JP3324966B2 - Forward judgment device in vehicle motion control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain an advance judgment device by which the advance running operation of a vehicle can be judged easily without newly adding a constitution other than a constitution for motion control by a method wherein the vehicle is judged to be in the advance running operation when a steering-angle reference yaw rate and a detected yaw rate are in the same direction so as to be larger than a first set value. SOLUTION: A first judgement means 13 judges that a vehicle is in an advance running state when a steering-angle reference yaw rate γS which is computed by a steering-angle reference-yaw-rate computing means on the basis of a vehicle speed V and a steering angle δand a yaw rate γ which is detected by a yaw rate sensor 8 are in the same direction so as to be larger than a first set value S1 (e.g. 10 deg/sec). Thereby, without arranging and installing a sensor which detects the shaft position of an automatic transmission, it is possible to easily judge that the vehicle is in an advance running operation. Consequently, the cost of an advance judgment device can be reduced.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a yaw rate sensor for detecting a yaw rate of a vehicle; a steering angle sensor for detecting a steering angle of a steering wheel; a vehicle movement adjusting means for changing a movement of the vehicle; Steering speed reference yaw rate calculating means for calculating a steering angle reference yaw rate based on the steering angle detected by the steering angle sensor and the vehicle speed calculated by the vehicle speed calculating means. A control unit for controlling the operation of the vehicle motion adjusting means based on the steering angle reference yaw rate obtained by the means and the yaw rate detected by the yaw rate sensor, wherein the vehicle is traveling forward. And a device for determining the fact.

[0002]

2. Description of the Related Art When performing motion control of a vehicle using a yaw rate, a detected yaw rate is inverted with respect to a steering angle reference yaw rate between a state where the vehicle is moving forward and a state where the vehicle is moving backward. Therefore, if it is not determined whether the vehicle is moving forward or backward, erroneous control may occur when the vehicle is moving backward.However, the pulse signal generated by the rotation of the wheels is counted. With the obtained wheel speeds, it is impossible to determine whether the vehicle is moving forward or backward,
Conventionally, it is general to determine whether the vehicle is moving forward or backward based on the shift position of the automatic transmission.

[0003]

However, in the case of determining the forward state of the vehicle using the shift position sensor, the cost is increased due to an increase in the number of signal lines, and a failure countermeasure function of the shift position sensor is separately provided. Need to be added.

The present invention has been made in view of the above circumstances, and in a vehicle in which motion control using a yaw rate is performed, a configuration other than a configuration necessary for motion control is newly determined in order to determine the forward movement of the vehicle. Avoid adding,
An object of the present invention is to provide a forward movement determination device in a vehicle motion control device that can easily determine that the vehicle is traveling forward.

[0005]

[0006]

[0007]

[MEANS FOR SOLVING THE PROBLEMS] To achieve the above object
According to the first aspect of the present invention, there is provided a yaw rate sensor for detecting a yaw rate of a vehicle; a steering angle sensor for detecting a steering angle of a steering wheel; a vehicle motion adjusting means capable of changing a motion of the vehicle; Vehicle speed calculating means; and steering angle reference yaw rate calculating means for calculating a steering angle reference yaw rate based on the steering angle detected by the steering angle sensor and the vehicle speed calculated by the vehicle speed calculating means. A control unit for controlling the operation of the vehicle motion adjusting means based on the steering angle reference yaw rate obtained in the above and the yaw rate detected by the yaw rate sensor. First differentiating means for obtaining a differential value of the steering angle reference yaw rate obtained by the yaw rate calculating means;
A second differentiating means for obtaining a differential value of the detected yaw rate by the yaw rate sensor, the vehicle with the output of the first and second differentiating means is persistent state is greater than the set value set time or more in the same direction characterized in that it comprises a determining determination Priority determination means to be in a forward running state.

