Apparatus and method for stability controlling vehicular attitude using vehicular braking system

• US 5,893,896 A
• Filed: 05/30/1997
• Issued: 04/13/1999
• Est. Priority Date: 05/31/1996
• Status: Expired due to Term

• Current Assignee: Hitachi, Ltd.
• Original Assignee: Unisia Jecs Corporation (Hitachi, Ltd.)
• Inventors: Kubota, Hitoshi, Kubo, Jun, Imamura, Masamichi, Katayose, Shinji
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Arthur, Gertrude
• Application Number:
  US08/865,869
• Time in Patent Office: 683 Days
• Field of Search: 701/1, 701/37, 701/41, 701/70, 701/72, 701/78, 701/81, 701/83, 701/89, 303/116.2, 303/140, 303/146, 303/157, 303/158, 280/5.51, 280/767
• US Class Current: 701/70
• CPC Class Codes: B60T 2230/02 Side slip angle, attitude angle, floating angle, drift angle
• 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

Abstract

In apparatus and method for stability controlling a vehicular attitude for a vehicle, a slip angle (BETA) of a vehicle body to a vehicular forwarding direction is derived on the basis of a detected yaw rate, a derived vehicle body speed, and a detected lateral acceleration acted upon the vehicle body, a controller determines whether an oversteer condition occurs and/or determined whether an understeer condition occurs, and a braking liquid pressure from a control purpose liquid pressure source is supplied through one of two braking pressure distribution conduits so as to give a braking force to be applied to one of front left and right road wheels which is directed to suppress a yaw moment when the oversteer condition occurs. When the understeer condition occurs, the liquid pressure in the control purpose liquid pressure source is supplied to one of the two braking distribution conduits so as to give the braking force to be applied to one of the front left and right road wheels so as to develop the yaw moment.

Claims

1. An apparatus for a vehicle, comprising:

a braking system having a master cylinder, a plurality of wheel cylinders, each of the wheel cylinders being arranged around a corresponding one of front left and right road wheels and rear left and right road wheels so as to apply a braking force to the corresponding one of the front left and right and rear left and right road wheels according to a braking liquid pressure supplied thereto, and two separate braking liquid pressure distribution conduits which are so arranged and constructed as to distribute the braking liquid pressure developed in the master cylinder according to a brake demand to the wheel cylinders arranged around the front right and the rear left road wheels and to the wheel cylinders arranged around the front left and rear right road wheels, respectively;

a control purpose liquid pressure source which is so arranged and constructed as to enable an increase in the liquid pressure applied to each wheel cylinder independently of the liquid pressure in the master cylinder developed according to the brake demand;

a selector which is so arranged and constructed as to selectively output a liquid pressure supply to the respective wheel cylinders from either the master cylinder or the control purpose liquid pressure source;

a vehicular behavior detector which is so arranged and constructed as to detect a vehicular behavior; and

