Behavior control device of vehicle based upon monitoring movement of rear wheels
First Claim
1. A behavior control device for a vehicle including a vehicle body, front left, front right, rear left and rear right wheels, steering means for steering said front left and front right wheels, and brake means for selectively variably braking each of said front left, front right, rear left and rear right wheels, comprising:
- means for detecting vehicle speed;
means for detecting steering angle of said front left and front right wheels;
means for detecting slip angle of at least one of said rear left and rear right wheels;
means for calculating a target value of said slip angle based upon parameters related with turn behavior of the vehicle including at least the vehicle speed detected by said vehicle speed detecting means and the steering angle detected by said steering angle detecting means; and
control means for calculating a value of yaw moment to be applied to the vehicle body such that, when the calculated value of the yaw moment is applied to the vehicle body, the slip angle detected by said slip angle detecting means conforms to said target value thereof calculated by said target slip angle calculation means, said control means operating said brake means so as to variably brake a selected one or ones of said wheels in order to apply the calculated value of the yaw moment to the vehicle body.
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Accused Products
Abstract
A behavior control device of a vehicle, comprising: means for detecting vehicle speed; means for detecting steering angle of front left and front right wheels; means for detecting slip angle of at east one of rear left and rear right wheels; means for calculating a target value of the slip angle based upon parameters related with turn behavior of the vehicle including at least the vehicle speed detected by the vehicle speed detecting means and the steering angle detected by the steering angle detecting means; and control means for calculating a value of yaw moment to be applied to the vehicle body such that, when the calculated value of yaw moment is applied to the vehicle, the slip angle detected by the slip angle detecting means conforms to the target value thereof calculated by the target slip angle calculation means. The control means operates the brake means so as to variably brake a selected one or ones of the wheels to apply the calculated value of the yaw moment to the vehicle body. The behavior control device may further comprise means for calculating a liability of the vehicle body to spin for producing a spin value which generally increases along with increase of the spin liability; and means for calculating a liability of the vehicle body to drift-out for producing a drift-out value which generally increases along with increase of the drift-out liability, so that control means modifies the calculated value of the yaw moment applied to the vehicle body according to at least one of the spin value and the drift-out value such that the yaw moment applied to the vehicle body is greater as the spin value or the drift-out value is greater.
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Citations
13 Claims
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1. A behavior control device for a vehicle including a vehicle body, front left, front right, rear left and rear right wheels, steering means for steering said front left and front right wheels, and brake means for selectively variably braking each of said front left, front right, rear left and rear right wheels, comprising:
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means for detecting vehicle speed; means for detecting steering angle of said front left and front right wheels; means for detecting slip angle of at least one of said rear left and rear right wheels; means for calculating a target value of said slip angle based upon parameters related with turn behavior of the vehicle including at least the vehicle speed detected by said vehicle speed detecting means and the steering angle detected by said steering angle detecting means; and control means for calculating a value of yaw moment to be applied to the vehicle body such that, when the calculated value of the yaw moment is applied to the vehicle body, the slip angle detected by said slip angle detecting means conforms to said target value thereof calculated by said target slip angle calculation means, said control means operating said brake means so as to variably brake a selected one or ones of said wheels in order to apply the calculated value of the yaw moment to the vehicle body. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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Specification