[0008] According to the structure of the invention described in claim 2 ,
Thus , it is possible to easily determine that the vehicle is traveling forward without using a signal from the shift position sensor. That is, when the vehicle is traveling, the vehicle speed has a positive value regardless of whether the vehicle is moving forward or backward, so that the steering angle reference yaw rate calculated by the steering angle reference yaw rate calculating means based on the steering angle and the vehicle speed is maintained even when the vehicle is moving backward. There is no inversion, and the differential value of the steering angle reference yaw rate does not invert when the vehicle moves backward. On the other hand, the yaw rate detected by the yaw rate sensor is inverted according to the forward and backward movement of the vehicle, and the differential value of the yaw rate is also inverted according to the forward and backward movement. Therefore, when the direction of the differential value of the steering angle reference yaw rate and the differential value of the detected yaw rate are in the same direction during traveling of the vehicle, and the differential value of the steering angle reference yaw rate and the detected yaw rate is larger than a certain value, the vehicle moves forward. It can be determined that the vehicle is moving forward only when the state where the directions of the two differential values are the same and the magnitude is larger than a certain value continues for a set time or more. It is possible to determine that the vehicle is moving forward while avoiding erroneous determination due to a phase shift between the angle reference yaw rate and the detected yaw rate. If the forward determination is correctly performed in this manner, it is possible to prevent erroneous control such as erroneous control amounts of the left and right wheels and the control target wheel.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The embodiments of the present invention will be described below based on one embodiment of the present invention shown in the accompanying drawings.

FIGS. 1 to 3 show an embodiment of the present invention. FIG. 1 is a diagram showing a drive system and a brake system of a vehicle, and FIG. 2 is a configuration of a control unit for determining whether the vehicle is moving forward. FIG. 3 is a flowchart showing the procedure of the forward movement determination process.

First, in FIG. 1, this vehicle is a front engine / front drive vehicle. A power unit P including an engine E and a transmission T is provided at a front portion of a vehicle body 1 with a left front wheel W _{FL as} a drive wheel and a right front wheel W _FL. Installed to drive front wheels W _FR . Left and right front wheel brakes B _FL and B _FR are attached to the left and right front wheels W _FL and W _FR, and left and right rear wheel brakes B are applied to driven left and right rear wheels W _RL and W _{RR. RL} and B _RR are mounted, and each wheel brake B _FL , B _FR and B
_RL and B _RR are, for example, disc brakes.

The first and second output ports 2A and 2B of the tandem type master cylinder M output brake fluid pressure corresponding to the depression operation of the brake pedal 3, and both output ports 2A and 2B are connected to the output ports 2A and 2B. is connected to the brake fluid pressure control device 4 as a vehicle motor control means, the brake fluid pressure to the wheel brakes B _FL from the brake fluid pressure control device 4, B _FR, B _RL, is caused to act on the B _RR. In the brake fluid pressure control device 4, the brake fluid pressure acting on each of the wheel brakes B _FL , B _FR , B _RL , and B _RR is controlled by the control unit 5, and the control unit 5 controls the brake fluid pressure. _Includes wheel speed sensors 6 _FL , 6 _FR , which detect the wheel speeds of the respective wheels W _FL , W _FR , W _RL , W _RR , respectively.
6 _RL , 6 _R , a steering angle sensor 7 for detecting a steering angle δ operated by a steering handle H, a yaw rate sensor 8 for detecting a yaw rate γ of the vehicle, and a lateral acceleration sensor 9 for detecting a lateral acceleration α of the vehicle. Are respectively input.

The control unit 5 controls each wheel brake B _FL ,
Anti-lock brake control to release the wheel lock during brake operation by controlling the brake fluid pressure of B _FR , B _RL , B _RR and the left mounted on the left and right front wheels W _FL , W _FR which are the driving wheels Traction control for eliminating the occurrence of excessive slip on the left and right front wheels W _FL and W _FR during non-braking operation by controlling the brake fluid pressure of the right front wheel brakes B _FL and B _FR , and at the time of braking operation and non-braking operation Regardless, the directional stability control by the yaw motion of the vehicle can be executed by controlling the brake fluid pressure of the left and right front wheel brakes B _FL and B _FR . For example, in the control unit 5, anti-lock brake control,
In each of the traction control and the directional stability control, the reference speed of at least one of the drive wheels W _FL and W _FR and the driven wheels W _RL and W _RR is determined, and the actual drive wheels W _FL and W _FR and the driven wheels are also determined. A control amount is calculated based on a deviation between at least one of the wheel speeds W _RL and W _RR and the reference speed, and the operation of the brake fluid pressure control device 4 is controlled based on the control amount. .

The above-described brake fluid pressure control device 4 and a device for adjusting the output of the engine E may be used as motion regulation means for changing the motion of the vehicle. Alternatively, a means for adjusting the output of the engine E may be used.