a controller, having a first determinator determining whether an oversteer of the vehicle exceeding a predetermined magnitude occurs on the basis of an inputted signal indicating the vehicular behavior from the vehicular behavior detector, said controller carrying out an oversteer avoidance control via the selector such that the liquid pressure in the control purpose liquid pressure source is supplied to one of the braking pressure distribution conduits through which a braking force is applied to one of the front road wheels via the corresponding one of the wheel cylinders in a direction toward which a yaw moment is suppressed and the liquid pressure in the master cylinder is supplied to the other of the braking pressure distribution conduits, when the first determinator determines that the oversteer of the vehicle exceeding the predetermined magnitude occurs, wherein the controller further comprises a second determinator arranged for determining whether an understeer of the vehicle exceeding a predetermined magnitude of the understeer occurs on the basis of the inputted signal from the vehicular behavior detector, the controller carrying out an understeer avoidance control via the selector such that the liquid pressure in the control purpose liquid pressure source is supplied to one of the braking liquid pressure distribution conduits through which the braking force is applied to one of the rear road wheels in a direction toward which the yaw moment is developed and the liquid pressure in the master cylinder is supplied to the other of the braking pressure distribution conduits, when the second determinator determines that the understeer of the vehicle exceeding the predetermined magnitude occurs, wherein said selector comprises first interrupting valves, interposed between the control purpose liquid pressure source and each of the two braking pressure distribution conduits, which is enabled to interrupt the supply of the liquid pressure in the control purpose liquid pressure source to the corresponding one of the two braking pressure distribution conduits, and second interrupting valves, interposed between the master cylinder and each of the two braking pressure distribution conduits, which is enabled to interrupt the supply of the liquid pressure in the master cylinder to the corresponding one of the two braking pressure distribution conduits and wherein said controller opens or closes each of the first and second interrupting valves during the oversteer or understeer avoidance control, wherein the vehicular behavior detector detects a yaw rate of the vehicle and wherein the first determinator determines whether the oversteer of the vehicle exceeding the predetermined magnitude occurs on the basis of the yaw rate and the second determinator determines whether the understeer of the vehicle occurs on the basis of the yaw rate, and wherein said controller further comprises a third determinator arranged for determining a slip angle of the vehicle on the basis of at least the yaw rate and wherein said first determinator determines whether the oversteer of the vehicle exceeding the predetermined magnitude occurs on the basis of the slip angle of the vehicle and said second determinator determined whether the understeer of the vehicle exceeding the predetermined magnitude occurs on the basis of the slip angle of the vehicle.

2. An apparatus for a vehicle as claimed in claim 1, wherein said vehicular detector detects a lateral acceleration acted upon the vehicle and wherein said first determinator determines whether the oversteer of the vehicle occurs on the basis of the lateral acceleration and said second determinator determines whether the understeer of the vehicle exceeding the predetermined magnitude occurs on the basis of the lateral acceleration.

3. An apparatus for a vehicle as claimed in claim 2, wherein said vehicular behavior detector includes a steering angle sensor arranged on a vehicular steering system for detecting a steering angular velocity and a yaw rate sensor arranged for detecting a yaw rate and wherein said controller comprises a first calculator arranged for calculating a steering angular displacement on the basis of an output signal of the steering angle sensor, calculating a yaw rate target value on the basis of a calculated value of the steering angular displacement, calculating an absolute value of the actual yaw rate detected by the yaw rate sensor, calculating an absolute value of the yaw rate target value, and calculating a subtraction of the absolute value of the actual yaw rate value from the absolute value of the target yaw rate, and wherein said first determinator determines that the oversteer of the vehicle exceeding the predetermined magnitude occurs when the subtraction result of the first calculator indicates a positive value equal to or above a predetermined value.

4. An apparatus for a vehicle as claimed in claim 3, wherein said second determinator determines that the understeer of the vehicle exceeding the predetermined magnitude occurs when the subtraction result of the first calculator indicates a negative value below the predetermined value.

5. An apparatus for a vehicle as claimed in claim 2, wherein said vehicular behavior detector comprises a steering angle detector arranged on a vehicular steering system for detecting a steering angular velocity of the vehicular steering system;

a yaw rate sensor arranged for detecting a yaw rate (YAW) of the vehicle;

a lateral acceleration sensor arranged on a vehicle body for detecting a lateral acceleration (Y_G) acted upon the vehicle body and wherein said controller comprises a first calculator arranged for calculating a vehicle body slip angle (BETA) from the detected yaw rate (YAW), and the detected lateral acceleration (Y_G) and said controller comprises a second calculator arranged for calculating a steering angular displacement from the detected steering angular velocity, calculating a target value of the vehicle body slip angle calculated on the basis of the calculated steering angular displacement, calculating absolute values of the target value of the vehicle body slip angle and of the actual vehicle body slip angle, and calculating a subtraction of the absolute value of the actual vehicle body slip angle from the absolute value of the target value of the vehicle slip angle, and wherein said first determinator determines that the oversteer of the vehicle exceeding the predetermined magnitude occurs, when the subtraction result indicates a positive value equal to or above a predetermined value.

