JP4680977B2 - 車両の挙動制御装置 - Google Patents
車両の挙動制御装置 Download PDFInfo
- Publication number
- JP4680977B2 JP4680977B2 JP2007326384A JP2007326384A JP4680977B2 JP 4680977 B2 JP4680977 B2 JP 4680977B2 JP 2007326384 A JP2007326384 A JP 2007326384A JP 2007326384 A JP2007326384 A JP 2007326384A JP 4680977 B2 JP4680977 B2 JP 4680977B2
- 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.)
- Expired - Fee Related
Links
- 238000001514 detection method Methods 0.000 claims description 76
- 230000001133 acceleration Effects 0.000 claims description 16
- 230000001629 suppression Effects 0.000 description 32
- 238000000034 method Methods 0.000 description 13
- 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)
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
29・・・横方向加速度検出手段である横G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
GL・・・横方向加速度
V・・・・車体速
σ・・・・操舵角
γN・・・規範ヨーレイト
γ・・・・ヨーレイト検出値
Δγ・・・規範ヨーレイトおよびヨーレイト検出値間の差
β′・・・スリップ角微分値
Claims (1)
- 車両(15)の車体速(V)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(σ)を検出する操舵角検出手段(27)と、前記車体速(V)および前記操舵角(σ)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(γN)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(γ)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(γN)および前記ヨーレイト検出値(γ)間の差(Δγ)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、
車両(15)の横方向加速度(GL)を検出する横方向加速度検出手段(29)と、前記横方向加速度(GL)を前記車体速(V)で除算した値から前記ヨーレイト検出値(γ)を減算した値に基づいて車体のスリップ角微分値(β′)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(γ)が正の値かつ前記スリップ角微分値(β′)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(γ)が負の値かつ前記スリップ角微分値(β′)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 |
EP08021479A EP2072360B1 (en) | 2007-12-18 | 2008-12-10 | Vehicle behavior control system |
DE602008002391T DE602008002391D1 (de) | 2007-12-18 | 2008-12-10 | System zur Regelung des Fahrverhaltens eines Fahrzeugs |
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 JP2009149119A (ja) | 2009-07-09 |
JP4680977B2 true 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) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2112053B1 (en) * | 2008-04-25 | 2015-08-12 | Volvo Car Corporation | Yaw stability control system |
KR101373280B1 (ko) | 2012-12-04 | 2014-03-19 | 현대오트론 주식회사 | 차량 자세 제어 시스템의 회전 보조 기능을 제공하기 위한 장치 및 그 방법 |
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 |
Also Published As
Publication number | Publication date |
---|---|
DE602008002391D1 (de) | 2010-10-14 |
EP2072360B1 (en) | 2010-09-01 |
JP2009149119A (ja) | 2009-07-09 |
US20090157275A1 (en) | 2009-06-18 |
US8280606B2 (en) | 2012-10-02 |
EP2072360A1 (en) | 2009-06-24 |
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