braking force control routine by φt1, FIG. 20 is a flowchart of an understeer prevention control routine, and FIG. It is a flowchart of a control routine. In the second embodiment, the braking force control is changed so that it can be executed only based on the yaw rate obtained based on the driving state of the vehicle, and the other configurations and operational effects are the same as those in the first embodiment. Therefore, the same components are denoted by the same reference numerals, and description thereof is omitted.

  That is, as shown in FIG. 15, the control device 50 according to the second embodiment includes four wheels 12fl, 12fr, 12rl, 12rr from the sensors 23fl, 23fr, 23rl, 23rr, 24, 25, 26, respectively. Wheel speed ωfl, ωfr, ωrl, ωrr, steering wheel angle θH, actual yaw rate φr, and lateral acceleration Gy.

  Then, based on these input signals, the control device 50 determines whether the behavior of the vehicle is an understeer state or an oversteer state, and outputs a signal to the brake drive unit 13 to stabilize the vehicle behavior. Further, the control device 50 determines whether or not the current steering state by the driver exceeds the limit, and if it exceeds the limit, the power steering is performed to prompt the driver to steer to an appropriate steering state. A signal is output to the control device 30 so that the assist torque by the electric motor 17 is reduced and corrected.

  The control device 50 is composed of a microcomputer and its peripheral circuits, and as shown in FIG. 16, a vehicle speed calculation unit 40a, a road surface μ estimation unit 40e, a first yaw rate calculation unit 40f, a yaw rate limit value calculation unit 40h, a power steering The control correction unit 40k, the yaw rate limiting unit 50a, and the braking force control unit 50b are mainly configured.

  The yaw rate limiter 50a receives the first yaw rate φ1 from the first yaw rate calculator 40f and the yaw rate limit value φL from the yaw rate limit value calculator 40h.

  Then, the yaw rate φt1 is set by performing the limiting process so that the absolute value | φ1 | of the first yaw rate φ1 does not exceed the absolute value | φL | of the yaw rate limiting value φL, and the first yaw rate φt1 subjected to the limiting process is controlled. It outputs to the power control part 50b. That is, the yaw rate limiting unit 50a is provided as parameter limiting means.

  The braking force control unit 50a has the steering angle θH from the steering wheel angle sensor 24, the actual yaw rate φr from the yaw rate sensor 25, the vehicle speed V from the vehicle speed calculation unit 40a, and the first yaw rate φt1 subjected to the limiting process from the yaw rate limiting unit 50a. Entered.

  Then, the yaw rate deviation Δφt1 (= φr−φt1) between the first yaw rate φt1 subjected to the restriction process and the actual yaw rate φr is calculated, and the braking force is obtained when the absolute value | Δφt1 | of the yaw rate deviation Δφt1 is equal to or larger than the set value C2. Start control.

  In the braking force control, the absolute value | φt1 | of the first yaw rate φt1 subjected to the restriction process is compared with the absolute value | φr | of the actual yaw rate φr, and the absolute value | φt1 of the first yaw rate φt1 subjected to the restriction process is compared. When | is determined to be greater than the absolute value | φr | of the actual yaw rate φr, the vehicle 1 has an understeer tendency, so that understeer prevention control is executed. Conversely, if it is determined that the absolute value | φt1 | of the first yaw rate φt1 subjected to the restriction process is smaller than the absolute value | φr | of the actual yaw rate φr, the vehicle 1 tends to oversteer, so that the oversteer prevention control is performed. Is executed.

In the understeer prevention control, it is further determined whether or not the absolute value | Δφt1 | of the yaw rate deviation Δφt1 is larger than a preset value P1, and if | Δφt1 |> P1, the following equation (15) is satisfied. Based on this, the target braking force BF2r is calculated, and a signal is output to the brake drive unit 13 so as to apply this target braking force BF2r to the rear turning inner wheel.
BF2r = G1 ・ ((ΔB ・ 4 ・ L ²・ CPf ・ CPr ・ V)
/ ((CPf · CPr) / dr)) · φr (15)
Where ΔB is
ΔB = ((δf / (Gγδf (0) · δf + Δφt1))
− (1 / Gγδf (0))) / (L · V) (16)
It is.

On the other hand, in the oversteer prevention control, it is further determined whether or not the absolute value | Δφt1 | of the yaw rate deviation Δφt1 is larger than a preset value P2, and if | Δφt1 |> P2, the following (17) Based on the equation, a target braking force BF2f is calculated, and a signal is output to the brake drive unit 13 so as to apply this target braking force BF2f to the front outside wheel.
BF2f = G1 · ((ΔB · 4 · L 2 · CPf · CPr · V)
/ ((CPf · CPr) / df)) · φr (17)
Thus, the braking force control part 50b is provided as a braking force control means.

