JP4519439B2 - 車両挙動検出装置、及び車両挙動検出装置を用いた車両挙動制御装置 - Google Patents
車両挙動検出装置、及び車両挙動検出装置を用いた車両挙動制御装置 Download PDFInfo
- Publication number
- JP4519439B2 JP4519439B2 JP2003350089A JP2003350089A JP4519439B2 JP 4519439 B2 JP4519439 B2 JP 4519439B2 JP 2003350089 A JP2003350089 A JP 2003350089A JP 2003350089 A JP2003350089 A JP 2003350089A JP 4519439 B2 JP4519439 B2 JP 4519439B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- yaw moment
- yaw
- wheel
- vehicle behavior
- 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.)
- Expired - Fee Related
Links
- 238000001514 detection method Methods 0.000 title claims description 19
- 230000001133 acceleration Effects 0.000 claims description 36
- 230000033001 locomotion Effects 0.000 claims description 19
- 230000005484 gravity Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 230000003111 delayed effect Effects 0.000 description 2
- 230000000994 depressogenic effect Effects 0.000 description 2
- 230000000295 complement effect Effects 0.000 description 1
- 230000000881 depressing effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000011888 foil Substances 0.000 description 1
- 230000002441 reversible 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/08—Agricultural vehicles
- B60G2300/082—Tractors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/05—Attitude
- B60G2400/053—Angular acceleration
- B60G2400/0533—Yaw acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/01—Attitude or posture control
- B60G2800/016—Yawing condition
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/21—Traction, slip, skid or slide control
- B60G2800/212—Transversal; Side-slip during cornering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/24—Steering, cornering
- B60G2800/246—Understeer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/95—Automatic Traction or Slip Control [ATC]
- B60G2800/952—Electronic driving torque distribution
-
- 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
- B60T2270/30—ESP control system
- B60T2270/303—Stability control with active acceleration
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H48/00—Differential gearings
- F16H48/06—Differential gearings with gears having orbital motion
- F16H48/10—Differential gearings with gears having orbital motion with orbital spur gears
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Arrangement And Mounting Of Devices That Control Transmission Of Motive Force (AREA)
- Retarders (AREA)
- Regulating Braking Force (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
Description
Mγ=Ff・Lf−Fr・Lr
となる。尚、θsはステアリング操舵角である。
Mγ=Ff・Lf−Fr・Lr+M
4 駆動力配分装置
6F 前輪
6FL,6FR 前左右輪
6R 後輪
6RL,6RR 後左右輪
8 油圧モータ
9 油圧ポンプ
10 油圧バルブユニット
21 演算制御部
22 第1のヨーモーメント演算部
23 第2のヨーモーメント演算部
24 印加ヨーモーメント指示値演算部
25FL,25FR,25RL,25RR 車輪速センサ
26 操舵角センサ
27 ヨーレイトセンサ
28 加速度センサ
dv/dt 前後加速度
Ff,Fr コーナリングフォース
I 慣性モーメント
Kf 前輪コーナリングパワー
Kr 後輪コーナリングパワー
M 変動値(印加ヨーモーメント指示値)
M’,Mγ ヨーモーメント
V 車速
γ ヨーレイト
θs ステアリング操舵角
代理人 弁理士 伊 藤 進
Claims (2)
- 前輪の操舵角を検出する操舵角検出手段と、車速検出手段と、車両に生じているヨーレイトを検出するヨーレイト検出手段と、車両の前後加速度を検出する前後加速度検出手段とを備え、