The control unit 5 also has a function of determining the forward movement of the vehicle. In order to determine the forward movement of the vehicle, the control unit 5 controls the wheel speed sensors 6 _FL and 6 _FL as shown in FIG. 6 _FR , 6 _RL , 6 _RR , a vehicle speed calculating means 11 for calculating a vehicle speed V based on the wheel speeds detected by the vehicle speed V calculated by the vehicle speed calculating means 11 and a steering angle detected by the steering angle detection sensor 7. A steering angle reference yaw rate calculating means 12 for calculating a steering angle reference yaw rate γS based on the angle δ; a steering angle reference yaw rate obtained by the steering angle reference yaw rate calculating means 12 and a yaw rate γ detected by the yaw rate sensor 8 And a differential value DγS of the steering angle reference yaw rate γS obtained by the steering angle reference yaw rate calculation means 12.
And a second differentiating means 1 for obtaining a differential value Dγ of the yaw rate γ detected by the yaw rate sensor 8
5 and a second determining means 16 for determining the forward state of the vehicle based on the outputs of the first and second differentiating means 14 and 15.

The difference between the steering angle reference yaw rate γS calculated by the steering angle reference yaw rate calculation means 12 and the yaw rate γ detected by the yaw rate sensor 8 is used to control the driving wheels W _FL , W _FR and Driven wheels W _RL , W _RR
The steering angle reference yaw rate calculation means 12 is used to determine the reference speed on at least one side of
The following calculation γS = V × δ × K is executed. Here, K is a coefficient.

The reference speed is equal to the reference yaw rate γ.
The correction is made based on the difference between S and the yaw rate γ. For example, the reference yaw rate γS and the yaw rate γ
Is larger, the reference speed is corrected to a lower side.

In the control unit 5, the vehicle speed calculating means 1
1, steering angle reference yaw rate calculation means 12, first determination means 1
3. The forward determination by the first differentiating means 14, the second differentiating means 15 and the second determining means 16 is executed according to the procedure shown in FIG.

In step S1 of FIG. 3, it is determined whether the vehicle speed V is equal to or lower than a first set speed V1, for example, 2 km / h (whether the vehicle is stopped). If V ≦ V1, step S2 is performed. After the forward determination flag is set to "0" in step S3, the forward determination timer is set to "0" in step S3.

When it is determined in step S1 that V> V1, in step S4, the vehicle speed V is set to a second set speed V2 (for example, 10 kV) larger than the first set speed V1.
m / h) or not, and if V <V2, the process proceeds from step S4 to step S3, where V <V2.
When it is determined that ≧ V2 and the vehicle is running, the process proceeds from step S3 to step S5, and it is determined in step S5 whether or not the midpoint correction of the steering angle sensor 7 and the yaw rate sensor 8 has been completed. Here, the midpoint correction of the steering angle sensor 7 and the yaw rate sensor 8 is executed, for example, as follows. That is, the midpoint of the yaw rate sensor 8 is determined based on the output of the yaw rate sensor 8 when the vehicle is stopped, and the vehicle is running straight based on the detection value of the yaw rate sensor 8 after the correction of the midpoint. When it is determined, the midpoint correction of the steering angle sensor 7 is performed based on the output of the steering angle sensor 7.

When it is determined in step S5 that the midpoint correction of the steering angle sensor 7 and the yaw rate sensor 8 has been completed, in step S6, the yaw rate γ detected by the yaw rate sensor 8 is set to the negative first set value. It is determined whether or not the steering angle reference yaw rate γS calculated by the steering angle reference yaw rate calculation means 12 is less than the negative first set value S1. Here, when the vehicle turns left, the yaw rate γ and the steering angle reference yaw rate γS have negative values, and in step S6, the yaw rate γ and the steering angle reference yaw rate γS in the left turning direction are smaller than the first set value S1. You are deciding whether it is big or not. Thus, the first set value S1 is
For example, it is set to 8 deg / sec.

In step S6, the yaw rate γ and the steering angle reference yaw rate γS are set to the first set value S in the left turning direction.
If it is determined that the value is greater than 1, the vehicle is determined to be moving forward, the forward determination flag is set to "1" in step S7, and the process proceeds to step S10.

In step S6, the yaw rate sensor 8
Is the first set value S on the negative side.
1, and the steering angle reference yaw rate calculating means 12
When it is determined that the condition that the steering angle reference yaw rate γS calculated in is not less than the negative first set value S1 is not satisfied, the process proceeds from step S6 to step S8, and in this step S8, the yaw rate sensor 8 detects Is smaller than the first set value S1 on the plus side,
In addition, it is determined whether or not the steering angle reference yaw rate γS calculated by the steering angle reference yaw rate calculation means 12 is less than the first set value S1 on the plus side. Here, when the vehicle is turning right, the yaw rate γ and the steering angle reference yaw rate γS are positive values, and in step S8, the yaw rate γ and the steering angle reference yaw rate γS are set to the first set value S1 in the right turning direction. You are deciding whether it is greater than.