  Next, the vehicle behavior control executed by the control device 50 will be described with reference to the flowchart of FIG. This program is repeatedly executed every predetermined time. First, in S701, necessary parameters (four wheel speeds 12fl, 12fr, 12rl, 12rr, wheel speeds ωfl, ωfr, ωrl, ωrr, steering wheel angle θH, actual Yaw rate φr, lateral acceleration Gy, etc.) are read.

  Next, in S702, necessary parameters (vehicle speed V, road surface μ, etc.) are calculated.

  Next, proceeding to S703, the first yaw rate calculation unit 40f calculates the yaw rate based on the driving state of the host vehicle 1 as the first yaw rate φ1 by the above-described equation (7) (similar to S106 in the first embodiment). ).

  Next, in S704, the yaw rate limit value calculation unit 40h generates the vehicle 1 with the steering wheel angle θH in the state of the road surface μ with reference to a map set in advance as shown in FIG. The limit yaw rate that can be set is calculated as the yaw rate limit value φL (similar to S108 in the first embodiment).

  Thereafter, when the process proceeds to S705, the yaw rate limiting unit 50a executes the limiting process (setting of φt1) of the first yaw rate φ1 by the yaw rate limiting value φL.

  The setting of φt1 is executed, for example, according to the flowchart of FIG. 18. First, in S801, the absolute value | φ1 | of the first yaw rate φ1 and the absolute value | φL | of the yaw rate limit value φL are compared.

  If the absolute value | φ1 | of the first yaw rate φ1 does not exceed the absolute value | φL | of the yaw rate limit value φL as a result of the comparison in S801 (if | φ1 | <| φL |), the first The yaw rate φ1 is determined to be a yaw rate that can be generated by the vehicle 1, and the process proceeds to S802. The first yaw rate φ1 is set as it is to the first yaw rate φt1 subjected to the restriction process (φt1 = φ1), and the routine is executed. Exit.

  Conversely, if the absolute value | φ1 | of the first yaw rate φ1 is greater than or equal to the absolute value | φL | of the yaw rate limit value φL (in the case of | φ1 | ≧ | φL |) as a result of the comparison in S801, The yaw rate φ1 is determined to be a yaw rate that is difficult for the vehicle 1 to generate, and the process proceeds to S803. The first yaw rate φt1 subjected to the limit process is set with the yaw rate limit value φL (φt1 = φL), and the routine is exited. .

  Returning to the flowchart of FIG. 17 again, after setting φt1 in S705, the process proceeds to S706, where braking force control by φt1 is executed by the braking force control unit 50b. This braking force control is executed in accordance with, for example, the flowcharts shown in FIGS. 19 to 21, and first, the yaw rate deviation Δφt1 (= φr−φt1) between the first yaw rate φt1 and the actual yaw rate φr restricted in S901 is calculated. To do.

  Next, in S902, it is determined whether or not the absolute value | Δφt1 | of the yaw rate deviation Δφt1 is greater than or equal to the set value C2, and if it is greater than or equal to the set value C2, braking force control after S903 is started and exceeds the set value C2. If not, exit the routine.

  In S902, assuming that the absolute value | Δφt1 | of the yaw rate deviation Δφt1 is equal to or larger than the set value C2, the process proceeds to S903, where the absolute value | φt1 | of the first yaw rate φt1 subjected to the restriction process and the absolute value | φr | And the absolute value | φt1 | of the first yaw rate φt1 subjected to the restriction process is determined to be larger than the absolute value | φr | of the actual yaw rate φr, the vehicle 1 tends to understeer. Proceeding to S904, understeer prevention control is executed. On the other hand, if it is determined that the absolute value | φt1 | of the first yaw rate φt1 subjected to the restriction process is smaller than the absolute value | φr | of the actual yaw rate φr, the vehicle 1 tends to oversteer, and thus the process proceeds to S905. Then, the oversteer prevention control is executed.

  In the understeer prevention control executed in S904, for example, as shown in the flowchart of FIG. 20, first, in S1001, it is determined whether the absolute value | Δφt1 | of the yaw rate deviation Δφt1 is larger than the set value P1.

  As a result of the determination in S1001, if | Δφt1 |> P1, the process proceeds to S1002, and the target braking force BF2r is calculated by the above-described equation (15), and the process proceeds to S1003, where the target braking force is applied to the turning inner rear wheel. The power BF2r is output and the routine is exited.

  On the other hand, if | Δφt1 | ≦ P1 as a result of the determination in S1001, the routine is directly exited.

  On the other hand, in the oversteer prevention control executed in S905, for example, as shown in the flowchart of FIG. 21, first, in S1101, it is determined whether or not the absolute value | Δφt1 | of the yaw rate deviation Δφt1 is larger than the set value P2.

  As a result of the determination in S1101, if | Δφt1 |> P2, the process proceeds to S1102, the target braking force BF2f is calculated by the above-described equation (17), and the process proceeds to S1103, where the target braking force is applied to the turning outer front wheel. BF2f is output and the routine is exited.

