JP4890062B2 - 車両の運動制御装置 - Google Patents
車両の運動制御装置 Download PDFInfo
- Publication number
- JP4890062B2 JP4890062B2 JP2006074602A JP2006074602A JP4890062B2 JP 4890062 B2 JP4890062 B2 JP 4890062B2 JP 2006074602 A JP2006074602 A JP 2006074602A JP 2006074602 A JP2006074602 A JP 2006074602A JP 4890062 B2 JP4890062 B2 JP 4890062B2
- Authority
- JP
- Japan
- Prior art keywords
- yaw rate
- control
- vehicle
- detected
- actuator
- 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
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Classifications
-
- 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
- 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
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- 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
- 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
- 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
- B60W40/103—Side slip angle of vehicle body
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
6・・・操舵角検出手段
7・・・ヨーレート検出手段
8・・・横加速度検出手段
9・・・車速検出手段
10・・・規範ヨーレート算出手段
11・・・ヨーレート偏差算出手段
12・・・横滑り角速度算出手段
13・・・制御量決定手段
Claims (1)
- 運転者による操舵角を検出する操舵角検出手段(6)と、
車速を検出する車速検出手段(9)と、
車両のヨーレートを検出するヨーレート検出手段(7)と、
車両の横加速度を検出する横加速度検出手段(8)と、
前記横加速度検出手段(8)で検出された横加速度、前記車速検出手段(9)で検出された車速、および前記ヨーレート検出手段(7)で検出されたヨーレートに基づき車両の横滑り角速度を算出する横滑り角速度算出手段(12)と、
前記操舵角検出手段(6)で検出された操舵角ならびに前記車速検出手段(9)で検出された車速に基づいて運転者の意図する規範ヨーレートを算出する規範ヨーレート算出手段(10)と、
該規範ヨーレート算出手段(10)で算出された規範ヨーレートならびに前記ヨーレート検出手段(7)で検出された検出ヨーレートの偏差であるヨーレート偏差を算出するヨーレート偏差算出手段(11)と、
前記横滑り角速度算出手段(12)の算出値ならびに前記ヨーレート偏差算出手段(11)の算出値に基づいて車両に旋回モーメントを発生させるアクチュエータ(5FL,5FR,5RL,5RR)のうち必要なアクチュエータを選択するとともに選択されたアクチュエータの制御量を定める制御量決定手段(13)とを備え、
該制御量決定手段(13)は、前記規範ヨーレートの絶対値が前記検出ヨーレートの絶対値よりも設定値以上大きい第1の状態では前記ヨーレート偏差算出手段(11)で算出されたヨーレート偏差に基づいて前記アクチュエータのうち車両に旋回内向きのモーメントを発生させるアクチュエータを選択するとともに選択されたアクチュエータの第1の制御量を決定し、
前記横滑り角速度算出手段(12)で算出される横滑り角速度が所定値を超える第2の状態では前記横滑り角速度に基づいて前記アクチュエータ(5FL〜5RR)のうち車両に旋回外向きのモーメントを発生させるアクチュエータを選択するとともに選択されたアクチュエータの第2の制御量を決定し、
前記第1および前記第2の状態が同時に発生しているときには正負が相互に逆である前記第1および前記第2の制御量にそれぞれ個別に基づいて第1および第2の協調制御用制御量を定め、第1および第2の協調制御用制御量の絶対値のうち大きい方の協調制御用制御量が対象とするアクチュエータを選択するとともに選択されたアクチュエータの制御量を第1および第2の協調制御用制御量の合算値として決定することを特徴とする車両の運動制御装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006074602A JP4890062B2 (ja) | 2006-03-17 | 2006-03-17 | 車両の運動制御装置 |
US11/709,316 US7274982B1 (en) | 2006-03-17 | 2007-02-21 | Vehicle motion control system |
DE102007012511A DE102007012511A1 (de) | 2006-03-17 | 2007-03-15 | Fahrzeugbewegungssteuerungssystem |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006074602A JP4890062B2 (ja) | 2006-03-17 | 2006-03-17 | 車両の運動制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2007246006A JP2007246006A (ja) | 2007-09-27 |
JP4890062B2 true JP4890062B2 (ja) | 2012-03-07 |
Family
ID=38375155
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2006074602A Expired - Fee Related JP4890062B2 (ja) | 2006-03-17 | 2006-03-17 | 車両の運動制御装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US7274982B1 (ja) |
JP (1) | JP4890062B2 (ja) |
DE (1) | DE102007012511A1 (ja) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8249790B2 (en) * | 2007-06-04 | 2012-08-21 | Advics Co., Ltd. | Vehicle behavior control device |
JP4886655B2 (ja) * | 2007-10-30 | 2012-02-29 | 本田技研工業株式会社 | 車両挙動制御装置 |
GB2461551B (en) * | 2008-07-03 | 2012-04-04 | Gm Global Tech Operations Inc | Vehicle side slip velocity estimation |
US8126612B2 (en) * | 2008-10-27 | 2012-02-28 | Concordia University | Steering system and method for independent steering of wheels |
JP5326562B2 (ja) * | 2008-12-26 | 2013-10-30 | 日産自動車株式会社 | 旋回挙動検出装置、旋回挙動検出方法、及びヨーレート推定方法 |
JP5655447B2 (ja) * | 2010-09-09 | 2015-01-21 | 株式会社アドヴィックス | 横転抑制制御装置の制御方法 |
JP6705778B2 (ja) | 2017-07-19 | 2020-06-03 | トヨタ自動車株式会社 | 車両用挙動制御装置 |
CN112277959B (zh) * | 2020-11-03 | 2022-02-11 | 北京航天发射技术研究所 | 车速确定方法、装置、设备及计算机可读存储介质 |
CN113276813B (zh) * | 2021-07-20 | 2021-09-17 | 天津所托瑞安汽车科技有限公司 | 车轮滑移率的修正方法、装置、电子设备及介质 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3225790B2 (ja) * | 1995-06-09 | 2001-11-05 | トヨタ自動車株式会社 | 車両挙動制御装置 |
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 |
JP3324965B2 (ja) * | 1997-08-28 | 2002-09-17 | 本田技研工業株式会社 | 車両の運動制御装置 |
US6654674B2 (en) * | 2001-11-21 | 2003-11-25 | Ford Global Technologies, Llc | Enhanced system for yaw stability control system to include roll stability control function |
US7143864B2 (en) * | 2002-09-27 | 2006-12-05 | Ford Global Technologies, Llc. | Yaw control for an automotive vehicle using steering actuators |
US7165644B2 (en) * | 2004-03-18 | 2007-01-23 | Ford Global Technologies, Llc | Method and apparatus of controlling an automotive vehicle using brake-steer as a function of steering wheel torque |
-
2006
- 2006-03-17 JP JP2006074602A patent/JP4890062B2/ja not_active Expired - Fee Related
-
2007
- 2007-02-21 US US11/709,316 patent/US7274982B1/en not_active Expired - Fee Related
- 2007-03-15 DE DE102007012511A patent/DE102007012511A1/de not_active Ceased
Also Published As
Publication number | Publication date |
---|---|
US20070219690A1 (en) | 2007-09-20 |
US7274982B1 (en) | 2007-09-25 |
DE102007012511A1 (de) | 2007-09-20 |
JP2007246006A (ja) | 2007-09-27 |
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