Deceleration control apparatus and method for automotive vehicle

• US 20050085985A1
• Filed: 10/08/2004
• Published: 04/21/2005
• Est. Priority Date: 10/15/2003
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Suzuki, Tatsuya, Matsumoto, Shinji
• Granted Patent: US 7,765,048 B2
• Time in Patent Office: Days
• US Class Current: 701/70
• CPC Class Codes: B60T 2201/16 Curve braking control, e.g. turn control within ABS control algorithm
• 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: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 2030/043 about the roll axis
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 30/04 related to roll-over prevention
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence

Abstract

In deceleration control apparatus and method for an automotive vehicle, a deceleration control is performed on the basis of a turning of the vehicle; and a controlled variable of the deceleration control is decreased when the vehicle is traveling on an outlet of a curved road.

Claims

1. A deceleration control apparatus for an automotive vehicle, comprising:

a deceleration controlling section that performs a deceleration control on the basis of a turning of the vehicle; and

a controlled variable decreasing section that decreases a controlled variable of the deceleration control when the vehicle is traveling on an outlet of a curved road.

2. A deceleration control apparatus for an automotive vehicle as claimed in claim 1, further comprising a curved road outlet detecting section that detects whether the vehicle is traveling on the outlet of the curved road and wherein the controlled variable decreasing section decreases the controlled variable of the deceleration control when the curved road outlet detecting section detects that the vehicle is traveling on the outlet of the curved road.

3. A deceleration control apparatus for an automotive vehicle as claimed in claim 2, wherein the curved road outlet detecting section detects that the vehicle is traveling on the outlet of the curved road on the basis of a driving manipulation by a driver.

4. A deceleration control apparatus for an automotive vehicle as claimed in claim 3, wherein the curved road outlet detecting section detects that the vehicle is traveling on the outlet of the curved road in a case where the driver manipulates a steered steering wheel of the vehicle to run straightly.

5. A deceleration control apparatus for an automotive vehicle as claimed in claim 3, wherein the curved road outlet detecting section detects that the vehicle is traveling on the outlet of the curved road in a case where the driver manipulates an accelerator to accelerate the vehicle.

6. A deceleration control apparatus for an automotive vehicle as claimed in claim 2, wherein the curved road outlet detecting section detects that the vehicle is traveling on the outlet of the curved road on the basis of a vehicular motion.

7. A deceleration control apparatus for an automotive vehicle as claimed in claim 6, wherein the curved road outlet detecting section detects that the vehicle is traveling on the outlet of the curved road in a case where a yaw rate is decreased.

8. A deceleration control apparatus for an automotive vehicle as claimed in claim 6, wherein the curved road outlet detecting section detects that the vehicle is traveling on the outlet of the curved road in a case where a lateral acceleration is decreased.

9. A deceleration control apparatus for an automotive vehicle as claimed in claim 1, wherein the deceleration control is performed in such a way that the vehicle is turned at a predetermined target lateral acceleration, the controlled variable of the deceleration control being set to be small as the predetermined target acceleration becomes large, and wherein the deceleration control apparatus further comprises a target lateral acceleration correcting section that corrects the predetermined target lateral acceleration on the basis of a driving manipulation by a vehicle driver or a vehicular motion.

10. A deceleration control apparatus for an automotive vehicle as claimed in claim 9, wherein the target lateral acceleration correcting section carries out such a correction that the predetermined target lateral acceleration becomes larger as the driver accelerates the vehicle.

11. A deceleration control apparatus for an automotive vehicle as claimed in claim 9, wherein the target lateral acceleration carries out such a correction that, as a vehicle velocity becomes smaller, the predetermined target lateral acceleration becomes larger.

12. A deceleration control apparatus for an automotive vehicle as claimed in claim 9, wherein the target lateral acceleration correcting section carries out such a correction that, as an ascending slope gradient of the traveling road becomes larger, the predetermined target lateral acceleration is larger.

13. A deceleration control apparatus for an automotive vehicle as claimed in claim 1, wherein a road surface frictional coefficient within the curved road is estimated, a predetermined target velocity during a travel on the curved road is calculated on the basis of the estimated curved road surface frictional coefficient, the controlled variable is set on the basis of the predetermined target velocity, and the road surface frictional coefficient is corrected on the basis of a driving manipulation of a vehicle driver.

14. A deceleration control apparatus for an automotive vehicle as claimed in claim 2, wherein the deceleration control apparatus comprises:

a lateral acceleration limitation value correcting section that corrects a lateral acceleration limitation value (Yg*) on the basis of a first lateral acceleration limitation value correction quantity (Yge) and a predetermined target lateral acceleration (Yga) (Yg*=Yga+Yge);

a target vehicular velocity calculating section that calculates a target vehicular velocity (V*) on the basis of an estimated value of a road surface frictional coefficient (μ

), a yaw rate selected value (ψ

*), and the lateral acceleration limitation value (Yg*);

a target deceleration calculating section that calculates a target deceleration (Xg*) as follows;

Xg*=K1×

Δ

V/Δ

t, wherein K1 denotes a gain, Δ

V=V−

V*, wherein V denotes an actual vehicular velocity, and Δ

t denotes a predetermined time; and

a deceleration control section that controls an engine throttle control unit and a brake control unit in such a way that an actual deceleration is made substantially equal to the target deceleration (Xg*).