上記車速検出手段で検出した車速と、上記操舵角検出手段で検出した操舵角と、上記ヨーレイト検出手段で検出したヨーレイトとを用いて線形の2輪車両運動モデルに基づき第1のヨーモーメントを演算する第1のヨーモーメント演算部と、
上記車速と上記操舵角と上記ヨーレイトと上記前後加速度とを用いて線形の2輪車両運動モデルに基づき車両の前後荷重移動を加味した第2のヨーモーメントを演算する第2のヨーモーメント演算部と、
上記第1のヨーモーメントから上記第2のヨーモーメントを減算して車両の前後荷重移動によるヨーモーメントの変動値を算出するヨーモーメント変動値演算部と
を備えることを特徴とする車両挙動検出装置。 - 上記車両の駆動輪側には後左右輪に対する駆動力配分を可変設定する駆動力配分装置が設けられており、
上記ヨーモーメント変動値演算部で算出した上記ヨーモーメントの変動値を上記駆動力配分装置に対し指示値として印加することを特徴とする請求項1記載の車両挙動検出装置を用いた車両挙動制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003350089A JP4519439B2 (ja) | 2003-10-08 | 2003-10-08 | 車両挙動検出装置、及び車両挙動検出装置を用いた車両挙動制御装置 |
EP04023715A EP1522475B1 (en) | 2003-10-08 | 2004-10-05 | Vehicle-behavior detecting apparatus and vehicle-behavior controlling apparatus |
DE602004012366T DE602004012366T2 (de) | 2003-10-08 | 2004-10-05 | Vorrichtung zum Erfassen des Fahrverhaltens eines Fahrzeugs und Vorrichtung zum Steuern des Fahrverhaltens eines Fahrzeugs |
US10/958,407 US7349786B2 (en) | 2003-10-08 | 2004-10-06 | Vehicle-behavior detecting apparatus and vehicle-behavior controlling apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003350089A JP4519439B2 (ja) | 2003-10-08 | 2003-10-08 | 車両挙動検出装置、及び車両挙動検出装置を用いた車両挙動制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2005114074A JP2005114074A (ja) | 2005-04-28 |
JP4519439B2 true JP4519439B2 (ja) | 2010-08-04 |
Family
ID=34309247
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2003350089A Expired - Fee Related JP4519439B2 (ja) | 2003-10-08 | 2003-10-08 | 車両挙動検出装置、及び車両挙動検出装置を用いた車両挙動制御装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7349786B2 (ja) |
EP (1) | EP1522475B1 (ja) |
JP (1) | JP4519439B2 (ja) |
DE (1) | DE602004012366T2 (ja) |
Families Citing this family (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7715965B2 (en) * | 2004-10-15 | 2010-05-11 | Ford Global Technologies | System and method for qualitatively determining vehicle loading conditions |
JP4626550B2 (ja) * | 2006-03-24 | 2011-02-09 | 三菱自動車工業株式会社 | 車両の旋回挙動制御装置 |
JP4781882B2 (ja) | 2006-03-31 | 2011-09-28 | 株式会社豊田中央研究所 | 車両運動制御装置及び制御方法 |
JP4936851B2 (ja) * | 2006-10-18 | 2012-05-23 | 日立オートモティブシステムズ株式会社 | 車両および車両制御装置 |
JP4697254B2 (ja) * | 2008-04-02 | 2011-06-08 | トヨタ自動車株式会社 | 車両挙動制御装置 |
US7775128B2 (en) * | 2008-09-04 | 2010-08-17 | Saris Cycling Group, Inc. | Cassette-based power meter |
JP5307591B2 (ja) * | 2009-03-16 | 2013-10-02 | 本田技研工業株式会社 | 車両挙動制御装置 |
ES2398875T3 (es) | 2009-08-27 | 2013-03-22 | Fiat Group Automobiles S.P.A. | Sistema para mejorar el comportamiento durante el viraje de un vehículo equipado con un sistema de control de estabilidad |
JP5143103B2 (ja) | 2009-09-30 | 2013-02-13 | 日立オートモティブシステムズ株式会社 | 車両の運動制御装置 |
US8336400B2 (en) * | 2009-11-24 | 2012-12-25 | Saris Cycling Group, Inc. | Rear hub power meter for a bicycle |
JP5363372B2 (ja) * | 2010-02-15 | 2013-12-11 | 本田技研工業株式会社 | 車両のヨーモーメント制御装置 |
CN102781743B (zh) * | 2010-03-04 | 2014-12-31 | 本田技研工业株式会社 | 车辆的转弯控制装置 |
DE112011100789T5 (de) | 2010-03-04 | 2013-01-10 | Honda Motor Co., Ltd. | Drehsteuerungsvorrichtung für ein Fahrzeug |
