System for predicting behavior of automotive vehicle and for controlling vehicular behavior based thereon

• US 5,408,411 A
• Filed: 01/17/1992
• Issued: 04/18/1995
• Est. Priority Date: 01/18/1991
• Status: Expired due to Fees

• Current Assignee: Hitachi, Ltd.
• Original Assignee: Hitachi, Ltd.
• Inventors: Nakamura, Mitsuru, Yamakado, Makoto
• Primary Examiner(s): Teska, Kevin J.
• Assistant Examiner(s): Walker, Tyrone V.
• Application Number:
  US07/822,323
• Time in Patent Office: 1,187 Days
• Field of Search: 364/424.01, 364/424.05, 364/426.01, 364/426.02, 364/426.03, 364/424.1
• US Class Current: 701/48
• CPC Class Codes: B60G 17/0182 involving parameter estimation, e.g. observer, Kalman filter
• CPC Class Codes: B60G 17/01908 Acceleration or inclination sensors characterised by the use of gyroscopes B60G21/08
• CPC Class Codes: B60G 17/0195 characterised by the regulation being combined with other vehicle control systems conjoint control of vehicle sub-units including control of suspension systems B60W10/22
• CPC Class Codes: B60G 2400/102 vertical
• CPC Class Codes: B60G 2400/104 lateral or transversal with regard to vehicle
• CPC Class Codes: B60G 2400/106 longitudinal with regard to vehicle, e.g. braking
• CPC Class Codes: B60G 2400/252 vertical
• CPC Class Codes: B60G 2400/256 horizontal
• CPC Class Codes: B60G 2400/412 of steering wheel or column
• CPC Class Codes: B60G 2401/904 the sensor being an xyz axis sensor
• CPC Class Codes: B60G 2500/40 Steering
• CPC Class Codes: B60G 2800/014 Pitch; Nose dive
• CPC Class Codes: B60G 2800/24 Steering, cornering
• CPC Class Codes: B60G 2800/90 System Controller type
• CPC Class Codes: B60G 2800/92 ABS - Brake Control
• CPC Class Codes: B60K 23/0808 for varying torque distribution between driven axles, e.g. by transfer clutch
• CPC Class Codes: B60K 28/16 responsive to, or preventing, skidding of wheels brake control systems for vehicle drive stability B60T8/1755; arrangements responsive to a speed condition for adjusting wheel braking force B60T8/32; control of vehicle driving stability otherwise than by controlling the propulsion unit only B60W30/02; preventing wheel slippage by reducing power in rail vehicles B61C15/00
• CPC Class Codes: B60K 31/00 Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator fittings acting on two or more sub-units B60W30/14; speedometers G01P; systems or devices for controlling speed in general G05D13/00 ; in traffic anti-collision system for road vehicles G08G1/16
• CPC Class Codes: B60T 2220/03 Driver counter-steering; Avoidance of conflicts with ESP control
• CPC Class Codes: B60T 8/00 Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force by changing number of effective brake cylinders in power brake systems B60T17/10
• CPC Class Codes: B60T 8/17551 : determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
• CPC Class Codes: B60W 10/06 : including control of combustion engines
• CPC Class Codes: B60W 10/18 : including control of braking systems
• CPC Class Codes: B60W 10/20 : including control of steering systems
• CPC Class Codes: B60W 2050/0031 : Mathematical model of the vehicle
• CPC Class Codes: B60W 2520/105 : Longitudinal acceleration
• CPC Class Codes: B60W 2520/125 : Lateral acceleration
• CPC Class Codes: B60W 2520/14 : Yaw
• CPC Class Codes: B60W 2520/28 : Wheel speed
• CPC Class Codes: B60W 2540/18 : Steering angle
• CPC Class Codes: B60W 40/10 : related to vehicle motion
• CPC Class Codes: B60W 50/0097 : Predicting future conditions
• CPC Class Codes: B62D 6/00 : Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00
• CPC Class Codes: Y02T 10/40 : Engine management systems

