Vehicle behavior control device

• US 20080300765A1
• Filed: 06/03/2008
• Published: 12/04/2008
• Est. Priority Date: 06/04/2007
• Status: Active Grant

• Current Assignee: Advics Company Limited (Aisin Corp.)
• Original Assignee: Advics Company Limited (Aisin Corp.)
• Inventors: Kato, Kazuhiro
• Granted Patent: US 8,249,790 B2
• Time in Patent Office: Days
• US Class Current: 701/90
• CPC Class Codes: B60T 2230/02 Side slip angle, attitude angle, floating angle, drift angle
• 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: B60T 8/4872 pump-back systems
• CPC Class Codes: B60W 2050/0033 Single-track, 2D vehicle model, i.e. two-wheel bicycle model
• CPC Class Codes: B60W 30/02 Control of vehicle driving stability
• CPC Class Codes: B60W 40/101 Side slip angle of tyre
• CPC Class Codes: B60W 40/103 Side slip angle of vehicle body

Abstract

It is predicted whether a spin amount is tending to diverge and a vehicle is tending to become unstable, or the spin amount is tending to converge and the vehicle is tending to become stable. When the convergent tendency is predicted, a correction to reduce the spin amount is performed. As a result, the performance of a braking force control can be made difficult when the spin amount is tending to converge. Thus, it is possible to prevent an anti-spin control from being performed when there is actually no need to perform the anti-spin control, such as when the vehicle posture is correcting.

Claims

1. A vehicle behavior control device, comprising:

a first calculation means for calculating a spin amount serving as an index of spin behavior of a vehicle;

a control means for performing a braking force control of each wheel of the vehicle to prevent side skip in accordance with the spin amount;

a second calculation means for calculating a cornering force corresponding amount of a front wheel of the vehicle;

a determination means for determining that the vehicle is not spinning when the cornering force corresponding amount of the front wheel calculated by the second calculation means is within a determined range; and

a correction means for correcting the spin amount based on a result of determination of the determination means.

2. The vehicle behavior control device according to claim 1, wherein the correction means performs a correction to reduce the spin amount when the determination means determines that the vehicle is not spinning.

3. The vehicle behavior control device according to claim 2, wherein

the first calculation means calculates the spin amount including at least a slip angle velocity, and

the correction means corrects at least a component of the slip angle velocity in the spin amount.

4. The vehicle behavior control device according to claim 3, wherein the determination means determines whether the cornering force corresponding amount of the front wheel is outside of the determined range, by determining whether an absolute value of the cornering force corresponding amount of the front wheel calculated by the second calculation means is equal to or larger than a threshold value, and when the absolute value of the cornering force corresponding amount of the front wheel is smaller than the threshold value, the determination means determines that the vehicle is not spinning.

5. The vehicle behavior control device according to claim 4, wherein

the second calculation means also calculates a cornering force corresponding amount of a rear wheel of the vehicle, and

the determination means determines whether the cornering force corresponding amounts for the front wheel and the rear wheel are within or outside of a determined range by comparing the cornering force corresponding amount of the front wheel and the cornering force corresponding amount of the rear wheel respectively with first and second threshold values.

6. The vehicle behavior control device according to claim 5, wherein the determination means determines that the vehicle is not spinning when an absolute value of the cornering force corresponding amount of the front wheel is smaller than the first threshold value and an absolute value of the cornering force corresponding amount of the rear wheel is smaller than the second threshold value.

7. The vehicle behavior control device according to claim 5, wherein the determination means determines that the vehicle is not spinning when a square root of a sum of a square of the cornering force corresponding amount of the front wheel calculated by the second calculation means and a square of the cornering force corresponding amount of the rear wheel is smaller than a threshold value.

8. The vehicle behavior control device according to claim 5, wherein the determination means determines that the vehicle is not spinning when a coordinate of the cornering force corresponding amount of the front wheel and the cornering force corresponding amount of the rear wheel that are calculated by the second calculation means is within a predetermined range of the cornering force corresponding amount of the front wheel and the cornering force corresponding amount of the rear wheel.

9. The vehicle behavior control device according to claims 4, wherein

the second calculation means also calculates a change amount per unit time of the cornering force corresponding amount, and

the determination means determines whether the vehicle is spinning based on the change amount per unit time, as well as based on a magnitude of the cornering force corresponding amount.

