Motor vehicle state detecting system

• US 20030220730A1
• Filed: 11/20/2002
• Published: 11/27/2003
• Est. Priority Date: 05/23/2002
• Status: Active Grant

• Current Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Original Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Inventors: Tanaka, Hideyuki, Kurishige, Masahiko, Maeda, Takashi, Matsunaga, Takanori, Matsui, Toshinori, Fujioka, Hiroshi
• Granted Patent: US 6,915,199 B2
• Time in Patent Office: Days
• US Class Current: 701/70
• CPC Class Codes: B60T 2230/02 Side slip angle, attitude angle, floating angle, drift angle
• CPC Class Codes: B60T 2260/02 Active Steering, Steer-by-Wire
• CPC Class Codes: B62D 6/005 treating sensor outputs to obtain the actual yaw rate
• CPC Class Codes: B62D 6/04 responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel

Abstract

System for detecting stability/instability of behavior of a motor vehicle upon occurrence of tire slip or lock. State of the motor vehicle is determined on the basis of an alignment torque (Ta) applied from a road and a side slip angle (β). By taking advantage of such torque/slip-angle characteristic that although the alignment torque is proportional to a side slip angle when the latter is small, the alignment torque becomes smaller as the side slip angle increases, a normal value is determined from a straight line slope and the side slip angle in a region where the latter is small. Unstable behavior of the motor vehicle is determined when deviation of actual measured value from the normal value increases. Further, unstable state is determined when the slope of the alignment torque for the slip angle departs significantly from that of approximate straight line slope.

Claims

1. A motor vehicle state detecting system for detecting an unstable state of a motor vehicle or alternatively a prognostic sign thereof, comprising:

first detecting means for detecting an actual measured value of a first parameter corresponding to either a side slip angle or alternatively a steering angle of said motor vehicle;

second detecting means for detecting an actual measured value of a second parameter corresponding to either an alignment torque or alternatively a transverse acceleration which said motor vehicle is subjected to;

arithmetic means for arithmetically determining a third parameter relevant to a correlation which said first and second parameters bear to each other;

reference value setting means for setting in advance a comparison reference value for said third parameter; and

motor vehicle behavior stability decision means for making decision that behavior of said motor vehicle is unstable when said third parameter departs from said comparison reference value.

2. A motor vehicle state detecting system according to claim 1,

said first detecting means being designed to detect an actual side slip angle of a vehicle body or alternatively tire of said motor vehicle as the actual measured value of said first parameter,

said second detecting means being designed to detect an actual alignment torque applied to said motor vehicle from a road surface as the actual measured value of said second parameter,

said arithmetic means including:

torque/slip-angle ratio setting means for setting in advance a ratio of an alignment torque to said side slip angle of said motor vehicle as a torque/slip-angle ratio in dependence on said motor vehicle concerned;

normal value arithmetic means for arithmetically determining a normal alignment torque for said actual side slip angle on the basis of said actual side slip angle and said torque/slip-angle ratio; and

torque deviation arithmetic means for arithmetically determining an absolute value of a deviation of said actual alignment torque from said normal alignment torque as a torque deviation which is employed as said third parameter,

wherein said reference value setting means is designed to set as said comparison reference value a predetermined deviation quantity for said torque deviation in dependence on said motor vehicle concerned; and

wherein said motor vehicle behavior stability decision means is designed to determine that behavior of said motor vehicle is unstable when said torque deviation is greater than said predetermined deviation quantity inclusive thereof.

3. A motor vehicle state detecting system according to claim 1,

said first detecting means being designed to detect an actual side slip angle of a vehicle body or alternatively tire of said motor vehicle as the actual measured value of said first parameter,

said second detecting means being designed to detect an actual alignment torque applied to said motor vehicle from a road surface as the actual measured value of said second parameter,

said arithmetic means being designed to arithmetically determine a change rate of said actual alignment torque for said actual side slip angle as a torque/slip-angle change rate which is employed as said third parameter,

said reference value setting means being designed to set as said comparison reference value a predetermined range for said torque/slip-angle change rate in dependence on said motor vehicle concerned;

and

said motor vehicle behavior stability decision means being designed to determine that behavior of said motor vehicle is unstable when said torque/slip-angle change rate departs from said predetermined range.

4. A motor vehicle state detecting system according to claim 3,

said arithmetic means including:

time-based slip-angle change rate arithmetic means for arithmetically determining a time-based change rate of said actual side slip angle as a time-based slip-angle change rate;

time-based torque change rate arithmetic means for arithmetically determining a time-based change rate of said actual alignment torque as a time-based torque change rate; and

torque/slip-angle change rate arithmetic means for dividing said time-based torque change rate by said time-based slip-angle change rate to thereby arithmetically determine said torque/slip-angle change rate.

