Vehicle brake system including cornering characteristic control

• US 5,172,961 A
• Filed: 07/05/1991
• Issued: 12/22/1992
• Est. Priority Date: 07/05/1990
• Status: Expired due to Term

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Matsumoto, Shinji, Inoue, Hideaki, Hano, Sunao, Yamaguchi, Hirotsugu
• Primary Examiner(s): Graham, Matthew C.
• Application Number:
  US07/725,310
• Time in Patent Office: 536 Days
• Field of Search: 303/100, 303/94, 303/97, 303/103, 303/107, 303/108, 303/DIG. 1-4, 303/9.62, 280/142, 280/143, 280/91, 364/426.1
• US Class Current: 303/146
• CPC Class Codes: B60T 2201/16 Curve braking control, e.g. turn control within ABS control algorithm
• CPC Class Codes: B60T 8/175 Brake regulation specially adapted to prevent excessive wheel spin during vehicle acceleration, e.g. for traction control safety devices for propulsion unit control responsive to, or preventing, skidding of wheels B60K28/16
• 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 8/489 using separate traction control modulators

Abstract

In order to improve the cornering of a vehicle under braking, control is based on the single angle and the rate at which the steering angle is changing. When the rate at which the steering angle is changing is high the braking force on the outboard side of the vehicle with respect to the direction in which it is turning, is reduced with respect to that on the inboard side while in the case that the steering angle is relatively large, the braking force on the inboard side is reduced with respect to that on the outboard side. As an alternative to brake force reduction, it is possible to increase the braking force on the side opposite to that wherein reduction would be implemented. Parameters which are used to weight the control are steering angle acceleration, which speed, and vehicle deceleration.

Claims

1. A method of controlling a plurality of brakes of an automotive vehicle comprising the steps of:

sensing a steering angle;

deriving a rate at which said steering angle is changing;

sensing an application of said brakes;

deriving a target braking force difference which is desired to be established between a first road wheel on a first side of said vehicle and a second road wheel on a second side of said vehicle using said sensed steering angle and derived rate at which said steering angle is changing, in response to sensing said application of said brakes, said first side being a side to which a turn is being made;

reducing a first braking force which is applied to said second road wheel in accordance with said target braking force difference, when said rate at which said steering angle is changing is relatively high; and

reducing a second braking force which is applied to said first road wheel in accordance with said target braking force difference when said steering angle is relatively large.

2. A method as claimed in claim 1 further comprising the steps of:

deriving an acceleration at which said steering angle is changing; and

modifying derivation of said target braking force using said derived acceleration.

3. A method as claimed in claim 1 further comprising the steps of:

sensing a vehicle deceleration; and

adjusting said target braking force difference in accordance with a magnitude of said vehicle deceleration.

4. A method as claimed in claim 1 further comprising the steps of:

sensing a vehicle deceleration; and

adjusting said target braking force difference in accordance with a magnitude of said vehicle deceleration.

5. A method as claimed in claim 1 further comprising the steps of:

increasing said second braking force which is applied to said first road wheel in accordance with said target braking force difference, when said rate at which said steering angle is changing is relatively high; and

increasing said first braking force which is applied to said second road wheel in accordance with said target braking force difference when said steering angle is relatively large.

6. A method as claimed in claim 1 wherein the step of reducing the braking force which is applied to said second road wheel includes:

sensing a pressure prevailing in a wheel cylinder associated with said second wheel; and

feeding information indicative of said sensed pressure, back to a control unit which is responsive to said target braking force difference and which controls a device which controls a pressure being supplied to said wheel cylinder associated with said second road wheel.

7. A method as claimed in claim 1 wherein the step of reducing the braking force which is applied to said first road wheel includes:

sensing a pressure prevailing in a wheel cylinder associated with said first wheel; and

feeding information indicative of said sensed pressure, back to a control unit which is responsive to said target braking force difference and which controls a device which controls a pressure being supplied to said wheel cylinder associated with said first road wheel.

