JP2008189054A - ヨー角速度推定装置 - Google Patents
ヨー角速度推定装置 Download PDFInfo
- Publication number
- JP2008189054A JP2008189054A JP2007023267A JP2007023267A JP2008189054A JP 2008189054 A JP2008189054 A JP 2008189054A JP 2007023267 A JP2007023267 A JP 2007023267A JP 2007023267 A JP2007023267 A JP 2007023267A JP 2008189054 A JP2008189054 A JP 2008189054A
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- JP
- Japan
- Prior art keywords
- angular velocity
- yaw angular
- yaw
- steering
- steering angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/11—Pitch movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/112—Roll movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/114—Yaw movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
- B60T2250/03—Vehicle yaw rate
Abstract
【解決手段】現在のヨー角速度γ(t)と操舵角速度とに基づいて、未来のヨー角速度γ(t)を推定する。車体からヨー角速度γ(t)を直接検出する場合に比べてハンドル操作からヨー角速度γ(t)を算出した方が、タイムラグΔtの分だけ位相が進んだヨー角速度γ(t)を得ることができるため、未来のヨー角速度γ(t)を精度良く推定することができる。
【選択図】図3
Description
Claims (2)
- 車両のヨー角速度を取得するヨー角速度取得手段と、
車両の操舵角を取得する操舵角取得手段と、
前記操舵角に基づいて操舵角速度を算出する操舵角速度算出手段と、
前記ヨー角速度および前記操舵角速度に基づいて、所定時間経過後のヨー角速度を推定する推定手段と、
を備えるヨー角速度推定装置。 - 前記推定手段は、前記所定時間経過後の前記ヨー角速度が、前記操舵角速度に前記所定時間を乗じた値と前記ヨー角速度とを加えた値となるとして推定すること、
を特徴とする請求項1に記載のヨー角速度推定装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007023267A JP4415994B2 (ja) | 2007-02-01 | 2007-02-01 | ヨー角速度推定装置 |
US12/020,938 US8041480B2 (en) | 2007-02-01 | 2008-01-28 | Apparatus for estimating yaw rate |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007023267A JP4415994B2 (ja) | 2007-02-01 | 2007-02-01 | ヨー角速度推定装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2008189054A true JP2008189054A (ja) | 2008-08-21 |
JP4415994B2 JP4415994B2 (ja) | 2010-02-17 |
Family
ID=39676878
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007023267A Expired - Fee Related JP4415994B2 (ja) | 2007-02-01 | 2007-02-01 | ヨー角速度推定装置 |
Country Status (2)
Country | Link |
---|---|
US (1) | US8041480B2 (ja) |
JP (1) | JP4415994B2 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010170187A (ja) * | 2009-01-20 | 2010-08-05 | Toyota Central R&D Labs Inc | ドライバ操作予測装置及びプログラム |
JP2014508685A (ja) * | 2011-03-18 | 2014-04-10 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング | ヨーレートの予測 |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB201105279D0 (en) | 2011-03-29 | 2011-05-11 | Jaguar Cars | Control of active vehicle device |
US8694224B2 (en) * | 2012-03-01 | 2014-04-08 | Magna Electronics Inc. | Vehicle yaw rate correction |
EP3217321B1 (en) * | 2013-07-31 | 2019-08-28 | Honda Motor Co., Ltd. | Sign information output apparatus |
JP5990606B2 (ja) * | 2015-02-10 | 2016-09-14 | 本田技研工業株式会社 | 操舵装置及び操舵支援方法 |
US9764744B2 (en) * | 2015-02-25 | 2017-09-19 | Magna Electronics Inc. | Vehicle yaw rate estimation system |