5. A motor vehicle state detecting system according to claim 3,

said arithmetic means including:

travel distance arithmetic means for arithmetically determining travel distance of said motor vehicle;

distance-based slip-angle change rate arithmetic means for arithmetically determining a change rate of said actual side slip angle for said travel distance as a distance-based slip-angle change rate;

distance-based torque change rate arithmetic means for arithmetically determining a change rate of said actual alignment torque for said travel distance as a distance-based torque change rate; and

torque/slip-angle change rate arithmetic means for dividing said distance-based torque change rate by said distance-based slip-angle change rate to thereby arithmetically determine said torque/slip-angle change rate.

6. A motor vehicle state detecting system according to claim 4, further comprising:

vehicle speed detecting means for detecting a running speed of said motor vehicle as a vehicle speed;

transverse acceleration detecting means for detecting transverse acceleration of said motor vehicle; and

yaw rate detecting means for detecting an acceleration in the yaw direction of said motor vehicle,

wherein said time-based slip-angle change rate arithmetic means is designed to arithmetically determine said time-based slip-angle change rate on the basis of said vehicle speed, said transverse acceleration and said yaw direction acceleration.

7. A motor vehicle state detecting system according to claim 4,

said arithmetic means including:

lower limit value setting means for setting a lower limit permissible value for said time-based slip-angle change rate in dependence on the motor vehicle concerned;

predetermined change rate setting means for setting a predetermined change rate for said time-based torque change rate in dependence on the motor vehicle concerned; and

division arithmetic inhibiting means for inhibiting division processing executed by said torque/slip-angle change rate arithmetic means when said time-based slip-angle change rate is smaller than said lower limit permissible value,

wherein said motor vehicle behavior stability decision means determines that behavior of said motor vehicle is unstable when said time-based slip-angle change rate is smaller than said lower limit permissible value and when said time-based torque change rate is greater than said predetermined change rate inclusive thereof.

8. A motor vehicle state detecting system according to claim 5,

said arithmetic means including:

lower limit value setting means for setting a lower limit permissible value for said distance-based slip-angle change rate in dependence on the motor vehicle concerned;

predetermined change rate setting means for setting a predetermined change rate for said distance-based torque change rate in dependence on the motor vehicle concerned; and

division arithmetic inhibiting means for inhibiting division processing executed by said torque/slip-angle change rate arithmetic means when said distance-based slip-angle change rate is smaller than said lower limit permissible value,

wherein said motor vehicle behavior stability decision means determines that behavior of said motor vehicle is unstable when said distance-based slip-angle change rate is smaller than said lower limit permissible value and when said distance-based torque change rate is greater than said predetermined change rate inclusive thereof.

9. A motor vehicle state detecting system according to claim 1, further comprising:

vehicle speed detecting means for detecting a running speed of said motor vehicle as a vehicle speed,

said first detecting means being designed to detect an actual steering angle of said motor vehicle as an actual measured value of said first parameter,

said second detecting means being designed to detect as an actual measured value of said second parameter an actual alignment torque applied to said motor vehicle from a road surface in the course of running of said motor vehicle;

said arithmetic means including;

torque/steering-angle ratio setting means for setting previously a ratio of said alignment torque to said steering angle of said motor vehicle as a torque/slip-angle ratio in dependence on said motor vehicle concerned and said vehicle speed;

normal value arithmetic means for arithmetically determining a normal alignment torque for said steering angle on the basis of said steering angle and said torque/steering-angle ratio; and

torque deviation arithmetic means for arithmetically determining an absolute value of a deviation of said actual alignment torque from said normal alignment torque as a torque deviation which serves as said third parameter,

wherein said reference value setting means is designed to set as said comparison reference value a predetermined deviation quantity for said torque deviation in dependence on said motor vehicle concerned and said vehicle speed, and

wherein said motor vehicle behavior stability decision means is designed to determine that behavior of said motor vehicle is unstable when said torque deviation is greater than said predetermined deviation quantity inclusive.

