Steering control apparatus for a vehicle
First Claim
1. A steering control apparatus for a vehicle, comprising:
- steering control means for controlling a steered wheel angle of a wheel to be steered in response to steering operation of a vehicle driver;
braking force estimation means for estimating a braking force applied to at least a pair of right and left wheels of said vehicle, respectively;
coefficient of friction estimation means for estimating a coefficient of friction of road surface, on which each of said right and left wheels is placed;
braking force difference calculation means for calculating a braking force difference between the braking force applied to said right wheel and the braking force applied to said left wheel, on the basis of the braking force estimated by said braking force estimation means;
slip angle—
total lateral force characteristic setting means for setting a relationship between a slip angle of said wheel to be steered, and a total lateral force of said wheel to be steered, on the basis of the coefficient of friction estimated by said coefficient of friction estimation means; and
steered wheel angle setting means for setting the steered wheel angle of said wheel to be steered, on the basis of the braking force difference between said right and left wheels calculated by said calculation means, and the relationship between the slip angle of said wheel to be steered and the total lateral force of said wheel to be steered, said relationship being set by said characteristic setting means.
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Accused Products
Abstract
A steering control apparatus is provided for controlling a steered wheel angle of a wheel to be steered. On the basis of a road coefficient of friction estimated between right and left wheels, a braking force difference between the right and left wheels is calculated. A slip angle—total lateral force characteristic indicative of a relationship between a slip angle and a total lateral force of a wheel to be steered is provided on the basis of the estimated coefficient of friction. Then, a steered wheel angle of the wheel to be steered is set on the basis of the braking force difference and the slip angle—total lateral force characteristic.
19 Citations
11 Claims
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1. A steering control apparatus for a vehicle, comprising:
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steering control means for controlling a steered wheel angle of a wheel to be steered in response to steering operation of a vehicle driver;
braking force estimation means for estimating a braking force applied to at least a pair of right and left wheels of said vehicle, respectively;
coefficient of friction estimation means for estimating a coefficient of friction of road surface, on which each of said right and left wheels is placed;
braking force difference calculation means for calculating a braking force difference between the braking force applied to said right wheel and the braking force applied to said left wheel, on the basis of the braking force estimated by said braking force estimation means;
slip angle—
total lateral force characteristic setting means for setting a relationship between a slip angle of said wheel to be steered, and a total lateral force of said wheel to be steered, on the basis of the coefficient of friction estimated by said coefficient of friction estimation means; and
steered wheel angle setting means for setting the steered wheel angle of said wheel to be steered, on the basis of the braking force difference between said right and left wheels calculated by said calculation means, and the relationship between the slip angle of said wheel to be steered and the total lateral force of said wheel to be steered, said relationship being set by said characteristic setting means. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A steering control apparatus for a vehicle, comprising:
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steering torque applying means for applying a steering torque to a wheel to be steered in response to steering operation of a vehicle driver;
braking force estimation means for estimating braking force applied to at least a pair of right and left wheels of said vehicle, respectively;
coefficient of friction estimation means for estimating a coefficient of friction of road surface, on which each of said right and left wheels is placed;
braking force difference calculation means for calculating a braking force difference between the braking force applied to said right wheel and the braking force applied to said left wheel, on the basis of the braking force estimated by said braking force estimation means;
slip angle—
total lateral force characteristic setting means for setting a relationship between a slip angle of said wheel to be steered, and a total lateral force of said wheel to be steered, on the basis of the coefficient of friction estimated by said coefficient of friction estimation means; and
steering torque setting means for setting the steering torque of said wheel to be steered, on the basis of the braking force difference between said right and left wheels calculated by said calculation means, and the relationship between the slip angle of said wheel to be steered and the total lateral force of said wheel to be steered, said relationship being set by said characteristic setting means. - View Dependent Claims (8, 9, 10, 11)
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Specification