Abstract

A system for detecting a physical amount of behavior of a vehicle includes, acceleration sensors arranged on at least two longitudinal axes of the vehicle, the vertical axis Of the vehicle and the lateral axis of the vehicle, a plurality of the acceleration sensors being disposed on each of the axes. A unit is provided for establishing a conversion equation for determining acceleration values of linear motion at an arbitrary point of the vehicle in the direction of each axis of an arbitrary coordinate system and acceleration values of rotational motion with respect to the each axis of the coordinate system while simultaneously using acceleration values detected by the acceleration sensors disposed on at least two of the vehicular longitudinal axes, the vertical axis and the lateral axis. There is also provided a unit for calculating the conversion equation to obtain the acceleration values of linear motion at an arbitrary point of the vehicle in the direction of each axis of the arbitrary coordinate system and acceleration values of rotational motion with respect to each axis of the coordinate system, a unit for establishing a motion equation expressing a plurality of freedom motions, and a unit for calculating the motion equation with the acceleration values of linear motion at an arbitrary point of the vehicle in the direction of each axis of the arbitrary axis of the arbitrary coordinate system and acceleration values of rotational motion with respect to the each axis of the coordinate system to obtain the physical amount associated with the behavior of the vehicle.

Claims

1. A system for controlling the behavior of an automotive vehicle comprising:

means for detecting operational magnitude for controlling a steering system, an engine, a power train and a suspension system of the automotive vehicle;

means for detecting a control magnitude of actuating means for controlling the steering system, the engine, the power train and the suspension system of the automotive vehicle;

means for detecting an amount associated with behavior in each of three dimensional directions of the vehicle;

means, storing a standard behavior model, for taking said operational magnitude in a standard vehicle having predetermined reference response characteristics, and amounts associated with the current behavior of the vehicle, and outputting amounts associated with a forthcoming behavior of said standard vehicle;

first predicting means for predicting an amount associated with behavior of said standard vehicle using said standard behavior model with respect to input data of a detected current operational magnitude and amounts associated with the current behavior of the vehicle;

means, storing a behavior predicting model of the vehicle to be actually controlled, for taking said operational magnitude and amounts associated with behavior of the vehicle to be actually controlled as input data, and outputting an amount associated with forthcoming behavior of said vehicle in response to said input data;

second predicting means for predicting an amount associated with the behavior of said vehicle to be actually controlled using the behavior predicting model of said vehicle to be actually controlled based on the detected current operational magnitude and amounts associated with the behavior;

first difference detecting means for comparing values of the amounts associated with the behavior of the standard vehicle, predicted by said first predicting means, and the values of the amounts associated with the behavior of the vehicle to be actually controlled, predicted by said second predicting means, for detecting a difference between the predicted amounts;

second difference detecting means for comparing the values of amounts associated with the current behavior of the vehicle and the value of the amount of the behavior predicted by said first predicting means to derive a difference therebetween; and

control means, responsive to the difference of the predicted values detected by said first difference detecting means exceeding a predetermined value, for adjusting a control magnitude of said actuating means in a direction for reducing the difference detected by said second difference detecting means.

2. A system as set forth in claim 1, which further comprises means for displaying a predicted value difference when the predicted value difference detected by said first difference detecting means exceeds a predetermined value.

3. A system as set forth in claim 1, further comprising steering feel correcting means which controls a reaction force at the steering wheel according to a reaction force from a road surface in operating of the steering system.

4. A system as set forth in claim 1, wherein

said operational magnitude detecting means includes means for detecting a steering angle of the steering wheel, means for detecting a hydraulic braking pressure, means for detecting a throttle valve open angle of the engine, and means for detecting a shift position of a power transmission;

said actuating means including a steering control device, a hydraulic brake control device, a throttle valve open angle control device, a transmission control device and a differential gear control device;

said means for detecting amounts associated with behavior of the vehicle including at least one of means for detecting rotational speed of a wheel of the vehicle, means for detecting a variation rate of longitudinal acceleration of the vehicle, means for detecting longitudinal acceleration of the vehicle, means for detecting longitudinal speed of the vehicle, means for detecting variation of lateral acceleration of the vehicle, means for detecting lateral acceleration of the vehicle, means for detecting speed in the lateral direction of the vehicle, means for detecting a variation rate of vertical acceleration of the vehicle, means for detecting vertical acceleration of the vehicle, means for detecting vertical speed of the vehicle, means for detecting variation rate of rolling angular acceleration of the vehicle, means for detecting rolling angular acceleration, means for detecting rolling angular velocity, means for detecting rolling angle, means for detecting variation rate of pitching angular acceleration of the vehicle, means for detecting pitching angular acceleration, means for detecting pitching angular velocity, means for detecting pitching angle, means for detecting variation rate of yawing angular acceleration of the vehicle, means for detecting yawing angular acceleration, means for detecting yawing angular velocity and means for detecting yawing angle.