10. The vehicle behavior control device according to claim 1, wherein

the second calculation means also calculates a cornering force corresponding amount of a rear wheel of the vehicle and a time derivative of a cornering force corresponding amount of a body of the vehicle, and

the determination means determines whether the cornering force corresponding amounts for the front wheel and the rear wheel are within or outside of a determined range by comparing the cornering force corresponding amount of the front wheel and the cornering force corresponding amount of the rear wheel respectively with first and second threshold values, and also by comparing the time derivative of the cornering force corresponding amount of the body with a third threshold value.

11. The vehicle behavior control device according to claim 10, wherein the determination means determines that the vehicle is not spinning when all of first, second, and third conditions are satisfied, wherein the first condition is that the cornering force corresponding amount of the front wheel is smaller than the first threshold value, the second condition is that the cornering force corresponding amount of the rear wheel is smaller than the second threshold value, and the third condition is that the time derivative of the cornering force corresponding amount of the body is smaller than the third threshold value.

12. A vehicle behavior control device, comprising:

a first calculation means for calculating a spin amount serving as an index of spin behavior of a vehicle;

a control means for performing a braking force control of each wheel of the vehicle to prevent side slip in accordance with the spin amount;

a second calculation means for calculating a cornering force corresponding amount of a front wheel of the vehicle;

a determination means for determining that the vehicle is not spinning based on the cornering force corresponding amount of the front wheel calculated by the second calculation means; and

an inhibition means for inhibiting the braking force control for the side slip prevention when the determination means determines that the vehicle is not spinning.

13. The vehicle behavior control device according to claim 12, wherein the determination means determines whether the cornering force corresponding amount of the front wheel is outside of the determined range, by determining whether an absolute value of the cornering force corresponding amount of the front wheel calculated by the second calculation means is equal to or larger than a threshold value, and when the absolute value of the cornering force corresponding amount of the front wheel is smaller than the threshold value, the determination means determines that the vehicle is not spinning.

14. The vehicle behavior control device according to claim 12, wherein

the second calculation means also calculates a cornering force corresponding amount of a rear wheel of the vehicle, and

the determination means determines whether the cornering force corresponding amounts for the front wheel and the rear wheel are within or outside of a determined range by comparing the cornering force corresponding amount of the front wheel and the cornering force corresponding amount of the rear wheel respectively with first and second threshold values.

15. The vehicle behavior control device according to claim 14, wherein the determination means determines that the vehicle is not spinning when an absolute value of the cornering force corresponding amount of the front wheel is smaller than the first threshold value and an absolute value of the cornering force corresponding amount of the rear wheel is smaller than the second threshold value.

16. The vehicle behavior control device according to claim 14, wherein the determination means determines that the vehicle is not spinning when a square root of a sum of a square of the cornering force corresponding amount of the front wheel) calculated by the second calculation means and a square of the cornering force corresponding amount of the rear wheel is smaller than a threshold value.

17. The vehicle behavior control device according to claim 14, wherein the determination means determines that the vehicle is not spinning when a coordinate of the cornering force corresponding amount of the front wheel and the cornering force corresponding amount of the rear wheel that are calculated by the second calculation means is within a predetermined range of the cornering force corresponding amount of the front wheel and the cornering force corresponding amount of the rear wheel.

18. The vehicle behavior control device according to claims 13, wherein

the second calculation means also calculates a change amount per unit time of the cornering force corresponding amount, and

the determination means determines whether the vehicle is spinning based on the change amount per unit time, as well as based on a magnitude of the cornering force corresponding amount.

19. A vehicle behavior control method, comprising:

calculating a spin amount serving as an index of spin behavior of a vehicle;

performing a braking force control of each wheel of the vehicle to prevent side slip in accordance with the spin amount;

calculating a cornering force corresponding amount of a front wheel;

determining whether the vehicle is spinning based on the cornering force corresponding amount of the front wheel;

correcting the spin amount based on the determination result; and

performing the braking force control of each wheel of the vehicle for the side slip prevention based on the corrected spin amount.

20. A vehicle behavior control method, comprising:

calculating a spin amount serving as an index of spin behavior of a vehicle;

performing a braking force control of each wheel of the vehicle to prevent side slip in accordance with the spin amount;

calculating a cornering force corresponding amount of a front wheel of the vehicle;

determining that the vehicle is not spinning based on the cornering force corresponding amount of the front wheel; and

inhibiting the braking force control for the side slip prevention when determination is made that the vehicle is not spinning.