6. An apparatus for a vehicle as claimed in claim 5, wherein said second determinator determines that the understeer of the vehicle exceeding the predetermined magnitude occurs when the subtraction result indicates a negative value below the predetermined value.

7. An apparatus for a vehicle as claimed in claim 2, wherein said vehicular behavior detector comprises:

a steering angle sensor arranged on a vehicular steering system for detecting a steering angular velocity; and

a lateral acceleration sensor arranged on a vehicle body for detecting a lateral acceleration acted upon the vehicle body, wherein the controller comprises a first calculator arranged for calculating a steering angular displacement from the detected steering angular displacement from the detected steering angular velocity, a second calculator arranged for calculating a target value of the lateral acceleration on the basis of the calculated value of the vehicular steering angular displacement, calculating absolute values of both of the target value of the lateral acceleration and of the actual lateral acceleration detected by the lateral acceleration sensor, and calculating a subtraction of the absolute value of the actual lateral acceleration detected by the lateral acceleration sensor from the absolute value of the target value of the lateral acceleration, and wherein said controller comprises a first calculator arranged for calculating a steering angle displacement of the vehicular steering system from the detected steering angular velocity, and wherein said controller comprises a second calculator arranged for calculating a target value of the calculated steering angular displacement, calculating the slip angle on the basis of the detected yaw rate and the lateral acceleration and wherein said first determinator determines that the oversteer of the vehicle exceeding the predetermined value occurs when the subtraction result of the second calculator indicates a positive value equal to or above a predetermined value.

8. An apparatus for a vehicle as claimed in claim 7, wherein said second determinator determines that the understeer of the vehicle exceeding the predetermined magnitude occurs when the subtraction result indicates a negative value below the predetermined value.

9. An apparatus for a vehicle as claimed in claim 8, wherein said vehicular behavior detector comprises:

a steering angle sensor arranged on a vehicular steering system for detecting a steering angular velocity of the vehicular steering system;

a yaw rate sensor arranged for detecting a yaw rate of the vehicle; and

a lateral acceleration sensor arranged for detecting a lateral acceleration acted upon the vehicle body, wherein said controller comprises a first calculator arranged for calculating a steering angular displacement from the detected steering angular velocity and a second calculator arranged for calculating a slip angle of the vehicle on the basis of the detected yaw rate and the detected lateral acceleration, calculating a target value of the slip angle on the basis of the calculated steering angular displacement and wherein said controller carries out the oversteer avoidance control when a subtraction result of the target value of the slip angle from the calculated slip angle indicates a value equal to or above a predetermined value.

10. An apparatus for a vehicle as claimed in claim 9, wherein said controller carries out the understeer avoidance control when the subtraction result of the second calculator indicates a value below the predetermined value.

11. An apparatus for a vehicle as claimed in claim 1, wherein 1 said braking system further comprises a plurality of control valves, each of which is interposed between the corresponding one of the wheel cylinders and the corresponding one of the two separate braking pressure distribution conduits and is enabled to control the liquid pressure to be supplied to the corresponding one of the wheel cylinders independently of the selector, and wherein said controller operates a corresponding one of the control valves so that the liquid pressure to be supplied to one of the wheel cylinders arranged around the rear road wheels via one of the two separate braking pressure distribution conduits through which the liquid pressure in the control purpose liquid pressure source is supplied is zeroed.

12. An apparatus for a vehicle as claimed in claim 1, wherein said vehicular behavior detector comprises a yaw rate sensor which is so arranged and constructed as to detect a yaw rate (YAW) of the vehicle, a plurality of road wheel speed sensors, each of which is so arranged and constructed as to detect a road wheel speed of a corresponding one of the front left and right and rear left and the rear left and right road wheels, a lateral acceleration sensor which is so arranged and constructed as to detect a lateral acceleration acted upon the vehicle body, and a steering angle sensor which is so arranged and constructed as to detect a steering angular velocity of a vehicular steering system, wherein said controller comprises a first calculator arranged for calculating a vehicle body speed (Vi) from among the detected road wheel speeds, a second calculator arranged for calculating a slip angle (BETA) of the vehicle body from the vehicle body speed (Y_G), and the detected yaw rate (YAW), a third calculator arranged for calculating a steering angular displacement according to the detected steering angular velocity and a fourth calculator arranged for calculating target values (YAWS, BETAS) of the yaw rate and the vehicle body slip angle on the basis of the steering angular displacement and the vehicle body speed, respectively, a fifth calculator arranged for calculating a correction index K_FT for a vehicular attitude according to a following equation:

