Vehicle motion state control device
First Claim
1. A vehicle motion state control device comprising:
- a steer angle detector which detects a steer angle;
a vehicle speed detector which detects a vehicle speed;
a target yaw rate determining mechanism which determines a target yaw rate of a vehicle based on the detected steer angle and the detected vehicle speed;
a yaw rate detector which detects an actual yaw rate;
an actuator capable of regulating a vehicle motion state;
an actuator controller which controls the actuator so that the detected actual yaw rate approaches the target yaw rate;
a lateral acceleration detector which detects lateral acceleration; and
a target yaw rate limit value determining mechanism which individually determines target yaw rate limit values for a left turn direction and a right turn direction of the vehicle based on the detected lateral acceleration, the detected vehicle speed, and a predetermined limit lateral acceleration set in a direction opposite from that of the detected lateral acceleration; and
wherein the target yaw rate determining mechanism determines the target yaw rates for the left turn direction and the right turn direction while limiting them by the target yaw rate limit values for the left turn direction and the right turn direction determined by the target yaw rate limit value determining mechanism.
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Accused Products
Abstract
A vehicle motion state control device controls an actuator capable of regulating a vehicle motion state so that an actual yaw rate approaches a target yaw rate determined based on a steer angle and a vehicle speed, target yaw rate limit values for left and right turn directions of a vehicle are individually determined by a target yaw rate limit value determining mechanism based on detected lateral acceleration, detected vehicle speed, and predetermined set minimum lateral acceleration set in a direction opposite to that of the detected lateral acceleration; and target yaw rates for the left and right turn directions are determined by a target yaw rate determining mechanism 5 while limiting them by the determined target yaw rate limit values. Thus, an over steer control is started at an early timing when an abrupt steering operation at a large steer angle occurs which causes a phase difference to the yaw rate and the lateral acceleration.
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Citations
7 Claims
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1. A vehicle motion state control device comprising:
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a steer angle detector which detects a steer angle;
a vehicle speed detector which detects a vehicle speed;
a target yaw rate determining mechanism which determines a target yaw rate of a vehicle based on the detected steer angle and the detected vehicle speed;
a yaw rate detector which detects an actual yaw rate;
an actuator capable of regulating a vehicle motion state;
an actuator controller which controls the actuator so that the detected actual yaw rate approaches the target yaw rate;
a lateral acceleration detector which detects lateral acceleration; and
a target yaw rate limit value determining mechanism which individually determines target yaw rate limit values for a left turn direction and a right turn direction of the vehicle based on the detected lateral acceleration, the detected vehicle speed, and a predetermined limit lateral acceleration set in a direction opposite from that of the detected lateral acceleration; and
wherein the target yaw rate determining mechanism determines the target yaw rates for the left turn direction and the right turn direction while limiting them by the target yaw rate limit values for the left turn direction and the right turn direction determined by the target yaw rate limit value determining mechanism. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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Specification