DE102011010993A1 (de) * | 2011-02-11 | 2012-08-16 | Audi Ag | Verfahren zum Betreiben eines Kraftfahrzeugs bei Durchfahren einer Kurve |
JP6577448B2 (ja) * | 2016-12-20 | 2019-09-18 | トヨタ自動車株式会社 | 車両安定制御装置 |
KR102262132B1 (ko) * | 2017-03-27 | 2021-06-10 | 현대자동차주식회사 | 차량용 조향 제어방법 |
DE102018201190A1 (de) * | 2018-01-25 | 2019-07-25 | Audi Ag | Verfahren zum Betrieb eines Fahrerassistenzsystems |
DE102018201189A1 (de) * | 2018-01-25 | 2019-07-25 | Audi Ag | Verfahren zum Betrieb eines Fahrerassistenzsystems |
JP6970043B2 (ja) * | 2018-03-19 | 2021-11-24 | トヨタ自動車株式会社 | 車両安定制御装置 |
CN110040147B (zh) * | 2019-04-23 | 2020-12-04 | 吉林大学 | 一种自动驾驶汽车侧向饱和约束下的行驶速度优化的方法 |
CN110606092B (zh) * | 2019-09-09 | 2021-05-18 | 中国第一汽车股份有限公司 | 行车状态的确定方法、装置、车辆及存储介质 |
CN110588634B (zh) * | 2019-09-09 | 2021-02-19 | 广州小鹏汽车科技有限公司 | 一种转弯场景下的车速控制方法及系统、车辆 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09164931A (ja) * | 1995-12-15 | 1997-06-24 | Aisin Seiki Co Ltd | 車両の運動制御装置 |
JPH10138783A (ja) * | 1996-11-13 | 1998-05-26 | Honda Motor Co Ltd | 車両のヨーモーメント制御装置 |
JPH10138785A (ja) * | 1996-11-13 | 1998-05-26 | Honda Motor Co Ltd | 車両のヨーモーメント制御装置 |
JPH11268552A (ja) * | 1998-03-20 | 1999-10-05 | Honda Motor Co Ltd | 車両用旋回アシスト装置 |
JP2002337567A (ja) * | 2001-05-22 | 2002-11-27 | Unisia Jecs Corp | 車両のヨー運動制御装置 |
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US5417298A (en) * | 1993-07-07 | 1995-05-23 | Honda Giken Kohyo Kabushiki Kaisha | Torque distribution control apparatus for vehicle |
JP3132371B2 (ja) * | 1995-10-06 | 2001-02-05 | トヨタ自動車株式会社 | 車輌の挙動制御装置 |
JPH09156487A (ja) | 1995-12-13 | 1997-06-17 | Fuji Heavy Ind Ltd | 制動力制御装置 |
US6415215B1 (en) * | 2000-02-23 | 2002-07-02 | Koyo Seiko Co., Ltd. | Vehicle attitude control apparatus |
IT1320394B1 (it) * | 2000-06-05 | 2003-11-26 | Fiat Ricerche | Sistema per il controllo attivo di un differenziale di un autoveicolo. |
-
2003
- 2003-10-08 JP JP2003350089A patent/JP4519439B2/ja not_active Expired - Fee Related
-
2004
- 2004-10-05 DE DE602004012366T patent/DE602004012366T2/de active Active
- 2004-10-05 EP EP04023715A patent/EP1522475B1/en not_active Expired - Fee Related
- 2004-10-06 US US10/958,407 patent/US7349786B2/en not_active Expired - Fee Related
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09164931A (ja) * | 1995-12-15 | 1997-06-24 | Aisin Seiki Co Ltd | 車両の運動制御装置 |
JPH10138783A (ja) * | 1996-11-13 | 1998-05-26 | Honda Motor Co Ltd | 車両のヨーモーメント制御装置 |
JPH10138785A (ja) * | 1996-11-13 | 1998-05-26 | Honda Motor Co Ltd | 車両のヨーモーメント制御装置 |
JPH11268552A (ja) * | 1998-03-20 | 1999-10-05 | Honda Motor Co Ltd | 車両用旋回アシスト装置 |
JP2002337567A (ja) * | 2001-05-22 | 2002-11-27 | Unisia Jecs Corp | 車両のヨー運動制御装置 |
Also Published As
Publication number | Publication date |
---|---|
EP1522475A2 (en) | 2005-04-13 |
US20050080545A1 (en) | 2005-04-14 |
DE602004012366D1 (de) | 2008-04-24 |
JP2005114074A (ja) | 2005-04-28 |
EP1522475A3 (en) | 2005-12-21 |
EP1522475B1 (en) | 2008-03-12 |
DE602004012366T2 (de) | 2008-06-26 |
US7349786B2 (en) | 2008-03-25 |
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