K_FT =K₁ (YAWS-YAW)+K₂ (BETAS-BETA), wherein K₁ and k₂ denote control gains, a sixth calculator arranged for calculating a slip rate of at least two front road wheels according to the following equation;

space="preserve" listing-type="equation">SLIP.sub.FL =(VW.sub.FL -Vi)/Vi, and

space="preserve" listing-type="equation">SLIP.sub.FR =(VW.sub.FR -Vi)/Vi,

wherein a subscript FL denotes the front the front left road wheel and a subscript FR denotes the front right road wheel, and a seventh calculator arranged for calculating a target value (SLIP_CTF) of one of the front road wheel slip rates of the front left and right road wheels on the corresponding one of the two separate braking pressure distribution conduits through which the braking liquid pressure in the control purpose liquid pressure source is supplied according to the following equation;

space="preserve" listing-type="equation">SLIP.sub.CTF =SLIP.sub.CnF -K.sub.FM ×

SLIP.sub.CnR +|K.sub.FT ×

SLIM/K.sub.FI |,

wherein SLIP_CnF denotes the slip rate of one of the front left and right road wheels on the corresponding one of the two separate braking pressure distribution conduits through which the braking liquid pressure in the control purpose liquid pressure source is supplied, SLIP_CnR denotes the slip rate of one of the rear left and right road wheels on the corresponding one of the two separate braking pressure distribution conduits through which the braking liquid pressure in the master cylinder is supplied, Slim denotes a linearly varied road wheel slip rate, K_FM denotes a characteristic constant on a vehicular front-and-rear weight distribution ratio, and K_FI denotes a characteristic constant on a vehicular front road wheel weight and inertia, and wherein said controller during the oversteer avoidance control operates the corresponding one of the control valves so that the corresponding front road wheel slip rate of the front left or right road wheel on one of the two separate braking pressure distribution conduits through which the braking liquid pressure in the control purpose liquid pressure source is supplied is coincident with the target value (SLIP_CTF) of the corresponding slip rate.

13. An apparatus for a vehicle as claimed in claim 1, wherein said controller comprises an eighth calculator arranged for calculating rear road wheel slip rates as follows:

SLIP_RL =(V_WRL -Vi)/Vi, SLIP_RR =(V_WRR =Vi)/Vi, and a ninth calculator arranged for calculating slip rate limit rates (SLIP_CGF (front left or right road wheel), SLIP_CGR (rear left or right road wheel)) of the road wheels on the corresponding one of the two separate braking pressure distribution conduits through which the liquid pressure in the master cylinder is supplied according to the following equation;

space="preserve" listing-type="equation">SLIP.sub.CGF =SLIP.sub.CGR = K.sub.FI ×

SLIP.sub.MX -|Slim×

K.sub.FT |!/(K.sub.FI -K.sub.RI),

wherein KRI denotes a characteristic constant on a vehicular rear road wheel weight and inertia and SLIP_MX denotes a control upper limit slip rate, and wherein said controller during the oversteer avoidance control operates each of the control valves disposed on the corresponding one of the two separate braking pressure distribution conduits through which the braking liquid pressure in the master cylinder is supplied so that the slip rates (SLIP_CnF and SLIP_CnR) of the front and rear road wheels on the corresponding one of the two separate braking pressure distribution conduits through which the liquid pressure in the control purpose liquid pressure source is supplied do not exceed the slip rate limit values (SLIP_CGF and SLIP_CGR).