8. A brake control system in a vehicle comprising:

a first wheel cylinder and a second wheel cylinder operatively connected with a first road wheel and a second road wheel respectively, said first and said second road wheels being located at the front of said vehicle and arranged to be steerable, said first road wheel being located on a first side of said vehicle and said second road wheel being located on a second side of said vehicle;

a third wheel cylinder and a fourth wheel cylinder operatively connected with a third road wheel and a fourth road wheel respectively, said third and fourth road wheels being located at the rear of said vehicle, said third road wheel being located on said first side of said vehicle and said fourth road wheel being located on said second side of said vehicle;

a tandem master cylinder fluidly communicated with said first and said second wheel cylinders by way of a front brake circuit and fluidly communicated with said third and said fourth road wheels by way of a rear brake circuit;

a source of hydraulic fluid under pressure, said source being selectively connectable with said front and said rear brake circuits in a manner to replace pressure supplied by said master cylinder;

first, second, third and fourth pressure control valves interposed between said master cylinder and said first, second, third and fourth wheel cylinders respectively, each of said first, second, third and fourth pressure control valves being independently operable to assume a first condition wherein pressure may be transmitted therethrough to said first, second, third and fourth wheel cylinders, respectively, a second condition wherein pressure cannot be transmitted therethrough to said wheel cylinders and pressure in said wheel cylinders is maintained, and a third condition wherein pressure can be drained from said wheel cylinders;

a steering sensor which senses a parameter indicative of a steering angle of said first and second road wheels;

a first, second, third and fourth wheel speed sensors which are associated with said first, second, third and fourth road wheels respectively;

a brake switch which is responsive to depression of a brake pedal;

a master cylinder pressure sensor for sensing pressure discharged by said master cylinder;

first, second, third and fourth wheel cylinder pressure sensors respectively associated with said first, second, third and fourth wheel cylinders for sensing pressure prevailing therein;

a vehicle acceleration sensor; and

control means operatively connected with said steering sensor, said first, second, third and fourth wheel speed sensors, said brake switch, said master cylinder pressure sensor, and said acceleration sensor, for;

deriving said steering angle of said first and said second road wheels;

deriving a rate at which said steering angle is changing;

determining an application of the brake pedal;

deriving a target braking force difference between said first and second road wheels using said derived steering angle and said derived rate at which said steering angle is changing;

reducing a first braking force which is applied to one of said first and second road wheels by selectively operating said pressure control valve which is associated therewith when the rate at which the steering angle is changing is relatively high and

reducing a second braking force which is applied to the other of said first and second road wheels in accordance with said derived target braking force difference by selectively operating said pressure control valve which is associated therewith when said steering angle is relatively large.

9. A method of controlling the brakes of an automotive vehicle comprising the steps of:

sensing a steering angle;

deriving a rate at which said steering angle is changing;

deriving a first target amount by which a first braking force applied to a first road wheel is reduced with respect to a second braking force applied to a second road wheel, said first target amount based on said sensed steering angle and said derived rate, said first target amount by which increases with an increase in said steering angle; and

deriving a second target amount by which said first braking force applied to said first road wheel is increased with respect to said second braking force applied to said second road wheel, said second target amount based on said sensed steering angle and said derived rate, said second target increasing with an increase in said rate at which said steering angle is changing.

10. A control system for a plurality of brakes of an automotive vehicle comprising:

means for sensing a steering angle;

means for deriving a rate at which said steering angle is changing;

means for sensing an application of said brakes;

means for deriving a target braking force difference which should be established between a first road wheel on a first side of said vehicle and a second road wheel which is on a second side of said vehicle using said steering angle and said rate at which said steering angle is changing, in response to sensing an application of said brakes, said first side being a side to which a turn is being made;

means for reducing a first braking force which is applied to said second road wheel in accordance with said derived target braking force difference, when said rate at which said steering angle is changing is relatively high; and

means for reducing a second braking force which is applied to said first road wheel in accordance with said derived target braking force difference when said steering angle is large.

11. A brake control system as claimed in claim 10 further comprising:

means for deriving an acceleration at which said steering angle is changing; and

means for modifying derivation of said target braking force difference using said acceleration.

12. A brake control system as claimed in claim 10 further comprising:

means for sensing a vehicle speed; and

adjusting said target braking force difference in accordance with a magnitude of said vehicle deceleration.

13. A brake control system as claimed in claim 10 further comprising:

means for sensing a vehicle deceleration; and

adjusting said target braking force difference in accordance with a magnitude of said vehicle deceleration.

