Vehicle stabilizing control apparatus

• US 20060041367A1
• Filed: 08/17/2005
• Published: 02/23/2006
• Est. Priority Date: 08/18/2004
• Status: Abandoned Application

• Current Assignee: Kabushiki Kaisha Toyota Chuo Kenkyusho (Toyota Motor Corporation)
• Original Assignee: Kabushiki Kaisha Toyota Chuo Kenkyusho (Toyota Motor Corporation)
• Inventors: Ono, Eiichi, Muragishi, Yuji, Abe, Tomoko
• Application Number:
  US11/205,096
• Publication Number:
  US 20060041367A1
• Time in Patent Office: Days
• US Class Current: 701/75
• CPC Class Codes: B60G 17/016 characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input B60G17/017 takes precedence
• CPC Class Codes: B60G 2400/0521 Roll rate
• CPC Class Codes: B60G 2400/0523 Yaw rate
• CPC Class Codes: B60G 2400/104 lateral or transversal with regard to vehicle
• CPC Class Codes: B60G 2400/204 Vehicle speed
• CPC Class Codes: B60G 2600/188 Spectral analysis; Transformations
• CPC Class Codes: B60G 2800/016 Yawing condition
• CPC Class Codes: B60G 2800/212 Transversal; Side-slip during cornering
• CPC Class Codes: B60G 2800/702 Improving accuracy of a sensor signal
• CPC Class Codes: B60G 2800/912 Attitude Control; levelling control
• CPC Class Codes: B60T 2230/02 Side slip angle, attitude angle, floating angle, drift angle
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence

Abstract

A vehicle stabilizing control apparatus is disclosed which includes a vehicle velocity sensor, an angular velocity sensor, and a lateral acceleration sensor that detects a lateral acceleration of the vehicle or a steering angle sensor that detects a steering angle. The angular velocity sensor detects an angular velocity about an axis defined by inclining a vertical upward or downward axis of a vehicle at a predetermined angle in the forward or rearward direction of the vehicle.

Claims

1. A vehicle stabilizing control apparatus comprising:

a vehicle velocity sensor;

an angular velocity sensor that detects an angular velocity about an axis defined by inclining a vertical upward or downward axis of a vehicle at a predetermined angle in a forward or backward direction of the vehicle; and

a lateral acceleration sensor that detects a lateral acceleration of a vehicle, or a steering angle sensor that detects a steering angle of the vehicle.

2. The apparatus of claim 1, wherein, based on a relationship described by an equation ω

=p sin θ

+r cos θ

wherein θ

is the angular velocity detected by the angular velocity sensor, θ

is the predetermined angle, r is a yaw angular velocity and p is a roll angular velocity and the yaw angular velocity r and the roll angular velocity p are angular velocity elements representing a rotational motion of the vehicle, destabilization of the lateral acceleration and one or more of the angular velocity elements is suppressed.

3. The apparatus of claim 1, further comprising:

a roll angular velocity estimating unit that estimates a roll angular velocity of the vehicle based on a lateral acceleration detected by the lateral acceleration sensor, or a steering angle detected by the steering angle sensor, and a vehicle velocity detected by the vehicle velocity sensor;

a yaw angular velocity transforming unit that transforms the angular velocity detected by the angular velocity sensor to a transformed value of a yaw angular velocity based on the angular velocity detected by the angular velocity sensor, the estimated value of the roll angular velocity, and the predetermined angle on an assumption that the roll angular velocity corresponds with the estimated value of the roll angular velocity estimated by the roll angular velocity estimating unit; and

a control unit that performs control for stabilizing the vehicle based on the vehicle velocity detected by the vehicle velocity sensor, the transformed value of the yaw angular velocity transformed by the yaw angular velocity transforming unit, and the lateral acceleration detected by the lateral acceleration sensor.

4. The apparatus of claim 1 further comprising:

a first angular velocity element estimating unit that estimates a first angular velocity element representing a rotational motion of the vehicle based on the lateral acceleration detected by the lateral acceleration sensor, or the steering angle detected by a steering angle sensor, and a vehicle velocity detected by the vehicle velocity sensor;

a second angular velocity element transforming unit that transforms the angular velocity detected by the angular velocity sensor to a transformed value of a second angular velocity element perpendicular to the first angular velocity element based on the angular velocity detected by the angular velocity sensor, the estimated value of the first angular velocity element, and the predetermined angle on an assumption that the first angular velocity element corresponds with the estimated value estimated by the first angular velocity element estimating unit; and

a control unit that performs control for stabilizing the vehicle based on the vehicle velocity detected by the vehicle velocity sensor, the transformed value of the second angular velocity element transformed by the second angular velocity element transforming unit, and the detected lateral acceleration or steering angle.

