Yawing-momentum detecting apparatus for a vehicle, a detecting method thereof, and motion controlling apparatus for a vehicle, utilizing the detecting apparatus
First Claim
1. A yawing-momentum detecting apparatus for a vehicle, comprising:
- a plurality of acceleration sensors disposed at symmetrical positions on said vehicle with respect to a vertical axis within a plane perpendicular to the vertical axis passing through a gravity center of said vehicle;
means for calculating yawing momentum of said vehicle occurring around said vertical axis based upon outputs from said plurality of acceleration sensors; and
characteristic correcting means for correcting output characteristics of said plural acceleration sensors under known acceleration values to coincide with reference input-output characteristic values when said known acceleration values are obtained under a certain vehicle operating condition.
1 Assignment
0 Petitions
Accused Products
Abstract
A novel yawing-momentum detecting apparatus, and yawing-detecting method for a vehicle, and also a motion controlling apparatus for the vehicle with employment of this yawing-momentum detecting apparatus. The yawing-momentum detecting apparatus for the vehicle comprises: a plurality of acceleration sensors disposed at symmetrical positions on said vehicle with respect to a vertical axis passing through a gravity center of the vehicle within a plane perpendicular the vertical axis; units for calculating yawing momentum of the vehicle occurring around the vertical axis based upon outputs from the plural acceleration sensors; and characteristic correcting units for correcting output characteristics of the plural acceleration sensors under known acceleration values to coincide with reference output characteristic values when the known acceleration values are obtained under a certain vehicle operating condition. A further embodiment of the present invention further includes: units for calculating target yawing momentum based on a vehicle speed and a steering angle of a steering wheel while a car driver manipulates the steering wheel; and units for adjusting a steering apparatus and/or a braking apparatus of the vehicle in such a manner that the yawing momentum obtained by the yawing-momentum calculating units is coincident with the target yawing momentum.
153 Citations
5 Claims
-
1. A yawing-momentum detecting apparatus for a vehicle, comprising:
-
a plurality of acceleration sensors disposed at symmetrical positions on said vehicle with respect to a vertical axis within a plane perpendicular to the vertical axis passing through a gravity center of said vehicle; means for calculating yawing momentum of said vehicle occurring around said vertical axis based upon outputs from said plurality of acceleration sensors; and characteristic correcting means for correcting output characteristics of said plural acceleration sensors under known acceleration values to coincide with reference input-output characteristic values when said known acceleration values are obtained under a certain vehicle operating condition. - View Dependent Claims (2, 3)
-
-
4. A method for detecting yawing momentum of a vehicle, said method comprising the steps of:
-
fetching output signals derived from a plurality of acceleration sensors disposed at symmetrical positions on said vehicle with respect to a vertical axis within a plane perpendicular to the vertical axis passing through a gravity center of said vehicle; correcting said output signals of said plurality of acceleration means under known acceleration values to coincide with reference input-output characteristic values when said known acceleration values are obtained under a certain vehicle operating condition; and calculating yawing momentum of said vehicle occurring around said vertical axis based on said output signals from said plurality of acceleration sensors.
-
-
5. A motion controlling apparatus for a vehicle, comprising:
-
a plurality of acceleration sensors disposed at symmetrical positions on said vehicle with respect to a vertical axis within a plane perpendicular to the vertical axis passing through a gravity center of said vehicle; means for calculating yawing momentum of said vehicle occurring around said vertical axis based upon outputs from said plurality of acceleration sensors; characteristic correcting means for correcting input-output characteristics of said plural acceleration sensors under known acceleration values to coincide with reference input-output characteristic values when said known acceleration values are obtained under a certain vehicle operating condition; means for calculating target yawing momentum based on a vehicle speed and a driver-manipulated steering angle of said vehicle; and means for adjusting at least one of a steering apparatus and a braking apparatus of said vehicle such that the yawing momentum obtained by said yawing-momentum calculating means is coincident with said target yawing momentum.
-
Specification