14. A brake control system as claimed in claim 10 further comprising:

means for increasing said second braking force which is applied to said first road wheel in accordance with said target braking force difference, when said rate at which said steering angle is changing is relatively high; and

means for increasing said first braking force which is applied to said second road wheel in accordance with said target braking force difference when said steering angle is relatively large.

15. A brake control system for an automotive vehicle comprising:

means for sensing a steering angle;

means for deriving a rate at which said steering angle is changing;

means for deriving a target braking force difference between a road wheel on a first side of said vehicle and a road wheel which on a second side of said vehicle using said steering angle and said rate at which said steering angle is changing, in response to sensing an application of vehicle brakes, said first side being the inboard side of a turn;

means for increasing a first braking force applied to said first road wheel relative to a second braking force applied to said second road wheel in accordance with said derived target braking force difference, when said rate at which said steering angle is changing is relatively high; and

means for increasing said second braking force applied to said second road wheel relative to said first braking force applied to said first road wheel in accordance with said derived target braking force difference when said steering angle is relatively large.

16. A method of controlling a plurality of brakes of an automotive vehicle comprising the steps of:

sensing a steering angle;

deriving a rate at which said steering angle is changing;

sensing an application of said brakes;

deriving a target braking force difference between a first road wheel on a first side of said vehicle and a second road wheel on a second side of said vehicle using said steering angle and said rate at which said steering angle is changing, in response to sensing application of said brakes, said first side being the side to which a turn is being made;

varying a first braking force which is applied to said first road wheel with respect to a second braking force which is applied to said second road wheel so that said first braking force which is applied to said first road wheel is higher than said second braking force which is applied to said second road wheel in accordance with said target braking force difference, when said rate at which said steering angle is changing is relatively high; and

varying said second braking force applied to said second road wheel with respect to said first braking force applied to said first road wheel so that said second braking force applied to said second road wheel is higher than said first braking force applied to said first road wheel in accordance with said target braking force difference when said steering angle is relatively large.

17. A brake control system for an automotive vehicle comprising:

means for sensing a steering angle;

means for deriving a rate at which said steering angle is changing;

means for sensing an application of a plurality of brakes;

means for deriving a target braking force difference between a road wheel on a first side of said vehicle and a road wheel which on a second side of said vehicle using said steering angle and said rate at which said steering angle is changing, in response to sensing an application of said vehicle brakes, said first side being the side to which a turn is being made;

means for increasing a first braking force applied to said first road wheel relative to a second braking force applied to said second road wheel in accordance with said target braking force difference, when said rate at which said steering angle is changing is relatively high; and

means for increasing said second braking force applied to said second road wheel relative to said first braking force applied to said first road wheel in accordance with said target braking force difference when said steering angle is large.

18. A brake control system for an automotive vehicle comprising:

means for sensing a steering angle;

means for deriving a rate at which said steering angle is changing;

means responsive to said steering angle for deriving a second target amount by which a first braking force applied to a first road wheel is reduced with respect to a second braking force applied to a second road wheel, said second target amount based on said sensed steering angle and said derived rate, increasing with increasing steering angle; and

means responsive to said rate at which said steering angle is changing for deriving a second target amount by which said first braking force applied to said first road wheel is increased with respect to said second braking force applied to said second road wheel, the second target amount increasing with an increasing rate at which said steering angle is changing.

19. A method of controlling a plurality of brakes of an automotive vehicle comprising the steps of:

sensing a steering angle;

deriving a rate at which said steering angle is changing;

means for sensing an application of said brakes;

deriving a target braking force difference between a first road wheel on a first side of said vehicle and a second road wheel on a second side of said vehicle using said steering angle and said rate at which said steering angle is changing, in response to sensing an application of said brakes, said first side being the inboard side of a turn;

increasing a first braking force which is applied to said first road wheel with respect to a second braking force which is applied to said second road wheel in accordance with said derived target braking force difference, when said rate at which said steering angle is relatively changing is high; and

increasing said second braking force which is applied to said second road wheel with respect to said first braking force which is applied to said first road wheel in accordance with said derived target braking force difference when said steering angle is relatively large.