Dynamic behavior estimate system of automotive vehicle

• US 5,641,212 A
• Filed: 11/15/1995
• Issued: 06/24/1997
• Est. Priority Date: 12/14/1994
• Status: Expired due to Term

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Sakai, Hideki
• Primary Examiner(s): Ballato, Josie
• Application Number:
  US08/556,455
• Time in Patent Office: 587 Days
• Field of Search: 303/140, 303/146, 303/147, 303/175, 303/DIG. 6, 364/426.02, 364/426.04, 180/170, 180/197
• US Class Current: 303/147
• 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: B60T 2230/02 Side slip angle, attitude angle, floating angle, drift angle
• CPC Class Codes: B60T 2270/86 Optimizing braking by using ESP vehicle or tire model
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• 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: B60T 8/17552 responsive to the tire sideslip angle or the vehicle body slip angle
• CPC Class Codes: B60W 2050/0028 Mathematical models, e.g. for simulation
• CPC Class Codes: B60W 30/045 Improving turning performance
• CPC Class Codes: B60W 40/101 Side slip angle of tyre
• 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

Abstract

A dynamic behavior estimate system of an automotive vehicle includes a parameter reading unit which reads an input signal indicative of one of vehicle behavior parameters when the vehicle operates in a curved path. A discriminating unit outputs a detection signal indicative of discrimination of an instability of the vehicle when an inference value from the above one of the vehicle behavior parameters exceeds a reference value. A slip angle detecting unit detects a maximum slip angle that can hold a lateral force of front or rear wheels of the vehicle below a critical value, and sets the reference value equal to the maximum slip angle. An inference value setting unit determines an inference value from the above one of the vehicle behavior parameters, and sets the value, used by the discriminating unit, equal to the inference value, thereby allowing the discriminating unit to detect whether the inference value exceeds the reference value.

Claims

1. A dynamic behavior estimate system of an automotive vehicle which discriminates an instability of the vehicle, comprising:

parameter reading means for reading a signal indicative of one of vehicle behavior parameters with respect to the vehicle when operating in a curved path;

discriminating means for outputting a detection signal indicative of discrimination of an instability of the vehicle when a value from said one of the vehicle behavior parameters indicated by said signal exceeds a reference value;

slip angle detecting means, coupled to said discriminating means, for detecting a maximum slip angle that can hold a lateral force of rear wheels of the vehicle below a critical value, and for setting the reference value equal to said maximum slip angle; and

inference value setting means for determining an inference value from said one of the vehicle behavior parameters indicated by said signal, and for setting said value, used by said discriminating means, equal to the inference value, thereby allowing said discriminating means to detect whether the inference value exceeds the reference value.

2. The dynamic behavior estimate system according to claim 1, wherein said slip angle detecting means comprises:

lateral force determining means for determining a maximum lateral force of the rear wheels based on a vehicle speed detected by a vehicle speed sensor and based on a friction coefficient detected by a friction coefficient detector;

cornering power determining means for determining a cornering power of the rear wheels based on the vehicle speed detected by the vehicle speed sensor; and

slip angle determining means for determining the maximum slip angle of the rear wheels from the maximum lateral force determined by said lateral force determining means and from the cornering power determined by said cornering power determining means.

3. The dynamic behavior estimate system according to claim 1, wherein said slip angle detecting means detects a rear-wheel maximum slip angle based on a linear approximation of a relationship between a rear-wheel slip angle and a rear-wheel lateral force.

4. The dynamic behavior estimate system according to claim 1, further comprising:

vehicle speed reading means for reading a signal indicative of a vehicle speed generated by a vehicle speed sensor;

critical vehicle speed determining means for determining a critical vehicle speed that does not cause the instability of the vehicle to occur, in accordance with a predetermined formula;

inhibiting means, coupled to said discriminating means, for inhibiting the discrimination of the instability of the vehicle by said discriminating means when the vehicle speed read by said vehicle speed reading means is smaller than the critical vehicle speed determined by said critical vehicle speed determining means.

5. The dynamic behavior estimate system according to claim 4, wherein said inhibiting means inhibits the detection of the maximum slip angle by said slip angle detecting means when the vehicle speed read by said vehicle speed reading means is smaller than the critical vehicle speed determined by said critical vehicle speed determining means.

6. The dynamic behavior estimate system according to claim 4, wherein said inhibiting means inhibits the determination of the inference value by said inference value setting means when the vehicle speed read by said vehicle speed reading means is smaller than the critical vehicle speed determined by said critical vehicle speed determining means.

7. The dynamic behavior estimate system according to claim 1, wherein said inference value setting means determines an inference value of a rear-wheel slip angle from a yaw rate signal indicative of a rear-wheel yaw rate generated by a yaw rate sensor.

8. The dynamic behavior estimate system according to claim 1, wherein said inference value setting means determines an inference value of a rear-wheel slip angle from a lateral acceleration signal indicative of a rear-wheel lateral acceleration generated by a lateral acceleration sensor.

9. The dynamic behavior estimate system according to claim 1, wherein said inference value setting means determines an inference value of a rear-wheel slip angle from a steering angle signal indicative of a steering angle generated by a steering angle sensor.

10. A dynamic behavior estimate system of an automotive vehicle which discriminates an instability of the vehicle, comprising:

parameter reading means for reading a signal indicative of one of vehicle behavior parameters with respect to the vehicle when operating in a curved path;

discriminating means for outputting a detection signal indicative of discrimination of an instability of the vehicle when a value from said one of the vehicle behavior parameters indicated by said signal exceeds a reference value;

slip angle detecting means, coupled to said discriminating means, for detecting a maximum slip angle that can hold a lateral force of front wheels of the vehicle below a critical value, and for setting the reference value equal to said maximum slip angle; and

inference value setting means for determining an inference value from said one of the vehicle behavior parameters indicated by said signal, and for setting said value, used by said discriminating means, equal to the inference value, thereby allowing said discriminating means to detect whether the inference value exceeds the reference value.

11. The dynamic behavior estimate system according to claim 10, wherein said slip angle detecting means comprises:

lateral force determining means for determining a maximum lateral force of the front wheels based on a vehicle speed detected by a vehicle speed sensor and based on a friction coefficient detected by a friction coefficient detector;

cornering power determining means for determining a cornering power of the front wheels based on the vehicle speed detected by the vehicle speed sensor; and

slip angle determining means for determining the maximum slip angle from the maximum lateral force determined by said lateral force determining means and from the cornering power determined by said cornering power determining means.

12. The dynamic behavior estimate system according to claim 10, wherein said slip angle detecting means detects a front-wheel maximum slip angle based on a linear approximation of a relationship between a front-wheel slip angle and a front-wheel lateral force.

13. The dynamic behavior estimate system according to claim 10, wherein said inference value setting means determines an inference value of a front-wheel slip angle from a yaw rate signal indicative of a front-wheel yaw rate generated by a yaw rate sensor.

14. The dynamic behavior estimate system according to claim 10, wherein said inference value setting means determines an inference value of a front-wheel slip angle from a lateral signal indicative of a front-wheel lateral acceleration generated by a lateral acceleration sensor.

15. The dynamic behavior estimate system according to claim 10, wherein said inference value setting means determines an inference value of a front-wheel slip angle from a steering signal indicative of a front-wheel steering angle generated by a steering angle sensor.