VEHICLE BEHAVIOR CONTROL APPARATUS

• US 20130218434A1
• Filed: 02/20/2013
• Published: 08/22/2013
• Est. Priority Date: 02/21/2012
• Status: Active Grant

• Current Assignee: Autoliv Nissin Brake Systems Japan Co., Ltd.
• Original Assignee: Nissin Kogyo Company Limited (Hitachi, Ltd.)
• Inventors: INAGE, Takaaki
• Granted Patent: US 8,868,309 B2
• Time in Patent Office: Days
• US Class Current: 701/70
• CPC Class Codes: B60T 17/22 Devices for monitoring or checking brake systems; Signal devices
• CPC Class Codes: B60T 2270/406 Test-mode; Self-diagnosis
• CPC Class Codes: B60T 7/12 for automatic initiation; for initiation not subject to will of driver or passenger limiting speed of vehicles other than rail vehicles B60K31/00
• CPC Class Codes: B60T 8/171 Detecting parameters used in the regulation; Measuring values used in the regulation
• 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: 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 8/24 responsive to vehicle inclination or change of direction, e.g. negotiating bends using electrical circuitry or regulation means B60T8/17
• CPC Class Codes: B60T 8/26 characterised by producing differential braking between front and rear wheels using electrical circuitry or regulation means B60T8/17
• CPC Class Codes: B60T 8/58 responsive to speed and another condition or to plural speed conditions
• CPC Class Codes: B60T 8/88 with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
• CPC Class Codes: B60T 8/885 using electrical circuitry
• CPC Class Codes: G06F 17/00 Digital computing or data processing equipment or methods, specially adapted for specific functions information retrieval, database structures or file system structures therefor G06F16/00

Abstract

A normality detector includes a steering angle yaw rate calculator, a first difference calculator, a lateral G yaw rate calculator, a second difference calculator, and a normality determination section. The steering angle yaw rate calculator calculates a steering angle yaw rate. The first difference calculator calculates a first difference which is a difference between the steering angle yaw rate and an actual yaw rate. The lateral G yaw rate calculator calculates a lateral G yaw rate. The second difference calculator calculates a second difference which is a difference between the lateral G yaw rate and the actual yaw rate. The normality determination section determines that the yaw rate detector is in a normal state when the first difference falls within a first predetermined value and the second difference falls within a second predetermined value.

Claims

1. A vehicle behavior control apparatus comprising:

a steering angle detector that detects a steering angle of a vehicle;

a lateral acceleration detector that detects a lateral acceleration of the vehicle;

a yaw rate detector that detects an actual yaw rate of the vehicle; and

a controller that controls behavior of the vehicle based on output values from at least the steering angle detector and the yaw rate detector, wherein

the controller includes

an abnormality detector that detects as to whether or not the yaw rate detector is in an abnormal state; and

a normality detector that detects as to whether or not the yaw rate detector is in a normal state, and

the normality detector includes

a steering angle yaw rate calculator that calculates a steering angle yaw rate based on the output value of the steering angle detector,

a first difference calculator that calculates a first difference which is a difference between the steering angle yaw rate and the actual yaw rate;

a lateral G yaw rate calculator that calculates a lateral G yaw rate based on the output value of the lateral acceleration detector;

a second difference calculator that calculates a second difference which is a difference between the lateral G yaw rate and the actual yaw rate, and

a normality determination section that determines that the yaw rate detector is in the normal state when the first difference falls within a first predetermined value and the second difference falls within a second predetermined value.

2. The vehicle behavior control apparatus according to claim 1, wherein the normality determination section determines that the yaw rate detector is in the normal state when a time period for which the first difference falls within the first predetermined value and the second difference falls within the second predetermined value becomes equal to or longer than a predetermined time period.

3. The vehicle behavior control apparatus according to claim 1, wherein

the controller controls the behavior of the vehicle by at least pressure increasing control in which hydraulic pressures for brakes of the vehicle are increased, and

the controller executes the pressure increasing control with limiting the hydraulic pressures to be equal to or smaller than a predetermined upper limit hydraulic pressure during a time period from a time at which the abnormality detector detects that the yaw rate detector is in the abnormal state to a time at which the normality detector detects that the yaw rate detector is in the normal state.

4. The vehicle behavior control apparatus according to claim 3, wherein when executing the pressure increasing control during the time period from the time at which the abnormality detector detects that the yaw rate detector is in the abnormal state to the time at which the normality detector detects that the yaw rate detector is in the normal state, the controller gradually decreases the hydraulic pressures.

5. The vehicle behavior control apparatus according to claim 2, wherein

the controller controls the behavior of the vehicle by at least pressure increasing control in which hydraulic pressures for brakes of the vehicle are increased, and

the controller executes the pressure increasing control with limiting the hydraulic pressures to be equal to or smaller than a predetermined upper limit hydraulic pressure during a time period from a time at which the abnormality detector detects that the yaw rate detector is in the abnormal state to a time at which the normality detector detects that the yaw rate detector is in the normal state.

6. The vehicle behavior control apparatus according to claim 5, wherein when executing the pressure increasing control during the time period from the time at which the abnormality detector detects that the yaw rate detector is in the abnormal state to the time at which the normality detector detects that the yaw rate detector is in the normal state, the controller gradually decreases the hydraulic pressures.