  On the other hand, if | Δφt1 | ≦ P2 as a result of the determination in S1101, the routine is directly exited.

  As described above, the braking force control by φt1 is executed in S706 of FIG. 17, and when the process proceeds to S707, the power steering control correction unit 40k is based on the yaw rate limit value φL as in S111 of the first embodiment. The power steering control correction is executed and the program is exited.

  Thus, also in the braking force control that does not use the second yaw rate based on the road shape shown in the second embodiment, the first target set by the braking force control unit 50b is the same as in the first embodiment. Since the ideal steering angle of the yaw rate φt1 and the power steering control correction unit 40k is always set so as not to exceed the yaw rate limit value φL, these are not excessive target values and are always controlled appropriately. So that stable controllability can be obtained.

  Further, when the driver steers beyond the limit, the power steering control correction unit 40k is notified to the driver in the form of a reduction in assist force, so that the driver can be prompted to return to an appropriate steering state.

Explanatory drawing which shows schematic structure of the vehicle carrying the vehicle behavior control apparatus by 1st Embodiment of this invention. Same as above, functional block diagram of vehicle behavior control device Same as above, characteristic diagram of assist current set by power steering controller Same as above, explanatory diagram about own vehicle position and node Same as above, explanatory diagram regarding calculation of node angle and curve curvature radius Same as above, explanatory diagram of data from navigation device Same as above, characteristic diagram of yaw rate limit value Same as above, characteristic diagram of assist torque reduction correction amount Same as above, flowchart of main program for vehicle behavior control Same as above, flowchart of φt1, φt2 setting routine Same as above, flowchart of braking force control routine by φt1 and φt2 Same as above, flowchart of understeer prevention control routine Same as above, flowchart of oversteer prevention control routine Same as above, flowchart of power steering control correction routine based on φL Explanatory drawing which shows schematic structure of the vehicle carrying the vehicle behavior control apparatus by 2nd Embodiment of this invention. Same as above, functional block diagram of vehicle behavior control device Same as above, flowchart of main program for vehicle behavior control Same as above, flowchart of φt1 setting routine Same as above, flowchart of braking force control routine by φt1 Same as above, flowchart of understeer prevention control routine Same as above, flowchart of oversteer prevention control routine

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vehicle 12fl, 12fr, 12rl, 12rr Wheel 13 Brake drive part 16fl, 16fr, 16rl, 16rr Wheel cylinder 17 Electric motor 21 Navigation device 22L, 22R CCD camera 23fl, 23fr, 23rl, 23rr Wheel speed sensor 24 Handle angle sensor 25 Yaw rate Sensor 26 lateral acceleration sensor 30 power steering control device 40 control device 40a vehicle speed calculation unit 40b road shape recognition unit 40c own vehicle traveling path estimation unit 40d curve approach determination unit 40e road surface μ estimation unit 40f first yaw rate calculation unit (first Parameter calculation means)
40g Second yaw rate calculation unit (second parameter calculation means)
40h Yaw rate limit value calculation unit (parameter limit value calculation means)
40i yaw rate limiting unit (parameter limiting means)
40j Braking force control unit (braking force control means)
40k power steering control correction unit (power steering control correction means)
Agent Patent Attorney Susumu Ito

Claims (3)

First parameter calculation means for calculating a parameter to be obtained based on the driving state of the vehicle as a first parameter;
A second parameter calculation means for calculating a parameter to be calculated based on a road shape on which the vehicle travels as a second parameter;
Parameter limit value calculating means for calculating a parameter to be calculated based on the road surface condition as a parameter limit value;
Parameter limiting means for limiting the first parameter and the second parameter with the parameter limit value;
Braking force control means for applying a braking force to the wheels and generating a yaw moment on the vehicle based on the first parameter and the second parameter restricted by the parameter restriction means;
Based on the parameter limit value and the current steering state, it is determined whether or not the current steering state is a steering state within a preset range, and if it is determined that the steering state is outside the preset range, the steering assist torque Power steering control correction means for correcting
A vehicle behavior control apparatus comprising: First parameter calculation means for calculating a parameter to be obtained based on the driving state of the vehicle as a first parameter;
Parameter limit value calculating means for calculating a parameter to be calculated based on the road surface condition as a parameter limit value;
Parameter limiting means for limiting the first parameter with the parameter limit value;
Braking force control means for adding a braking force to the wheels to generate a yaw moment on the vehicle based on the first parameter restricted by the parameter restriction means;
Based on the parameter limit value and the current steering state, it is determined whether or not the current steering state is a steering state within a preset range, and if it is determined that the steering state is outside the preset range, the steering assist torque Power steering control correction means for correcting
A vehicle behavior control apparatus comprising:   3. The power steering control correction unit according to claim 1, wherein the power steering control correction unit corrects the steering assist torque to be decreased when the current steering state is determined to be a steering state outside the preset range. Vehicle behavior control device.

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