Vehicle turning behavior control apparatus
First Claim
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1. An apparatus for controlling turning behavior of a multi-wheeled automotive vehicle supported on a plurality of pairs of wheels, the apparatus comprising:
- braking means for applying braking forces to the respective wheels;
first sensor means sensitive to a vehicle steering condition for producing a first signal indicative of a sensed vehicle steering condition;
second sensor means sensitive to a vehicle lateral slip angle for producing a second signal indicative of a sensed vehicle lateral slip angle; and
a control unit coupled to the first and second sensor means, the control unit including means for providing a difference between the braking forces applied to nearside and offside wheels of at least one of the pairs of wheels based upon the sensed vehicle steering condition to produce a yaw moment in a direction to which the vehicle turns, and means for modifying the difference based upon the sensed vehicle lateral slip angle to decrease the difference as the vehicle lateral slip angle increases.
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Abstract
A vehicle turning behavior control apparatus for use with a multi-wheel automatic vehicle. The apparatus provides a difference between the braking forces applied to the nearside and offside wheels of the vehicle to produce a yaw moment in a direction to which the vehicle turns. The difference is determined based upon the vehicle steering angle and is modified based upon the vehicle lateral slip angle.
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Citations
8 Claims
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1. An apparatus for controlling turning behavior of a multi-wheeled automotive vehicle supported on a plurality of pairs of wheels, the apparatus comprising:
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braking means for applying braking forces to the respective wheels; first sensor means sensitive to a vehicle steering condition for producing a first signal indicative of a sensed vehicle steering condition; second sensor means sensitive to a vehicle lateral slip angle for producing a second signal indicative of a sensed vehicle lateral slip angle; and a control unit coupled to the first and second sensor means, the control unit including means for providing a difference between the braking forces applied to nearside and offside wheels of at least one of the pairs of wheels based upon the sensed vehicle steering condition to produce a yaw moment in a direction to which the vehicle turns, and means for modifying the difference based upon the sensed vehicle lateral slip angle to decrease the difference as the vehicle lateral slip angle increases. - View Dependent Claims (2, 3, 4)
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5. An apparatus for controlling turning behavior of a multi-wheeled automotive vehicle supported on a plurality of pairs of wheels, the apparatus comprising:
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braking means for applying braking forces to the respective wheels; first sensor means sensitive to a vehicle steering angle for producing a first signal indicative of a sensed vehicle steering angle; second sensor means sensitive to a vehicle lateral slip angle for producing a second signal indicative of a sensed vehicle lateral slip angle; and a control unit coupled to the first and second sensor means, the control unit including means for calculating a basic value Δ
P1 as a function of the sensed vehicle steering angle to increase the basic value as the sensed vehicle steering angle increases when the sensed vehicle steering angle exceeds a predetermined value, means for calculating a first correction factor K1 as a function of the sensed vehicle lateral slip angle to decrease the first correction factor as the sensed vehicle laterial slip increases, means for calculating a difference Δ
P as Δ
P=Δ
P1×
K1, and means for setting the braking means to provide the calculated difference Δ
P between the braking forces applied to nearside and offside wheels of at least one of the pairs of wheels so that the braking force applied to the offside wheel is smaller than the braking force applied to the nearside wheel. - View Dependent Claims (6, 7, 8)
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Specification