5. The apparatus of claim 3, wherein the control unit performs spin suppressing control using a vehicle slip angular velocity, computed using the vehicle velocity, lateral acceleration and transformed value of the yaw angular velocity, and a vehicle slip angle computed from the vehicle slip angular velocity.

6. The apparatus of claim 4, wherein the control unit performs spin suppressing control using a vehicle slip angular velocity computed using the vehicle velocity, lateral acceleration and transformed value of the yaw angular velocity and a vehicle slip angle computed from the vehicle slip angular velocity.

7. A vehicle stabilizing control apparatus comprising:

a vehicle velocity sensor;

an angular velocity sensor that detects an angular velocity about an axis defined by inclining a vertical upward or downward axis of the vehicle at a predetermined angle in a forward or backward direction of the vehicle;

a lateral acceleration sensor that detects a lateral acceleration of a vehicle, or a steering angle sensor that detects a steering angle of the vehicle;

a roll angular velocity estimating unit that estimates a roll angular velocity of the vehicle based on the lateral acceleration detected by the lateral acceleration sensor, or the steering angle detected by the steering angle sensor, and a vehicle velocity detected by the vehicle velocity sensor;

a yaw angular velocity transforming unit that transforms the angular velocity detected by the angular velocity sensor to a transformed value of a yaw angular velocity based on the angular velocity detected the angular velocity sensor, an estimated value of the roll angular velocity, and the predetermined angle on an assumption that the roll angular velocity corresponds with the estimated value of the roll angular velocity estimated by the roll angular velocity estimating unit; and

a control unit that performs control for stabilizing the vehicle based on the vehicle velocity detected by the vehicle velocity sensor, the transformed value of the yaw angular velocity transformed by the yaw angular velocity transforming unit, and the lateral acceleration detected by the lateral acceleration sensor;

wherein, based on a relationship described by an equation ω

=p sin θ

+r cos θ

wherein ω

is the angular velocity detected by the angular velocity sensor, θ

is the predetermined angle, r is a yaw angular velocity and p is a roll angular velocity and the yaw angular velocity r and the roll angular velocity p are angular velocity elements representing a rotational motion of the vehicle, destabilization of the lateral acceleration and one or more of the angular velocity elements is suppressed;

wherein the control unit performs spin suppressing control using a vehicle slip angular velocity computed using the vehicle velocity, lateral acceleration and transformed value of the yaw angular velocity and a vehicle slip angle computed from the vehicle slip angular velocity.

8. A vehicle stabilizing control apparatus comprising:

a vehicle velocity sensor;

an angular velocity sensor that detects an angular velocity about an axis defined by inclining a vertical upward or downward axis of the vehicle at a predetermined angle in a forward or backward direction of the vehicle;

a lateral acceleration sensor that detects a lateral acceleration of a vehicle, or a steering angle sensor that detects a steering angle of the vehicle;

a first angular velocity element estimating unit that estimates a first angular velocity element representing a rotational motion of the vehicle based on the lateral acceleration detected by the lateral acceleration sensor, or the steering angle detected by the steering angle sensor, and a vehicle velocity detected by the vehicle velocity sensor;

a second angular velocity element transforming unit that transforms the angular velocity detected by the angular velocity sensor to a transformed value of a second angular velocity element perpendicular to the first angular velocity element based on the angular velocity detected by the angular velocity sensor, the estimated value of the first angular velocity element, and the predetermined angle on an assumption that the first angular velocity element corresponds with the estimated value estimated by the first angular velocity element estimating unit; and

a control unit that performs control for stabilizing the vehicle based on the vehicle velocity detected by the vehicle velocity sensor, the transformed value of the second angular velocity element transformed by the second angular velocity element transforming unit, and the detected lateral acceleration or steering angle;

wherein, based on a relationship described by an equation ω

=p sin θ

+r cos θ

wherein ω

is the angular velocity detected by the angular velocity sensor, θ

is the predetermined angle, r is a yaw angular velocity and p is a roll angular velocity and the yaw angular velocity r and the roll angular velocity p are angular velocity elements representing a rotational motion of the vehicle, destabilization of the lateral acceleration and one or more of the angular velocity elements is suppressed;

wherein the control unit performs spin suppressing control using a vehicle slip angular velocity computed using the vehicle velocity, lateral acceleration and transformed value of the yaw angular velocity and a vehicle slip angle computed from the vehicle slip angular velocity.