Vehicle motion control method and vehicle motion control apparatus
First Claim
1. A vehicle motion control method for executing steering control or drive power control for the vehicle based on steering characteristic of the vehicle obtained based on the behavior amount of the vehicle which occurs around an axis in the vertical direction with respect to the vehicle body, comprising:
- behavior amount acquiring step of acquiring the behavior amount of said vehicle;
differentiation step of obtaining a behavior amount differentiated value by differentiating said behavior amount; and
steering characteristic determination step of determining said vehicle steering characteristic based on said behavior amount differentiated value.
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Abstract
This invention provides a vehicle motion control method and a vehicle motion control apparatus capable of improving the behavior stability of a vehicle. According to the vehicle motion control method, vehicle steering characteristic is determined based on a behavior amount differentiated value obtained by differentiating (S203) a slip angle differential value which is a behavior amount of the vehicle which occurs around a z-axis in the vertical direction with respect to the vehicle body (S205, S209). Consequently, because the phase of the slip angle differential value is progressed, the transition tendency of the steering characteristic, that is, which the vehicle motion condition is moved to over-steer or under-steer, can be obtained early. Therefore, the starting timing of the steering control or drive power control of the vehicle can be accelerated thereby improving the behavior stability of the vehicle.
27 Citations
22 Claims
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1. A vehicle motion control method for executing steering control or drive power control for the vehicle based on steering characteristic of the vehicle obtained based on the behavior amount of the vehicle which occurs around an axis in the vertical direction with respect to the vehicle body, comprising:
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behavior amount acquiring step of acquiring the behavior amount of said vehicle;
differentiation step of obtaining a behavior amount differentiated value by differentiating said behavior amount; and
steering characteristic determination step of determining said vehicle steering characteristic based on said behavior amount differentiated value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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12. A vehicle motion control apparatus for executing steering control or drive power control for the vehicle based on steering characteristic of the vehicle obtained based on the behavior amount of the vehicle which occurs around an axis in the vertical direction with respect to the vehicle body, comprising:
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behavior amount acquiring means for acquiring the behavior amount of said vehicle;
differentiation means for obtaining a behavior amount differentiated value by differentiating said behavior amount; and
steering characteristic determination means for determining said vehicle steering characteristic based on said behavior amount differentiated value.
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Specification