Device for estimating reference wheel speed of vehicle for turn stability control
First Claim
1. A device for estimating reference wheel speed of each wheel of a vehicle having a vehicle body, front left, front right, rear left and rear right wheels supporting the vehicle body, and means for detecting operation parameters of the vehicle including wheel speed of each of the front left, front right, rear left and rear right wheels, lateral acceleration, steering angle, and yaw rate, the reference wheel speed estimation device comprising:
- means for calculating slip angle of the vehicle body based upon the lateral acceleration, the yaw rate, and vehicle speed detected by said vehicle operation parameter detection means;
means for estimating speed of the vehicle body at a center of gravity of the vehicle body based upon wheel speed detected by said vehicle operation parameter detection means, and the yaw rate; and
means for calculating the reference wheel speed of each of the front left, front right, rear left and rear right wheels based upon the vehicle body gravity center speed estimated by said vehicle body gravity center speed estimation means, the steering angle detected by said vehicle operation parameter detection means, the slip angle of the vehicle body calculated by said vehicle body slip angle calculation means, the yaw rate detected by said vehicle operation parameter detection means, a half track of the corresponding wheel, and a half wheel base of the corresponding wheel as follows;
space="preserve" listing-type="equation">Vmfl=Vbc*cos (δ
f-β
)-γ
*Tfl*cos δ
f+γ
*sin δ
f*Lf;
space="preserve" listing-type="equation">Vmfr=Vbc*cos (δ
f-β
)+γ
*Tfl*cos δ
f+γ
*sin δ
f*Lf;
space="preserve" listing-type="equation">Vmrl=Vbc*cos γ
+γ
*Trl;
space="preserve" listing-type="equation">Vmrr=Vbc*cos β
-γ
*Trr,wherein Vmfl, Vmfr, Vmrl and Vmrr are the reference wheel speed of the front left, front right, rear left and rear right wheels, respectively, Vb is the vehicle body gravity center speed, δ
f is the steering angle, β
is the vehicle body slip angle, γ
is the yaw rate, Tfl is a half track of the front left wheel, Tfr is the half track of the front right wheel, Trl is the half track of the rear left wheel, Trr is a half track of the rear right wheel, and Lf is the half wheel base of the front left and front right wheels.
1 Assignment
0 Petitions
Accused Products
Abstract
A device for estimating reference wheel speed of each wheel of a vehicle having: a calculator for calculating slip angle of vehicle body based upon lateral acceleration, yaw rate, and vehicle speed; an estimator for estimating speed of vehicle body at its center of gravity based upon wheel speed and yaw rate; and a calculator for calculating the reference wheel speed of each of the front left, front right, rear left and rear right wheels based upon the vehicle body gravity center speed, steering angle, slip angle of vehicle body, yaw rate, a half track of a corresponding wheel, and a half wheel base of a corresponding wheel as follows:
Vmfl=Vbc*cos (δf-β)-γ*T*cos δf+γ*sin
δf*Lf;
Vmfr=Vbc*cos (δf-β)+γ*Tfl*cos δf+γ*sin
δf*Lf;
Vmrl=Vbc*cos β+γ*Trl
Vmrr=Vbc*cos β-γ*Trr,
wherein Vmfl, Vmfr, Vmrl and Vmrr are the reference wheel speed of front left, front right, rear left and rear right wheels, respectively, Vb is the vehicle body gravity center speed, δf is the steering angle, β is the vehicle body slip angle, γ is the yaw rate, Tfl is a half track of the front left wheel, Tfr is a half track of the front right wheel, Trl is the half tred of the rear left wheel, Trr is the half track of the rear right wheel, Lf is the half wheel base of the front left and front right wheels. The half track of each wheel may desirably be modified against lateral biasing of the wheel tire due to centrifugal force of acting during turn of the vehicle.
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Citations
12 Claims
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1. A device for estimating reference wheel speed of each wheel of a vehicle having a vehicle body, front left, front right, rear left and rear right wheels supporting the vehicle body, and means for detecting operation parameters of the vehicle including wheel speed of each of the front left, front right, rear left and rear right wheels, lateral acceleration, steering angle, and yaw rate, the reference wheel speed estimation device comprising:
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means for calculating slip angle of the vehicle body based upon the lateral acceleration, the yaw rate, and vehicle speed detected by said vehicle operation parameter detection means; means for estimating speed of the vehicle body at a center of gravity of the vehicle body based upon wheel speed detected by said vehicle operation parameter detection means, and the yaw rate; and means for calculating the reference wheel speed of each of the front left, front right, rear left and rear right wheels based upon the vehicle body gravity center speed estimated by said vehicle body gravity center speed estimation means, the steering angle detected by said vehicle operation parameter detection means, the slip angle of the vehicle body calculated by said vehicle body slip angle calculation means, the yaw rate detected by said vehicle operation parameter detection means, a half track of the corresponding wheel, and a half wheel base of the corresponding wheel as follows;
space="preserve" listing-type="equation">Vmfl=Vbc*cos (δ
f-β
)-γ
*Tfl*cos δ
f+γ
*sin δ
f*Lf;
space="preserve" listing-type="equation">Vmfr=Vbc*cos (δ
f-β
)+γ
*Tfl*cos δ
f+γ
*sin δ
f*Lf;
space="preserve" listing-type="equation">Vmrl=Vbc*cos γ
+γ
*Trl;
space="preserve" listing-type="equation">Vmrr=Vbc*cos β
-γ
*Trr,wherein Vmfl, Vmfr, Vmrl and Vmrr are the reference wheel speed of the front left, front right, rear left and rear right wheels, respectively, Vb is the vehicle body gravity center speed, δ
f is the steering angle, β
is the vehicle body slip angle, γ
is the yaw rate, Tfl is a half track of the front left wheel, Tfr is the half track of the front right wheel, Trl is the half track of the rear left wheel, Trr is a half track of the rear right wheel, and Lf is the half wheel base of the front left and front right wheels. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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Specification