15. A deceleration control apparatus for an automotive vehicle as claimed in claim 14, wherein the first lateral acceleration limitation value correction quantity (Yge) is counted up until a predetermined value (E) when the curved road outlet detecting section detects that the vehicle is traveling on the outlet of the curved road.

16. A deceleration control apparatus for an automotive vehicle as claimed in claim 2, wherein the deceleration control apparatus comprises:

a lateral acceleration limitation value correcting section that corrects a lateral acceleration limitation value (Yg*) on the basis of a second lateral acceleration limitation value correction quantity (Ygb) based on an acceleration opening angle, a third lateral acceleration limitation value correction quantity (Ygc) based on the vehicular velocity, a fourth lateral acceleration limitation value correction quantity (Ygd) based on a road surface gradient (Yg*=Yga+Ygb+Ygc+Ygd+Yge);

a target vehicular velocity calculating section that calculates a target vehicular velocity (V*) on the basis of an estimated value of a road surface frictional coefficient (μ

), a yaw rate selected value (ψ

*), and the lateral acceleration limitation value (Yg*);

a target deceleration calculating section that calculates a target deceleration (Xg*) as follows;

Xg*=K1×

Δ

V/Δ

t, wherein K1 denotes a gain, Δ

V=V−

V*, wherein V denotes an actual vehicular velocity, and Δ

t denotes a predetermined time; and

a deceleration control section that controls an engine throttle control unit and a brake control unit in such a way that an actual deceleration is made substantially equal to the target deceleration (Xg*).

17. A deceleration control apparatus for an automotive vehicle as claimed in claim 2, wherein the deceleration control apparatus comprises:

a lateral acceleration limitation value correcting section that corrects a lateral acceleration limitation value (Yg*) on the basis of a first lateral acceleration limitation value correction quantity (Yge) and a predetermined target lateral acceleration (Yga) (Yg*=Yga+Yge);

a target vehicular velocity calculating section that calculates a target vehicular velocity (V*) on the basis of an estimated value of a road surface frictional coefficient (μ

), a yaw rate selected value (ψ

*), and the lateral acceleration limitation value (Yg*);

a target deceleration calculating section that calculates a target deceleration (Xg*) as follows;

Xg*=(K2×

Δ

V+K3×

dΔ

V)/Δ

t, wherein K2 and K3 denote gains, Δ

V=V−

V*, wherein dΔ

V=Δ

V−

Δ

VZ, wherein Δ

V>

0 and Δ

VZ denotes a past value of Δ

V, and Δ

t denotes a predetermined time; and

a deceleration control section that controls an engine throttle control unit and a brake control unit in such a way that an actual deceleration is made substantially equal to the target deceleration (Xg*).

18. A deceleration control apparatus for an automotive vehicle as claimed in claim 2, wherein the deceleration control apparatus comprises:

a lateral acceleration limitation value correcting section that corrects a lateral acceleration limitation value (Yg*) on the basis of a first lateral acceleration limitation value correction quantity (Yge) and a predetermined target lateral acceleration (Yga) (Yg*=Yga+Yge);

a target vehicular velocity calculating section that calculates a target vehicular velocity (V*) as follows;

V*=Yg(t)/ψ

*, wherein Yg(t) denotes a present lateral acceleration and ψ

* denotes a selected value of a yaw rate from one of an estimated value of the yaw rate and an actual yaw rate which is larger than the other;

a target deceleration calculating section that calculates a target deceleration (Xg*) as follows;

Xg*=K1×

Δ

V/Δ

t, wherein K1 denotes a gain, Δ

V=V−

V*, wherein V denotes an actual vehicular velocity, and Δ

t denotes a predetermined time; and

a deceleration control section that controls an engine throttle control unit and a brake control unit in such a way that an actual deceleration is made substantially equal to the target deceleration (Xg*).

19. A deceleration control apparatus for an automotive vehicle, comprising:

deceleration controlling means for performing a deceleration control on the basis of a turning of the vehicle; and

controlled variable decreasing means for decreasing a controlled variable of the deceleration control when the vehicle is traveling on an outlet of a curved road.

20. A deceleration control method for an automotive vehicle, comprising:

performing a deceleration control on the basis of a turning of the vehicle; and

decreasing a controlled variable of the deceleration control when the vehicle is traveling on an outlet of a curved road.