10. A motor vehicle state detecting system according to claim 1, further comprising:

vehicle speed detecting means for detecting a running speed of said motor vehicle as a vehicle speed,

said first detecting means being designed to detect an actual steering angle of said motor vehicle as an actual measured value of said first parameter,

said second detecting means being designed to detect as an actual measured value of said second parameter an actual alignment torque applied to said motor vehicle from a road surface in the course of running of said motor vehicle, and

said arithmetic means being designed to arithmetically determine the change rate of said actual alignment torque for said actual steering angle as a torque/steering-angle change rate which serves as said third parameter,

wherein said reference value setting means is designed to set as a comparison reference value a predetermined range for said torque/steering-angle change rate independence on said motor vehicle concerned and said vehicle speed, and

wherein said motor vehicle behavior stability decision means is designed to determine that behavior of said motor vehicle is unstable when said torque/steering-angle change rate departs from said predetermined range.

11. A motor vehicle state detecting system according to claim 10,

said arithmetic means including:

time-based steering-angle change rate arithmetic means for arithmetically determining a time-based change rate of said actual steering angle as a time-based steering-angle change rate;

time-based torque change rate arithmetic means for arithmetically determining a time-based change rate of said actual alignment torque as a time-based torque change rate; and

torque/steering-angle change rate arithmetic means for dividing said time-based torque change rate by said time-based steering-angle change rate to thereby arithmetically derive said torque/steering-angle change rate.

12. A motor vehicle state detecting system according to claim 10,

wherein said arithmetic means includes

travel distance arithmetic means for arithmetically determining travel distance of said motor vehicle;

distance-based steering-angle change rate arithmetic means for arithmetically determining a change rate of said actual steering angle for said travel distance as a distance-based steering-angle change rate;

distance-based torque change rate arithmetic means for arithmetically determining a change rate of said actual alignment torque for said travel distance as a distance-based torque change rate; and

torque/steering-angle change rate arithmetic means for dividing said distance-based torque change rate by said distance-based steering-angle change rate to thereby arithmetically derive said torque/steering-angle change rate.

13. A motor vehicle state detecting system according to claim 11,

said arithmetic means including:

lower limit value setting means for setting a lower limit permissible value for said time-based steering-angle change rate in dependence on the motor vehicle concerned and said vehicle speed;

predetermined change rate setting means for setting a predetermined change rate for said time-based torque change rate in dependence on the motor vehicle concerned; and

division arithmetic inhibiting means for inhibiting division processing executed by said torque/steering-angle change rate arithmetic means when said time-based steering-angle change rate is smaller than said lower limit permissible value,

wherein said motor vehicle behavior stability decision means determines that behavior of said motor vehicle is unstable when said time-based steering-angle change rate is smaller than said lower limit permissible value and when said time-based torque change rate is greater than said predetermined change rate inclusive thereof.

14. A motor vehicle state detecting system according to claim 12,

said arithmetic means including:

lower limit value setting means for setting a lower limit permissible value for said distance-based steering-angle change rate in dependence on the motor vehicle concerned and said vehicle speed;

predetermined change rate setting means for setting a predetermined change rate for said distance-based torque change rate in dependence on the motor vehicle concerned; and

division arithmetic inhibiting means for inhibiting division processing executed by said torque/steering-angle change rate arithmetic means when said distance-based steering-angle change rate is smaller than said lower limit permissible value,

wherein said motor vehicle behavior stability decision means determines that behavior of said motor vehicle is unstable when said distance-based steering-angle change rate is smaller than said lower limit permissible value and when said distance-based torque change rate is greater than said predetermined change rate inclusive thereof.

15. A motor vehicle state detecting system according to claim 1,

said first detecting means being designed to detect an actual side slip angle of a vehicle body or alternatively tire of said motor vehicle as the actual measured value of said first parameter,

said second detecting means being designed to detect an actual transverse acceleration applied to said motor vehicle as the actual measured value of said second parameter,

said arithmetic means including:

acceleration/slip-angle ratio setting means for setting in advance a ratio of said transverse acceleration to said side slip angle of said motor vehicle as an acceleration/slip-angle ratio in dependence on said motor vehicle concerned;

normal value arithmetic means for arithmetically determining a normal transverse acceleration for said actual side slip angle on the basis of said actual side slip angle and said acceleration/slip-angle ratio; and

acceleration deviation arithmetic means for arithmetically determining an absolute value of a deviation of said actual transverse acceleration from said normal transverse acceleration as an acceleration deviation which serves as said third parameter,

wherein said reference value setting means is designed to set as said comparison reference value a predetermined deviation quantity for said acceleration deviation in dependence on said motor vehicle concerned; and

wherein said motor vehicle behavior stability decision means is designed to determine that behavior of said motor vehicle is unstable when said acceleration deviation is greater than said predetermined deviation quantity inclusive thereof.

