Braking force control apparatus
First Claim
1. A braking force control apparatus for use with an automotive vehicle supported on a pair of front wheels and a pair of rear wheels, comprising:
- means for controlling braking forces to be applied to the wheels of at least one of the wheel pairs;
first sensor means for sensing a vehicle steering angle and for producing a first signal indicative of the sensed vehicle steering angle;
second sensor means for sensing a vehicle longitudinal speed and for producing a second signal indicative of the sensed vehicle longitudinal speed;
a control unit coupled to the first and second sensor means for receiving the first and second signals, the control unit including means for calculating a target yaw rate value which has a first order lag to the steering angle based upon the sensed vehicle steering angle and the sensed vehicle longitudinal speed, means for calculating a target difference between the braking forces from a vehicle model specifying a target braking force difference as a function of target yaw rate, vehicle steering angle and vehicle longitudinal speed, the vehicle model being derived from equations of motions of the vehicle, and means for setting the braking force control means to provide the calculated target braking force difference so as to provide the calculated target yaw rate value.
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Abstract
A braking force control apparatus for use with an automotive vehicle. The braking forces applied to the left and right wheels of the vehicle are controlled to provide a target yaw rate calculated based upon a sensed steering angle and a sensed vehicle speed. For this control, a target difference between the braking forces applied to the left and right wheels is calculated from a vehicle model specifying a target braking force difference as a function or functions of target yaw rate, steering angle and vehicle speed. The vehicle model is obtained from equations of motions of the vehicle. The calculated braking force difference is used to set the braking forces to be applied to the left and right wheels.
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Citations
5 Claims
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1. A braking force control apparatus for use with an automotive vehicle supported on a pair of front wheels and a pair of rear wheels, comprising:
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means for controlling braking forces to be applied to the wheels of at least one of the wheel pairs; first sensor means for sensing a vehicle steering angle and for producing a first signal indicative of the sensed vehicle steering angle; second sensor means for sensing a vehicle longitudinal speed and for producing a second signal indicative of the sensed vehicle longitudinal speed; a control unit coupled to the first and second sensor means for receiving the first and second signals, the control unit including means for calculating a target yaw rate value which has a first order lag to the steering angle based upon the sensed vehicle steering angle and the sensed vehicle longitudinal speed, means for calculating a target difference between the braking forces from a vehicle model specifying a target braking force difference as a function of target yaw rate, vehicle steering angle and vehicle longitudinal speed, the vehicle model being derived from equations of motions of the vehicle, and means for setting the braking force control means to provide the calculated target braking force difference so as to provide the calculated target yaw rate value. - View Dependent Claims (2, 3, 4, 5)
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Specification