Vehicle-behavior detecting apparatus and vehicle-behavior controlling apparatus

• US 20050080545A1
• Filed: 10/06/2004
• Published: 04/14/2005
• Est. Priority Date: 10/08/2003
• Status: Active Grant

• Current Assignee: Subaru Corp.
• Original Assignee: Fuji Jukogyo KK (Subaru Corp.)
• Inventors: Takagi, Tomohiro
• Granted Patent: US 7,349,786 B2
• Time in Patent Office: Days
• US Class Current: 701/70
• CPC Class Codes: B60G 2300/082 Tractors
• CPC Class Codes: B60G 2400/0533 Yaw acceleration
• CPC Class Codes: B60G 2800/016 Yawing condition
• CPC Class Codes: B60G 2800/212 Transversal; Side-slip during cornering
• CPC Class Codes: B60G 2800/246 Understeer
• CPC Class Codes: B60G 2800/952 Electronic driving torque distribution
• CPC Class Codes: B60T 2270/303 Stability control with active acceleration
• CPC Class Codes: B60T 8/1755 Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02
• CPC Class Codes: F16H 48/10 with orbital spur gears

Abstract

A vehicle-behavior detecting apparatus including a first-yaw-moment calculating unit, a second-yaw-moment calculating unit, and an indication-value calculating unit. Based on a linear bicycle model, the first-yaw-moment calculating unit calculates a first-yaw-moment during constant-speed turning. The second-yaw-moment calculating unit reads the longitudinal acceleration detected by an acceleration sensor in addition to the parameters read in the first-yaw-moment calculating unit, and calculates a second yaw moment during acceleration or deceleration. The indication-value calculating unit calculates a variation value in the yaw moment showing the vehicle behavior from the difference between the first yaw moment during constant-speed turning and the second yaw moment during accelerated or decelerated turning. The variation in the yaw moment due to the vehicle-load shift during accelerated or decelerated turning is compensated for by the variation value.

Claims

1. A vehicle-behavior detecting apparatus comprising:

a steering-angle detecting device detecting a steering angle of front wheels;

a vehicle-speed detecting device;

a yaw-rate detecting device detecting a yaw rate of the vehicle;

a longitudinal-acceleration detecting device detecting a longitudinal acceleration;

a first-yaw-moment calculating unit calculating a first yaw moment, based on a linear bicycle model, from a vehicle speed detected by the vehicle-speed detecting device, the steering angle detected by the steering-angle detecting device, and the yaw rate detected by the yaw-rate detecting device;

a second-yaw-moment calculating unit calculating, based on the linear bicycle model, a second yaw moment, in which a longitudinal load shift is taken into consideration, from the vehicle speed, the steering angle, the yaw rate, and the longitudinal acceleration; and

a variation-value calculating unit calculating a variation value in the yaw moment due to the longitudinal load shift, by subtracting the second yaw moment from the first yaw moment.

2. A vehicle-behavior controlling apparatus comprising:

a steering-angle detecting device detecting a steering angle of front wheels;

a vehicle-speed detecting device;

a yaw-rate detecting device detecting a yaw rate of the vehicle;

a longitudinal-acceleration detecting device detecting a longitudinal acceleration of the vehicle;

a first-yaw-moment calculating unit calculating a first yaw moment, based on a linear bicycle model, from a vehicle speed detected by the vehicle-speed detecting device, the steering angle detected by the steering-angle detecting device, and the yaw rate detected by the yaw-rate detecting device;

a second-yaw-moment calculating unit calculating, based on the linear bicycle model, a second yaw moment, in which a longitudinal load shift is taken into consideration, from the vehicle speed, the steering angle, the yaw rate, and the longitudinal acceleration;

a variation-value calculating unit calculating a variation value in the yaw moment due to the longitudinal load shift, by subtracting the second yaw moment from the first yaw moment;

a drive-force distribution device varying the drive-force distribution between a right drive wheel and a left drive wheel; and

a variation-value inputting unit inputting the variation value in the yaw moment calculated by the variation-value calculating unit into the drive-force distribution device as an indication value.

3. The vehicle-behavior controlling apparatus according to claim 2, wherein the right drive wheel is a rear right wheel, and the left drive wheel is a rear left wheel.