Family Cites Families (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4836319A (en) * | 1986-07-22 | 1989-06-06 | Nippondenso Co., Ltd. | Steering control apparatus for motor vehicles |
JPH04231265A (ja) | 1990-12-28 | 1992-08-20 | Matsushita Electric Ind Co Ltd | 四輪操舵車の後輪操舵角制御装置 |
JPH06171535A (ja) | 1992-12-04 | 1994-06-21 | Mazda Motor Corp | 車両の操舵装置 |
JPH0843422A (ja) * | 1994-07-29 | 1996-02-16 | Mazda Motor Corp | 車両のヨーレート推定方法及びその装置 |
JP3257375B2 (ja) * | 1995-08-08 | 2002-02-18 | トヨタ自動車株式会社 | 車輌の挙動制御装置 |
US5869753A (en) * | 1995-08-25 | 1999-02-09 | Honda Giken Kogyo Kabushiki Kaisha | System for estimating the road surface friction |
JP3198993B2 (ja) * | 1997-07-23 | 2001-08-13 | トヨタ自動車株式会社 | 車輌の挙動制御装置 |
JP3317205B2 (ja) * | 1997-07-23 | 2002-08-26 | トヨタ自動車株式会社 | 車輌の挙動制御装置 |
JPH11192959A (ja) | 1998-01-05 | 1999-07-21 | Nissan Motor Co Ltd | 車両の運動状態量推定装置 |
JP3630280B2 (ja) | 1998-10-21 | 2005-03-16 | 本田技研工業株式会社 | 電動パワーステアリング装置 |
JP3649036B2 (ja) * | 1999-03-26 | 2005-05-18 | 日産自動車株式会社 | ヨーレート推定装置 |
JP2002012160A (ja) * | 2000-06-29 | 2002-01-15 | Fuji Heavy Ind Ltd | 車両の路面摩擦係数推定装置 |
JP3889261B2 (ja) | 2001-10-11 | 2007-03-07 | 本田技研工業株式会社 | 車体ヨーレイト推定装置 |
JP3975922B2 (ja) | 2003-01-17 | 2007-09-12 | トヨタ自動車株式会社 | カーブ半径推定装置 |
US20060158031A1 (en) | 2003-02-20 | 2006-07-20 | Continental Teves Ag & Co. Ohg | Method and system for controlling the driving stability of a vehicle and use of said system |
EP1466775A3 (en) * | 2003-04-10 | 2010-09-15 | Nissan Motor Company Limited | Drive controlling apparatus and method for automotive vehicle |
JP2005247019A (ja) | 2004-03-01 | 2005-09-15 | Nissan Motor Co Ltd | 車両用操舵制御装置 |
EP1577147B1 (en) * | 2004-03-15 | 2011-12-28 | Nissan Motor Company Limited | Deceleration control apparatus and method for automotive vehicle |
JP4501568B2 (ja) * | 2004-07-14 | 2010-07-14 | 株式会社アドヴィックス | 車両の姿勢制御装置 |
JP2006103510A (ja) | 2004-10-05 | 2006-04-20 | Honda Motor Co Ltd | 車両のヨーレート推定装置 |
JP4956035B2 (ja) * | 2006-04-04 | 2012-06-20 | 本田技研工業株式会社 | 車両制御装置 |
JP2008018832A (ja) * | 2006-07-12 | 2008-01-31 | Fuji Heavy Ind Ltd | 車両運動制御装置 |
-
2007
- 2007-02-01 JP JP2007023267A patent/JP4415994B2/ja not_active Expired - Fee Related
-
2008
- 2008-01-28 US US12/020,938 patent/US8041480B2/en not_active Expired - Fee Related
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010170187A (ja) * | 2009-01-20 | 2010-08-05 | Toyota Central R&D Labs Inc | ドライバ操作予測装置及びプログラム |
JP2014508685A (ja) * | 2011-03-18 | 2014-04-10 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング | ヨーレートの予測 |
Also Published As
Publication number | Publication date |
---|---|
US20080189013A1 (en) | 2008-08-07 |
US8041480B2 (en) | 2011-10-18 |
JP4415994B2 (ja) | 2010-02-17 |
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