Vehicle Motion Measurement Apparatus, a Vehicle Abnormal Motion Prevention Apparatus and a Drive Recorder

• US 20090276114A1
• Filed: 02/07/2007
• Published: 11/05/2009
• Est. Priority Date: 02/07/2006
• Status: Active Grant

• Current Assignee: Tokyo University of Agriculture and Technology
• Original Assignee: Tokyo University of Agriculture and Technology
• Inventors: Raksincharoensak, Pongsathorn, Michitsuji, Yohei, Nagai, Masao
• Granted Patent: US 8,090,492 B2
• Time in Patent Office: Days
• US Class Current: 701/29
• 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
• CPC Class Codes: B60W 40/101 Side slip angle of tyre

Abstract

The apparatus comprises a measured signal detector 11, a vehicle parameter obtainer 12, a sideslip angle temporary estimator 13, a sideslip angle differential corresponding value computer 14 and a sideslip angle real estimator 15. A sideslip angle temporary estimate value is computed from one or plural vehicle parameters including at least the mass. A sideslip angle differential corresponding value is computed from a measured signal and the vehicle parameters including no mass. A sideslip angle is derived from the sideslip angle temporary estimate value and the sideslip angle differential corresponding value. A sideslip can be detected without a steering angle detection mechanism.

Claims

1. A vehicle motion measurement apparatus comprising

a driving state variable estimator for detecting plural measured signals other than a steering angle which change depending on the equipped condition of a vehicle;

a vehicle parameter obtainer for obtaining at least one vehicle parameter that does not change by the driving condition of the vehicle;

a sideslip angle temporary estimator for computing a sideslip angle temporary estimated value from a fist set of parameters selected from the plural measured signals and at least one vehicle parameters including the mass;

a sideslip angle differential corresponding value computer for computing a sideslip angle differential corresponding value from a second set of signals selected from the plural measured signals and at least one vehicle parameter including no mass; and

a sideslip angle combined estimator for performing a precise estimation of a sideslip angle from the sideslip angle temporary estimate value and the sideslip angle differential corresponding value.

2. A vehicle motion measurement apparatus according to claim 1, wherein the sideslip angle temporally estimator computes the sideslip angle temporary estimate value by a sideslip angle temporary estimation function:

β

_E=K₁×

(γ

/V)+K₂×

a_y

where, K₁, K₂;

coefficients including measured signals

γ

;

yaw-rate

V;

vehicle velocity

a_y;

vehicle lateral acceleration

3. A vehicle motion measurement apparatus according to claim 2, wherein K₁=L_r

K₂=mL_f/(2L×

C_r)

where L_f;

distance between the front axle and the rear axle

L_f;

approximate distance between the vehicle gravity center and the front wheel axle

L_r;

approximate distance between the vehicle gravity center and the rear wheel axle

m;

vehicle mass

C_r;

cornering stiffness

4. A vehicle motion measurement apparatus according to claim 1, wherein the sideslip angle differential corresponding value computer computes the sideslip angle differential corresponding value by a sideslip angle differential corresponding value function:

β

^D=(a_y/V)−

γ

5. A vehicle abnormal motion prevention apparatus comprising a vehicle motion measurement apparatus according to claim 1 and a sideslip prevention control means, wherein the sideslip prevention control means generates a brake signal in response to the measurement result of the sideslip angle and sends out it to a brake system.

6-13. -13. (canceled)