In step S8, the yaw rate γ and the steering angle reference yaw rate γS are set to the first set value S in the right turning direction.
When it is determined that the value is greater than 1, it is determined that the vehicle is moving forward, the forward determination flag is set to "1" in step S9, and the process proceeds to step S10.

If it is determined in step S5 that the midpoint correction has not been completed, the process skips steps S6 to S9 and proceeds to step S10. In step S8, the yaw rate γ detected by the yaw rate sensor 8 is set to the positive side. If it is determined that the condition that the steering angle reference yaw rate γS calculated by the steering angle reference yaw rate calculating means 12 is less than the first set value S1 does not satisfy the condition that the steering angle reference yaw rate γS is less than the first set value S1 on the plus side, From S8 to step S9
And goes to step S10.

The processing of steps S6 to S9 corresponds to the first judging means 13 and the first judging means 1
3 indicates that the steering angle reference yaw rate γS obtained by the steering angle reference yaw rate calculation means 12 and the yaw rate γ detected by the yaw rate sensor 8 are larger than the first set value S1 in the same direction. Is determined to be in the forward running state.

In step S10, the differential value DγS of the steering angle reference yaw rate γS obtained by the first differentiating means 14 is larger than the second set value S2 on the left turning side, and the yaw rate γ obtained by the second differentiating means 15 It is determined whether the differential value Dγ is larger than the second set value S2 on the left turning side. Here, the first set value S2 is set for example to 10 deg / sec ^2.

If it is determined in step S10 that the differential values DγS and Dγ are larger than the second set value S2 on the left turning side, it is determined in step S11 whether the forward determination timer has exceeded the set time ST. If the set time ST has elapsed, it is determined that the vehicle is traveling forward, and the forward determination flag is set to “1” in step S12.
If the set time ST has not elapsed, the forward movement determination timer is counted in step S13. Here, the set time ST is set to, for example, 200 msec as a time for which it is possible to determine that instantaneous reversal of forward movement and reverse movement has not occurred.

In step S10, the differential value Dγ on the left turning side
When it is determined that S, Dγ does not satisfy the condition that is larger than the second set value S2, in step S14,
It is determined whether the differential values DγS, Dγ are larger than the second set value S2 on the right turning side, and the differential values DγS, D
When it is determined that γ is larger than the second set value S2,
In step S15, the advance determination timer determines that the set time S
If the set time ST has elapsed, it is determined that the vehicle is traveling forward, and the forward determination flag is set to "1" in step S16, and the set time ST has elapsed. If not, step S1
At 7, the forward judgment timer is counted. If it is determined in step S14 that the differential values DγS and Dγ do not satisfy the condition that the differential values DγS and Dγ are larger than the second set value S2, the process returns from step S14 to step S3.

The processing of steps S10 to S17 corresponds to the second determining means 16, and the second determining means 16 calculates the differential value DγS of the steering angle reference yaw rate γS obtained by the first differentiating means 14. And the differential value Dγ of the yaw rate γ obtained by the second differentiating means 15 is larger than the second set value S2 in the same direction for more than the set time ST, so that the vehicle enters the forward running state. It will be determined that there is.

The first determining means 13 or the second determining means 16
In the state where the vehicle is determined to be in the forward running state, the control unit 5 operates the brake fluid pressure control device 4 to perform normal yaw motion control based on the steering angle reference yaw rate γS and the yaw rate γ. Control, but first
When the determination unit 13 or the second determination unit 16 determines that the vehicle is not in the forward running state, the control unit 5
Means to stop the yaw motion control or perform the yaw motion control corresponding to the reverse running. For example, when the vehicle is moving forward, the control unit 5 controls the left and right front wheel brakes B _FL and B _FL .
_{When the} yaw motion control is performed by the _FR brake pressure control, the control unit 5 corrects (reverses ±) the steering angle reference yaw rate γS when the vehicle moves backward,
By controlling the brake pressures of the left and right rear wheel brakes B _RL , B _RR , yaw motion control corresponding to reverse running can be performed.

