JP2009149119A - 車両の挙動制御装置 - Google Patents
車両の挙動制御装置 Download PDFInfo
- Publication number
- JP2009149119A JP2009149119A JP2007326384A JP2007326384A JP2009149119A JP 2009149119 A JP2009149119 A JP 2009149119A JP 2007326384 A JP2007326384 A JP 2007326384A JP 2007326384 A JP2007326384 A JP 2007326384A JP 2009149119 A JP2009149119 A JP 2009149119A
- Authority
- JP
- Japan
- Prior art keywords
- yaw rate
- value
- vehicle
- braking force
- slip 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.)
- Granted
Links
- 238000001514 detection method Methods 0.000 claims description 67
- 230000001629 suppression Effects 0.000 description 33
- 238000000034 method Methods 0.000 description 13
- 230000001133 acceleration Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000006641 stabilisation Effects 0.000 description 3
- 238000011105 stabilization Methods 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
Images
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
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17552—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve responsive to the tire sideslip angle or the vehicle body slip angle
-
- 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
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
- B60T8/885—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means using electrical circuitry
-
- 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
- B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
- B60T2230/02—Side slip angle, attitude angle, floating angle, drift angle
-
- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/40—Failsafe aspects of brake control systems
- B60T2270/413—Plausibility monitoring, cross check, redundancy
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
【解決手段】車体のスリップ角微分値がスリップ角微分値算出手段34で算出され、制動力付与禁止手段35は、ヨーレイト検出値が正の値かつスリップ角微分値が正の判定閾値以上である状態もしくはヨーレイト検出値が負の値かつスリップ角微分値が負の判定閾値以下である状態で、制動力付与手段33による制動力の付与を禁止する。
【選択図】 図2
Description
なお上記式(1)は、車両の横滑り運動に関して成立する下記の運動方程式 mV(β′+γ)=m/GL から導かれるものであり、mは車両の慣性質量である。
22・・・ステアリングホイール
27・・・操舵角検出手段である操舵角センサ
28・・・ヨーレイト検出手段であるヨーレイトセンサ
31・・・車体速度検出手段
32・・・規範ヨーレイト算出手段
33・・・制動力付与手段
34・・・スリップ角微分値算出手段
35・・・制動力付与禁止手段
Claims (1)
- 車両(15)の車体速を検出する車体速度検出手段(31)と、ステアリングホイール(22)の操舵角を検出する操舵角検出手段(27)と、前記車体速および前記操舵角に基づいて車両の旋回方向に応じて正負の符号が付された車両(15)の規範ヨーレイトを算出する規範ヨーレイト算出手段(32)と、車両(15)のヨーレイトを車両の旋回方向に応じて正負の符号が付されたヨーレイト検出値として検出するヨーレイト検出手段(28)と、車両(15)の旋回走行状態での前記規範ヨーレイトおよび前記ヨーレイト検出値間の差に応じて旋回内側の車輪に制動力を付与する制動力付与手段(33)とを備える車両の挙動制御装置において、車体のスリップ角微分値を算出するスリップ角微分値算出手段(34)と、前記ヨーレイト検出値が正の値かつ前記スリップ角微分値が正の判定閾値以上である状態もしくは前記ヨーレイト検出値が負の値かつ前記スリップ角微分値が負の前記判定閾値以下である状態で前記制動力付与手段(33)による制動力の付与を禁止する制動力付与禁止手段(35)とを含むことを特徴とする車両の挙動制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007326384A JP4680977B2 (ja) | 2007-12-18 | 2007-12-18 | 車両の挙動制御装置 |
DE602008002391T DE602008002391D1 (de) | 2007-12-18 | 2008-12-10 | System zur Regelung des Fahrverhaltens eines Fahrzeugs |
EP08021479A EP2072360B1 (en) | 2007-12-18 | 2008-12-10 | Vehicle behavior control system |
US12/332,711 US8280606B2 (en) | 2007-12-18 | 2008-12-11 | Vehicle behavior control system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007326384A JP4680977B2 (ja) | 2007-12-18 | 2007-12-18 | 車両の挙動制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2009149119A true JP2009149119A (ja) | 2009-07-09 |
JP4680977B2 JP4680977B2 (ja) | 2011-05-11 |
Family
ID=40459690
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007326384A Expired - Fee Related JP4680977B2 (ja) | 2007-12-18 | 2007-12-18 | 車両の挙動制御装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US8280606B2 (ja) |
EP (1) | EP2072360B1 (ja) |
JP (1) | JP4680977B2 (ja) |
DE (1) | DE602008002391D1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101373280B1 (ko) | 2012-12-04 | 2014-03-19 | 현대오트론 주식회사 | 차량 자세 제어 시스템의 회전 보조 기능을 제공하기 위한 장치 및 그 방법 |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2112053B1 (en) * | 2008-04-25 | 2015-08-12 | Volvo Car Corporation | Yaw stability control system |
