×

Braking force control apparatus

  • US 5,229,944 A
  • Filed: 03/22/1991
  • Issued: 07/20/1993
  • Est. Priority Date: 03/22/1990
  • Status: Expired due to Term
First Claim
Patent Images

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.

View all claims
  • 0 Assignments
Timeline View
Assignment View
    ×
    ×