Next, the operation of this embodiment will be described. Since the vehicle speed V has a positive value when the vehicle is running regardless of whether the vehicle is moving forward or backward, the steering angle calculated based on the steering angle δ and the vehicle speed V. The angle reference yaw rate γS does not reverse even when the vehicle moves backward. On the other hand, the yaw rate γ detected by the yaw rate sensor 8 is inverted according to the forward and backward movements of the vehicle. Therefore, during traveling of the vehicle, the directions of the steering angle reference yaw rate γS and the detected yaw rate γ are in the same direction, and the magnitudes of the steering angle reference yaw rate γS and the detected yaw rate γ are set to the first set value S1.
If it is larger than the threshold value, it can be determined that the vehicle is moving forward. Therefore, it is possible to easily determine that the vehicle is traveling forward without using a signal from the shift position sensor, which is conventionally required, and to determine the forward movement of the vehicle using a configuration other than the configuration required for motion control. Therefore, it is not necessary to newly add the vehicle, and it is possible to easily determine that the vehicle is traveling forward while reducing the cost.

The differential value Dγ of the steering angle reference yaw rate γS
S also does not reverse when the vehicle moves backward, and the yaw rate γ
Of the steering angle reference yaw rate γS and the direction of the differential value Dγ of the detected yaw rate γ during traveling are the same, and the differential values DγS and Dγ are the same. When it is larger than the second set value S2, it can be determined that the vehicle is moving forward. In addition, when the state in which the directions of both the differential values DγS and Dγ are the same and the magnitude is larger than the second set value S2 is determined to be forward only when the set time ST or more, the vehicle is determined to be moving forward. It is possible to determine that the vehicle is moving forward while avoiding erroneous determination due to a phase shift between γS and the detected yaw rate γ.

Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above embodiments, and various design changes can be made without departing from the present invention described in the appended claims. It is possible to do.

[0035]

[0036]

According to the present invention described as above, according to the present invention, the direction of the differential value of the differential value and the detected yaw rate of the steering angle reference yaw rate during traveling of the vehicle is the same direction, yet both differential value It required that the vehicle have to be larger state than the set value persists set amount of time or as determined to be moving forward, add a new configuration other than the required configuration to the motion control to perform forward determination of the vehicle It is possible to determine that the vehicle is moving forward while avoiding erroneous determination due to a phase shift between the steering angle reference yaw rate and the detected yaw rate, and reduce the control amounts of the left and right wheels and the control target wheels. It is possible to prevent erroneous control such as making a mistake.

[Brief description of the drawings]

FIG. 1 is a diagram showing a drive system and a brake system of a vehicle.

FIG. 2 is a block diagram illustrating a configuration of a control unit for performing forward traveling determination of the vehicle.

FIG. 3 is a flowchart illustrating a forward-movement determination processing procedure.

[Explanation of symbols]

4 ... Brake fluid pressure control device as vehicle motion adjusting means 5 ... Control unit 7 ... Steering angle sensor 8 ... Yaw rate sensor 11 ... Vehicle speed calculating means 12 ... Rotating angle reference yaw rate calculation second judging means H ... steering handle as a means 14 ... first differentiating means 15 ... second differentiating means 16 ... judging means

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ identification code FI B62D 137: 00 B62D 137: 00 (58) Investigated field (Int.Cl. ⁷ , DB name) G01P 13/02 G01C 21/20 B62D 6/00 B62D 101: 00 B62D 113: 00 B62D 137: 00

Claims (1)

(57) [Claims] 1. A yaw rate sensor for detecting a yaw rate of the vehicles (8); a steering wheel (H) of the steering angle sensor for detecting a steering angle (7); vehicle motion adjusting means capable of changing the motion of the vehicle ( 4) and; a vehicle speed calculating means (11) for calculating a vehicle speed; and a steering angle reference yaw rate based on the steering angle detected by the steering angle sensor (7) and the vehicle speed calculated by the vehicle speed calculating means (11). A steering angle reference yaw rate calculating means (12), and a vehicle movement adjusting means based on the steering angle reference yaw rate obtained by the steering angle reference yaw rate calculating means (12) and the yaw rate detected by the yaw rate sensor (8). A control unit (5) for controlling the operation of (4), wherein the control unit (5) comprises a steering angle reference yaw rate calculating means ( A first differentiating means (14) for obtaining a differential value of the steering angle reference yaw rate obtained in 2); a second differentiating means (15) for obtaining a differential value of the yaw rate detected by the yaw rate sensor (8); And the second differentiating means (1
And wherein the output of 4, 15) comprises a determining determination Priority determination means and (16) the vehicle is in a forward running state with that persistent state value is larger set time or more than the set value in the same direction Determination device in a motion control device of a moving vehicle.