14. An apparatus for a vehicle as claimed in claim 1, wherein said controller derives the correction index (K_FT) during the understeer avoidance control and derives the target value of the slip rate of the corresponding one of the front left and right road wheels on one of the two separate braking pressure distribution conduits through which the braking liquid pressure in the control purpose liquid pressure source is supplied is derived as a function of either (YAWS-YAW) or (BETAS-BETA) and, thereafter, limits the derived target value of the slip rate SLIP_CTF so as to satisfy the following equation:

space="preserve" listing-type="equation">SLIP.sub.CTF <

K.sub.FM ×

SLIP.sub.MX +|K.sub.FT ×

Slim/K.sub.FI |.

15. An apparatus for a vehicle as claimed in claim 1, wherein said controller comprises a tenth calculator arranged for calculating a target value (SLIP_CTR) of the slip rate of one of the rear left and right road wheels on the corresponding one of the two separate braking liquid pressure distribution conduits through which the braking liquid pressure in the control purpose liquid pressure source is supplied according to the following equation:

SLIP_CnR =SLIP_CnR -K_FM (SLIP_CnF -SLIP_CTF)-|K_FT ×

Slim/K_FI | and wherein the slip rate of one of the rear road wheels on the corresponding one of the two braking pressure distribution conduits through which the braking liquid pressure in the control purpose braking liquid pressure source is supplied is coincident with the target value of the corresponding slip rate SLIP_CTR.

16. An apparatus for a vehicle as claimed in claim 15, wherein said controller comprises an eleventh calculator arranged for calculating slip rate limit values (SLIPCGF, SLIPCGR) of the front and rear road wheels on the corresponding one of the two separate braking pressure distribution conduits through which the braking liquid pressure in the master cylinder is supplied during the understeer avoidance control according to the following equation:

SLIP_CGF =SLIP_CGR = K_FI ×

SLIP_CTF -KRI×

SLIP_MX -|Slim×

K_FT |!/(K_FI -K_RI) and wherein said controller operates the control valves so that the slip rates (SLIP_CnF, SLIP_CnR) of the front and rear road wheels on the corresponding one of the two separate distribution conduits do not exceed the corresponding slip rate limit values (SLIP_CGF, SLIP_CGR).

17. A method for stability controlling a vehicular attitude for a vehicle having front left and right and rear left and right road wheels (FL, FR, RL, and RR) and a brake system, the brake system including a master cylinder (14), a plurality of wheel cylinders, each of the wheel cylinders (20) being arranged around a corresponding one of the front left and right road wheels so as to apply a braking force to the corresponding one of the front left and right and rear left and right road wheels according to a braking liquid pressure applied thereto, two separate braking pressure distribution conduits (21, 22) which are so arranged and constructed as to separately distribute a braking liquid pressure into the two of the wheel cylinders arranged around the front left and rear right road wheels and into the other two of the wheel cylinders arranged around the front left and rear right road wheels, respectively, and a control purpose liquid pressure source (13i ) which is so arranged and constructed as to enable an increase in the liquid pressure to be applied to each wheel cylinder independently of the liquid pressure in the master cylinder, the method comprising the steps of:

a) detecting each road wheel speed of the front left and right road wheels (FL, FR, RL, and RR);

b) detecting a yaw rate (YAW) of the vehicle;

c) deriving a lateral acceleration (Y_G) acted upon the vehicle;

d) deriving a vehicle body speed (Vi) from the respective road wheel speeds;

e) deriving a slip angle (BETA) of the vehicle body to a vehicular forwarding direction on the basis of the detected yaw rate (YAW), the detected lateral acceleration (Y_G), and the derived vehicle body speed (Vi);

f) determining whether an oversteer exceeding a predetermined magnitude occurs on the basis of the determined slip angle;

g) switching a selector (13e, 13f, 13g, and 13h ), the selector being arranged for selectively outputting the liquid pressure from either the master cylinder or the control purpose liquid pressure source through one of the two braking pressure distribution conduits to the wheel cylinders so that the liquid pressure from the control purpose liquid pressure source is supplied to one of the braking pressure distribution conduits through which a front road wheel braking force is given to the wheel cylinder arranged around one of the front left and right road wheels in a direction such as to suppress a yaw moment when determining that the oversteer exceeding the predetermined magnitude occurs.