16. A motor vehicle state detecting system according to claim 1,

said first detecting means being designed to detect an actual side slip angle of a vehicle body or alternatively tire of said motor vehicle as the actual measured value of said first parameter,

said second detecting means being designed to detect an actual transverse acceleration applied to said motor vehicle as the actual measured value of said second parameter,

said arithmetic means being designed to arithmetically determine a change rate of said actual transverse acceleration for said actual side slip angle as an acceleration/slip-angle change rate which serves as said third parameter,

said reference value setting means being designed to set as said comparison reference value a predetermined range for said acceleration/slip-angle change rate in dependence on said motor vehicle concerned;

and

said motor vehicle behavior stability decision means being designed to determine that behavior of said motor vehicle is unstable when said acceleration/slip-angle change rate departs from said predetermined range.

17. A motor vehicle state detecting system according to claim 16,

said arithmetic means including:

time-based slip-angle change rate arithmetic means for arithmetically determining a time-based change rate of said actual side slip angle as a time-based slip-angle change rate;

time-based acceleration change rate arithmetic means for arithmetically determining a time-based change rate of said actual transverse acceleration as a time-based acceleration change rate; and

acceleration/slip-angle change rate arithmetic means for dividing said time-based acceleration change rate by said time-based slip-angle change rate to thereby arithmetically derive said acceleration/slip-angle change rate.

18. A motor vehicle state detecting system according to claim 16,

said arithmetic means including:

travel distance arithmetic means for arithmetically determining travel distance of said motor vehicle;

distance-based slip-angle change rate arithmetic means for arithmetically determining a change rate of said actual side slip angle for said travel distance as a distance-based slip-angle change rate;

distance-based acceleration change rate arithmetic means for arithmetically determining a change rate of said actual transverse acceleration for said travel distance as a distance-based acceleration change rate; and

acceleration/slip-angle change rate arithmetic means for dividing said distance-based acceleration change rate by said distance-based slip-angle change rate to thereby arithmetically derive said acceleration/slip-angle change rate.

19. A motor vehicle state detecting system according to claim 17, further comprising:

vehicle speed detecting means for detecting a running speed of said motor vehicle as a vehicle speed;

transverse acceleration detecting means for detecting transverse acceleration of said motor vehicle; and

yaw rate detecting means for detecting an acceleration in the yaw direction of said motor vehicle,

wherein said time-based slip-angle change rate arithmetic means is designed to arithmetically determine said time-based slip-angle change rate on the basis of said vehicle speed, said transverse acceleration and said yaw direction acceleration.

20. A motor vehicle state detecting system according to claim 17,

said arithmetic means including:

lower limit value setting means for setting a lower limit permissible value for said time-based slip-angle change rate in dependence on the motor vehicle concerned;

predetermined change rate setting means for setting a predetermined change rate for said time-based acceleration change rate in dependence on the motor vehicle concerned; and

division arithmetic inhibiting means for inhibiting division processing executed by said acceleration/slip-angle change rate arithmetic means when said time-based slip-angle change rate is smaller than said lower limit permissible value,

wherein said motor vehicle behavior stability decision means determines that behavior of said motor vehicle is unstable when said time-based slip-angle change rate is smaller than said lower limit permissible value and when said time-based acceleration change rate is greater than said predetermined change rate inclusive thereof.

21. A motor vehicle state detecting system according to claim 18,

said arithmetic means including:

lower limit value setting means for setting a lower limit permissible value for said distance-based slip-angle change rate in dependence on the motor vehicle concerned;

predetermined change rate setting means for setting a predetermined change rate for said distance-based acceleration change rate in dependence on the motor vehicle concerned; and

division arithmetic inhibiting means for inhibiting division processing executed by said acceleration/slip-angle change rate arithmetic means when said distance-based slip-angle change rate is smaller than said lower limit permissible value,

wherein said motor vehicle behavior stability decision means determines that behavior of said motor vehicle is unstable when said distance-based slip-angle change rate is smaller than said lower limit permissible value and when said distance-based acceleration change rate is greater than said predetermined change rate inclusive thereof.

