Vehicle control apparatus

• US 5,508,929 A
• Filed: 01/24/1994
• Issued: 04/16/1996
• Est. Priority Date: 02/25/1993
• Status: Expired due to Fees

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Harada, Hiroshi
• Primary Examiner(s): Chin, Gary
• Application Number:
  US08/185,011
• Time in Patent Office: 813 Days
• Field of Search: 364/424.05, 364/426.02, 364/426.03, 180/197, 180/140, 180/141, 180/142, 280/707
• US Class Current: 701/48
• CPC Class Codes: B60G 17/0163 the control involving steering geometry, e.g. four-wheel steering
• CPC Class Codes: B60G 2400/104 lateral or transversal with regard to vehicle
• CPC Class Codes: B60G 2400/204 Vehicle speed
• CPC Class Codes: B60G 2400/41 Steering angle
• CPC Class Codes: B60T 2270/313 with less than three sensors (yaw rate, steering angle, lateral acceleration)
• CPC Class Codes: B60T 8/1755 Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02
• CPC Class Codes: B60T 8/1764 Regulation during travel on surface with different coefficients of friction, e.g. between left and right sides, mu-split or between front and rear
• 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: B62D 7/159 characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition

Abstract

A vehicle control apparatus for controlling at least one running condition of a vehicle, including an intended-target-position determining device which determines an intended target position of the vehicle based on a steering angle of the vehicle; a running-state detector which detects a running state of the vehicle; an estimated-target-position determining device which determines an estimated target position of the vehicle based on the running state of the vehicle detected by the running-state detector; a vehicle-condition changing device which changes the at least one running condition of the vehicle; and a vehicle-condition control device which controls the vehicle-condition changing device based on a difference between the intended target position of the vehicle determined by the intended-target-position determining device and the estimated target position of the vehicle determined by the estimated-target-position determining device, thereby controlling the at least one running condition of the vehicle.

Claims

1. A vehicle control apparatus for controlling at least one running condition of a vehicle, comprising:

intended-target-position determining means for determining an intended target position of the vehicle based on a steering angle of the vehicle;

a running-state detector which detects a running state of the vehicle;

estimated-target-position determining means for determining an estimated target position of the vehicle based on said running state of the vehicle detected by said running-state detector;

a vehicle-condition changing device which controls said at least one running condition of the vehicle; and

vehicle-condition control means for controlling said vehicle-condition changing device based on a difference between said intended target position of the vehicle determined by said intended-target-position determining means and said estimated target position of the vehicle determined by said estimated-target-position determining means, thereby controlling said at least one running condition of the vehicle.

2. An apparatus according to claim 1, wherein said intended-target-position determining means determines, as said intended target position of the vehicle, a position where the vehicle is intended to reach in a set time duration, τ

, after a time of detection of said steering angle and said running state of the vehicle, and said estimated-target-position determining means determines, as said estimated target position of the vehicle, a position where the vehicle is estimated to reach in said set time duration τ

.

3. An apparatus according to claim 1, wherein said intended-target-position determining means determines, as said intended target position of the vehicle, a lateral displacement amount, y₁, by which the vehicle is intended to displace from a straightly frontward position looked at by a driver operating a steering wheel of the vehicle at a time of detection of said steering angle and said running state of the vehicle, and said estimated-target-position determining means determines, as said estimated target position of the vehicle, a lateral displacement amount, y₂, by which the vehicle is estimated to displace from said straightly frontward position.

4. An apparatus according to claim 3, further comprising

a vehicle-speed sensor which detects a running speed, V, of the vehicle;

and

a steering-angle sensor which detects, as said steering angle of the vehicle, an angle, θ

, of rotation of the steering wheel of the vehicle,

said intended-target-position determining means determining said lateral displacement amount y₁ based on said running speed V of the vehicle detected by said vehicle-speed sensor and said rotation angle θ

of the steering wheel detected by said steering-angle sensor.

5. An apparatus according to claim 4, wherein said intended-target-position determining means determines said lateral displacement amount y₁ by which the vehicle is intended to displace in a time duration, τ

, obtained by dividing, by said running speed V of the vehicle, a pre-set distance, Lp, between the driver operating the steering wheel and said straightly frontward position, after a time of detection of said running speed V of the vehicle and said rotation angle θ

of the steering wheel, according to a following expression;

space="preserve" listing-type="equation">y.sub.1 =θ

(Vτ

).sup.2 /{2LN(1+KV.sup.2)}

where

L is a wheel base of the vehicle,

K is a stability factor of the vehicle, and

N is a steering gear ratio of the vehicle.

6. An apparatus according to claim 3, wherein said running-state detector comprises a lateral-acceleration sensor which detects a lateral acceleration, G_y, of the vehicle in a lateral direction of the vehicle,

said estimated-target-position determining means determining said lateral displacement amount y₂ based on said lateral acceleration G_y of the vehicle detected by said lateral-acceleration sensor.

7. An apparatus according to claim 6, wherein said estimated-target-position determining means determines said lateral displacement amount y₂ by which the vehicle is estimated to displace in a time duration, τ

, obtained by dividing, by a running speed, V, of the vehicle, a pre-set distance, Lp, between the driver operating the steering wheel in the vehicle and said straightly frontward position, after a time of detection of said lateral acceleration G_y and said running speed V of the vehicle, according to a following expression;

space="preserve" listing-type="equation">y.sub.2 =G.sub.y τ

.sup.2 /2.

8. An apparatus according to claim 1, wherein said vehicle-condition changing device comprises an actuator which changes a steering angle of rear wheels of the vehicle,

said vehicle-condition control means controlling said actuator, thereby controlling yawing of the vehicle.

9. An apparatus according to claim 1, wherein said vehicle-condition changing device comprises an actuator which reduces a running speed of the vehicle,

said vehicle-condition control means controlling said actuator, thereby reducing said running speed of the vehicle.

10. An apparatus according to claim 1, wherein said vehicle-condition changing device comprises a braking-force distributing device which distributes a braking force of the vehicle to front wheels and rear wheels of the vehicle,

said vehicle-condition control means controlling said braking-force distributing device, thereby controlling yawing of the vehicle.

11. An apparatus according to claim 1, wherein said vehicle-condition changing device comprises a driving-force distributing device which distributes a driving force of the vehicle to front wheels and rear wheels of the vehicle,

said vehicle-condition control means controlling said driving-force distributing device, thereby controlling yawing of the vehicle.

12. An apparatus according to claim 1, wherein said vehicle-condition changing device comprises a roll-stiffness changing device which changes a roll stiffness of the vehicle,

said vehicle-condition control means controlling said roll-stiffness changing device, thereby controlling yawing of the vehicle.

13. An apparatus according to claim 1, wherein said vehicle-condition control means controls said vehicle-condition changing device, thereby controlling said at least one running condition of the vehicle, so that said difference between said intended and estimated target positions becomes zero.

14. An apparatus according to claim 1, wherein said vehicle-condition control means does not control said vehicle-condition changing device when an absolute value of said difference between said intended and estimated target positions of the vehicle is smaller than a reference value, and controls said vehicle-condition changing device when said absolute value of said difference is not smaller than said reference value.

15. An apparatus according to claim 1, wherein said vehicle-condition changing device comprises means for controlling said at least one running condition of the vehicle, said at least one running condition is selected from the group consisting of:

(a) a steering angle of rear wheels of the vehicle, (b) a running speed of the vehicle, (c) a braking force of the vehicle, (d) a driving force of the vehicle, and (e) a roll stiffness of the vehicle.