5. A system as set forth in claim 4, wherein said means for detecting amounts associated with the behavior of the vehicle comprises:

acceleration sensors disposed on at least two longitudinal axes of the vehicle, the vertical axis of the vehicle and the lateral axis of the vehicle, a plurality of said acceleration sensors being disposed on each of said axes;

means for establishing conversion equation for determining acceleration values of linear motion at an arbitrary point of the vehicle in the direction of each axis of an arbitrary coordinate system and acceleration values of rotational motion with respect to each axis of the coordinate system while simultaneously using acceleration values detected by said acceleration sensors disposed on at least two of the vehicular longitudinal axes, the vertical axis and the lateral axis;

means for calculating said conversion equation to obtain the acceleration values of linear motion at an arbitrary point of the vehicle in the direction of each axis of the arbitrary coordinate system and acceleration values of rotational motion with respect to each axis of the coordinate system;

means for establishing a motion equation expressing a plurality of freedom motions; and

means for calculating said motion equation with the acceleration values of linear motion at an arbitrary point of the vehicle in the direction of each axis of the arbitrary axis of the arbitrary coordinate system and acceleration values of rotational motion with respect to each axis of the coordinate system to obtain a physical amount associated with the behavior of said vehicle.

6. A system as set forth in claim 4, wherein said control means generates an additional control magnitude to be provided for said steering control device in an opposite direction to a cornering direction with reference to a speed vector at a center of a line extending between left and right steerable wheels of the vehicle detected by said means for detecting an amount associated with behavior, when a negative cornering force is generated with respect to the cornering direction of the vehicle, and said control means generates an additional control magnitude to be provided for said steering control device in the cornering direction with reference to a speed vector at the center of the line extending between left and right steerable wheels detected by said means for detecting amount associated with behavior, when positive cornering force is generated with respect to the cornering direction of the vehicle.

7. A system as set forth in claim 4, which further comprises means for varying input and output characteristics of said standard behavior model according to a predetermined condition when one of said steering angle, braking pressure and throttle valve open angle satisfies a predetermined condition.

8. A system as set forth in claim 4, which further comprises means for displaying the difference of said operational magnitude and said control magnitude.

9. A system as set forth in claim 4, which further comprises means for selectively activating and deactivating said control means in response to a command of the driver.

10. A system as set forth in claim 4, wherein said hydraulic brake control device controls braking pressure for each wheel independently of the other.

11. A system as set forth in claim 10, wherein said hydraulic brake control device includes a control system for controlling braking pressure for each wheel independently between a locking state and a non-locking state of the wheel.

12. A system as set forth in claim 11, wherein

when a yawing moment does not increase even if the steering angle is controlled to be increased, said hydraulic brake control device controls the braking pressure for rear wheels to make the rear wheels of a locking state, and

when the yawing moment does not decrease even if the steering angle is controlled to be decreased, said hydraulic brake control device controls the braking pressure for front wheels to make the front wheels of a locking state.

13. A system as set forth in claim 11, wherein

when a yawing moment does not increase even if the steering angle is controlled to be increased, said transmission control device and said differential gear control device controls a gear ratio to make the rear wheels of a locking state, and

when the yawing moment does not decrease even if the steering angle is controlled to be decreased, said transmission control device and said differential gear control device controls the gear ratio to make the front wheels of a wheel spin state.

14. A system as set forth in claim 11, wherein

when a yawing moment does not increase even if the steering angle is controlled to be increased, said transmission control device, said differential gear control device and said throttle valve open angle control device controls a driving torque to make the rear wheels of a locking state, and

when a yawing moment does not decrease even if the steering angle is controlled to be decreased, said transmission control device and said differential gear control device controls the driving torque to make the front wheels of a wheel spin state.