JP6106106B2 (ja) * | 2014-02-04 | 2017-03-29 | オートリブ日信ブレーキシステムジャパン株式会社 | 車両挙動制御装置 |
Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07117645A (ja) * | 1993-10-28 | 1995-05-09 | Toyota Motor Corp | 制動制御装置 |
JPH0885430A (ja) * | 1994-09-16 | 1996-04-02 | Toyota Motor Corp | 車輌の挙動制御装置 |
JPH0920220A (ja) * | 1995-07-07 | 1997-01-21 | Mitsubishi Motors Corp | 車両の旋回制御装置 |
JPH10129439A (ja) * | 1996-10-25 | 1998-05-19 | Aisin Seiki Co Ltd | 車両の運動制御装置 |
JPH1159371A (ja) * | 1997-08-28 | 1999-03-02 | Honda Motor Co Ltd | 車両の運動制御装置 |
JP2000272491A (ja) * | 1999-03-25 | 2000-10-03 | Mazda Motor Corp | 車両の挙動制御装置 |
JP2001010470A (ja) * | 1999-06-30 | 2001-01-16 | Aisin Seiki Co Ltd | 車両の運動制御装置 |
JP2001233230A (ja) * | 2000-02-23 | 2001-08-28 | Koyo Seiko Co Ltd | 車両の姿勢制御装置 |
JP2003118558A (ja) * | 2001-10-11 | 2003-04-23 | Honda Motor Co Ltd | 車体ヨーレイト推定装置 |
JP2004284485A (ja) * | 2003-03-20 | 2004-10-14 | Nissan Motor Co Ltd | 車線逸脱防止装置 |
JP2009113661A (ja) * | 2007-11-07 | 2009-05-28 | Honda Motor Co Ltd | 車両挙動制御装置 |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10273031A (ja) * | 1997-03-31 | 1998-10-13 | Mazda Motor Corp | 車両の姿勢制御装置 |
JP4161401B2 (ja) * | 1998-04-03 | 2008-10-08 | 日産自動車株式会社 | 車両挙動制御装置 |
JP3458734B2 (ja) * | 1998-04-09 | 2003-10-20 | トヨタ自動車株式会社 | 車輌の運動制御装置 |
JP4119020B2 (ja) * | 1998-10-28 | 2008-07-16 | 本田技研工業株式会社 | 車両制御装置 |
JP3621842B2 (ja) * | 1999-02-01 | 2005-02-16 | トヨタ自動車株式会社 | 車輌の運動制御装置 |
US6415215B1 (en) * | 2000-02-23 | 2002-07-02 | Koyo Seiko Co., Ltd. | Vehicle attitude control apparatus |
DE10215465B9 (de) * | 2002-03-28 | 2017-08-10 | Volkswagen Ag | Verfahren und Vorrichtung zur Regelung der Fahrdynamik |
JP3870911B2 (ja) * | 2003-02-10 | 2007-01-24 | 日産自動車株式会社 | 車線逸脱防止装置 |
JP4866580B2 (ja) * | 2005-08-04 | 2012-02-01 | 日立オートモティブシステムズ株式会社 | 車両の走行制御装置 |
JP4636262B2 (ja) * | 2005-11-04 | 2011-02-23 | 株式会社アドヴィックス | 車両の重心位置横加速度取得装置、及び車両の運動制御装置 |
DE102006051908B4 (de) * | 2005-11-04 | 2020-09-24 | Continental Teves Ag & Co. Ohg | Verfahren zum Regeln der Bremskräfte |
US8249790B2 (en) * | 2007-06-04 | 2012-08-21 | Advics Co., Ltd. | Vehicle behavior control device |
-
2007
- 2007-12-18 JP JP2007326384A patent/JP4680977B2/ja not_active Expired - Fee Related
-
2008
- 2008-12-10 DE DE602008002391T patent/DE602008002391D1/de active Active
- 2008-12-10 EP EP08021479A patent/EP2072360B1/en not_active Expired - Fee Related
- 2008-12-11 US US12/332,711 patent/US8280606B2/en active Active
Patent Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07117645A (ja) * | 1993-10-28 | 1995-05-09 | Toyota Motor Corp | 制動制御装置 |
JPH0885430A (ja) * | 1994-09-16 | 1996-04-02 | Toyota Motor Corp | 車輌の挙動制御装置 |
JPH0920220A (ja) * | 1995-07-07 | 1997-01-21 | Mitsubishi Motors Corp | 車両の旋回制御装置 |
JPH10129439A (ja) * | 1996-10-25 | 1998-05-19 | Aisin Seiki Co Ltd | 車両の運動制御装置 |
JPH1159371A (ja) * | 1997-08-28 | 1999-03-02 | Honda Motor Co Ltd | 車両の運動制御装置 |
JP2000272491A (ja) * | 1999-03-25 | 2000-10-03 | Mazda Motor Corp | 車両の挙動制御装置 |
JP2001010470A (ja) * | 1999-06-30 | 2001-01-16 | Aisin Seiki Co Ltd | 車両の運動制御装置 |
JP2001233230A (ja) * | 2000-02-23 | 2001-08-28 | Koyo Seiko Co Ltd | 車両の姿勢制御装置 |
JP2003118558A (ja) * | 2001-10-11 | 2003-04-23 | Honda Motor Co Ltd | 車体ヨーレイト推定装置 |
JP2004284485A (ja) * | 2003-03-20 | 2004-10-14 | Nissan Motor Co Ltd | 車線逸脱防止装置 |
JP2009113661A (ja) * | 2007-11-07 | 2009-05-28 | Honda Motor Co Ltd | 車両挙動制御装置 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101373280B1 (ko) | 2012-12-04 | 2014-03-19 | 현대오트론 주식회사 | 차량 자세 제어 시스템의 회전 보조 기능을 제공하기 위한 장치 및 그 방법 |
Also Published As
Publication number | Publication date |
---|---|
US8280606B2 (en) | 2012-10-02 |
US20090157275A1 (en) | 2009-06-18 |
DE602008002391D1 (de) | 2010-10-14 |
EP2072360B1 (en) | 2010-09-01 |
JP4680977B2 (ja) | 2011-05-11 |
EP2072360A1 (en) | 2009-06-24 |
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