22. A motor vehicle state detecting system according to claim 1, further comprising:

vehicle speed detecting means for detecting a running speed of said motor vehicle as a vehicle speed,

said first detecting means being designed to detect an actual steering angle of said motor vehicle as an actual measured value of said first parameter,

said second detecting means being designed to detect as an actual measured value of said second parameter an actual transverse acceleration applied to said motor vehicle in the course of running of said motor vehicle;

said arithmetic means including;

acceleration/steering-angle ratio setting means for setting in advance a ratio of said transverse acceleration to said steering angle of said motor vehicle as an acceleration/steering-angle ratio in dependence on said motor vehicle concerned and said vehicle speed;

normal value arithmetic means for arithmetically determining a normal transverse acceleration for said steering angle on the basis of said steering angle and said acceleration/steering-angle ratio; and

acceleration deviation arithmetic means for arithmetically determining an absolute value of a deviation of said actual transverse acceleration from said normal transverse acceleration as an acceleration deviation which serves as said third parameter,

wherein said reference value setting means is designed to set as said comparison reference value a predetermined deviation quantity for said acceleration deviation in dependence on said motor vehicle concerned and said vehicle speed, and

wherein said motor vehicle behavior stability decision means is designed to determine that behavior of said motor vehicle is unstable when said acceleration deviation is greater than said predetermined deviation quantity inclusive.

23. A motor vehicle state detecting system according to claim 1, further comprising:

vehicle speed detecting means for detecting a running speed of said motor vehicle as a vehicle speed,

said first detecting means being designed to detect an actual steering angle of said motor vehicle as an actual measured value of said first parameter,

said second detecting means being designed to detect as an actual measured value of said second parameter an actual transverse acceleration applied to said motor vehicle, and

said arithmetic means being designed to arithmetically determine the change rate of said actual transverse acceleration for said actual steering angle as an acceleration/steering-angle change rate which serves as said third parameter,

wherein said reference value setting means is designed to set as said comparison reference value a predetermined range for said acceleration/steering-angle change rate in dependence on said motor vehicle concerned and said vehicle speed, and

wherein said motor vehicle behavior stability decision means is designed to determine that behavior of said motor vehicle is unstable when said acceleration/steering-angle change rate departs from said predetermined range.

24. A motor vehicle state detecting system according to claim 23,

said arithmetic means including:

time-based steering-angle change rate arithmetic means for arithmetically determining a time-based change rate of said actual steering angle as a time-based steering-angle change rate;

time-based acceleration change rate arithmetic means for arithmetically determining a time-based change rate of said actual transverse acceleration as a time-based acceleration change rate; and

acceleration/steering-angle change rate arithmetic means for dividing said time-based acceleration change rate by said time-based steering-angle change rate to thereby arithmetically derive said acceleration/steering-angle change rate.

25. A motor vehicle state detecting system according to claim 23,

said arithmetic means including:

travel distance arithmetic means for arithmetically determining travel distance of said motor vehicle;

distance-based steering-angle change rate arithmetic means for arithmetically determining a change rate of said actual steering angle for said travel distance as a distance-based steering-angle change rate;

distance-based acceleration change rate arithmetic means for arithmetically determining a change rate of said actual transverse acceleration for said travel distance as a distance-based acceleration change rate; and

acceleration/steering-angle change rate arithmetic means for dividing said distance-based acceleration change rate by said distance-based steering-angle change rate to thereby arithmetically derive said acceleration/steering-angle change rate.

26. A motor vehicle state detecting system according to claim 24,

said arithmetic means including:

lower limit value setting means for setting a lower limit permissible value for said time-based steering-angle change rate in dependence on the motor vehicle concerned and said vehicle speed;

predetermined change rate setting means for setting a predetermined change rate for said time-based acceleration change rate in dependence on the motor vehicle concerned; and

division arithmetic inhibiting means for inhibiting division processing executed by said acceleration/steering-angle change rate arithmetic means when said time-based steering-angle change rate is smaller than said lower limit permissible value,

wherein said motor vehicle behavior stability decision means determines that behavior of said motor vehicle is unstable when said time-based steering-angle change rate is smaller than said lower limit permissible value and when said time-based acceleration change rate is greater than said predetermined change rate inclusive thereof.

27. A motor vehicle state detecting system according to claim 25,

said arithmetic means including:

lower limit value setting means for setting a lower limit permissible value for said distance-based steering-angle change rate in dependence on the motor vehicle concerned and said vehicle speed;

predetermined change rate setting means for setting a predetermined change rate for said distance-based acceleration change rate in dependence on the motor vehicle concerned; and

division arithmetic inhibiting means for inhibiting division processing executed by said acceleration/steering-angle change rate arithmetic means when said distance-based steering-angle change rate is smaller than said lower limit permissible value,

wherein said motor vehicle behavior stability decision means determines that behavior of said motor vehicle is unstable when said distance-based steering-angle change rate is smaller than said lower limit permissible value and when said distance-based acceleration change rate is greater than said predetermined change rate inclusive thereof.