18. A method for stability controlling a vehicular attitude for a vehicle as claimed in claim 17, which further comprises the steps of:

h) determining whether an understeer exceeding a predetermined magnitude occurs on the basis of the derived slip angle; and

i) switching the selector so that the liquid pressure in the control purpose liquid pressure source is supplied through one of the two braking pressure distribution conduits through which a rear road wheel braking force is given to the wheel cylinder arranged around one of the rear left and right road wheels in a direction such as to develop the yaw moment when determining that the understeer exceeding the predetermined magnitude occurs.

19. A method for stability controlling a vehicular attitude for a vehicle as claimed in claim 18, wherein the brake system further comprises a plurality of hydraulic pressure control valves (13a, 13b, 13c, and 13d ) arranged in each of the two braking distribution conduits (21 and 22) for operatively controlling the supplied braking liquid pressure through the corresponding one of the two braking pressure distribution conduits to the corresponding one of the wheel cylinders, and which further comprises the step of:

j) operating one of the hydraulic pressure control valves which is arranged in one of the two braking pressure distribution conduits through which the liquid pressure in the control purpose liquid pressure source is supplied to one of the wheel cylinders which is arranged around one of the rear left and right road wheels in the direction so as to suppress the yaw moment so that the liquid pressure supplied to the corresponding one of the wheel cylinders is zeroed when determining that the oversteer exceeding the predetermined magnitude occurs.

20. A method for stability controlling a vehicular attitude for a vehicle as claimed in claim 19, which further comprises the step of k) determining whether the vehicle Is turning in a leftward or rightward direction on the basis of the detected yaw rate when determining whether the oversteer exceeding the predetermined magnitude occurs or when determining whether the understeer exceeding the predetermined magnitude occurs.

21. A method for stability controlling a vehicular attitude for a vehicle having front left and right and rear left and right road wheels (FL, FR, RL, and RR) and a brake system, the brake system including a master cylinder, a plurality of wheel cylinders, each of the wheel cylinders being arranged around a corresponding one of the front left and right road wheels so as to apply a braking force to the corresponding one of the front left and right and rear left and right road wheels according to a braking liquid pressure applied thereto, two separate braking pressure distribution conduits which are so arranged and constructed as to separately distribute a braking liquid pressure into the two of the wheel cylinders arranged around the front left and rear right road wheels and into the other two of the wheel cylinders arranged around the front left and rear right road wheels, respectively, and a control purpose liquid pressure source which is so arranged and constructed as to enable an increase in the liquid pressure to be applied to each wheel cylinder independently of the liquid pressure in the master cylinder, the method comprising the steps of:

a) detecting each road wheel speed of the front left and right road wheels (FL, FR, RL, and RR);

b) detecting a yaw rate (YAW) of the vehicle;

c) deriving a lateral acceleration (Y_G) acted upon the vehicle;

d) deriving a vehicle body speed (Vi) from the respective road wheel speeds;

e) deriving a slip angle (BETA) of the vehicle body to a vehicular forwarding direction on the basis of the detected yaw rate (YAW), the detected lateral acceleration (Y_G) ,and the derived vehicle body speed (Vi);

f) determining whether an understeer exceeding a predetermined magnitude occurs on the basis of the determined slip angle;

g) switching a selector, the selector being arranged for selectively outputting the liquid pressure from either the master cylinder or the control purpose liquid pressure source through one of the two braking pressure distribution conduits to the wheel cylinders so that the liquid pressure from the control purpose liquid pressure source is supplied to one of the braking pressure distribution conduits through which a front road wheel braking force is given to the wheel cylinder arranged around one of the front left and right road wheels in a direction such as to develop a yaw moment when determining that the understeer exceeding the predetermined magnitude occurs.