Device for estimating slip angle of vehicle body through interrelation thereof with yaw rate
First Claim
1. A device for estimating slip angle of vehicle body of a vehicle having front and rear wheels supporting the vehicle body, the vehicle being equipped with means for cyclically detecting at least steering angle, vehicle speed, and yaw rate, the device comprising:
- means for cyclically calculating yaw rate based upon at least the last detected steering angle, and vehicle speed, as variable parameters, the slip angle of the vehicle body last estimated by the vehicle body slip angle estimation device, a first feedback factor multiplied to a difference between the last detected yaw rate and the yaw rate last calculated by said yaw rate calculation means, and fixed parameters particular to the vehicle, such that the cyclically calculated yaw rate converges to the last detected yaw rate;
means for cyclically calculating slip angle of the vehicle body based upon at least the last detected steering angle, vehicle speed, and yaw rate, the yaw rate last calculated by said yaw rate calculation means, a second feedback factor multiplied to the difference between the last detected yaw rate and the yaw rate last calculated by said yaw rate calculation means, and fixed parameters particular to the vehicle, such that the cyclically calculated yaw rate converges to the last detected yaw rate;
means for detecting saturation index against a difference between a standard yaw rate last calculated by said yaw rate calculation means and the last detected yaw rate; and
means for modifying said first and second feedback factors according to said saturation index such that non-linearity between lateral forces acting at the wheels and slip angles of the wheels is compensated for by the modification of said first and second feedback factors.
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Abstract
A device for estimating slip angle of vehicle body of a vehicle, having: means for calculating yaw rate based upon such parameters as detected steering angle, vehicle speed, lateral acceleration and braking forces as variable parameters, the slip angle of the vehicle body estimated by the vehicle body slip angle estimation device, a first feedback factor multiplied to difference between the detected yaw rate and the yaw rate calculated by the yaw rate calculation means, and fixed parameters particular to the vehicle, such that the calculated yaw rate converges to the detected yaw rate; means for calculating slip angle of the vehicle body based upon such parameters as detected steering angle, vehicle speed, lateral acceleration, braking forces and yaw rate, the yaw rate calculated by the yaw rate calculation means, a second feedback factor multiplied to the difference between the detected yaw rate and the yaw rate calculated by the yaw rate calculation means, and fixed parameters particular to the vehicle, such that the calculated yaw rate converges to the detected yaw rate; means for detecting saturation index against the difference between a standard yaw rate based upon the calculations by the yaw rate calculation means and the detected yaw rate; and means for modifying the first and second feedback factors according to the saturation index such that non-linearity between lateral forces acting at the wheels and slip angles of the wheels is compensated for by the modification of the first and second feedback factors.
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5 Claims
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1. A device for estimating slip angle of vehicle body of a vehicle having front and rear wheels supporting the vehicle body, the vehicle being equipped with means for cyclically detecting at least steering angle, vehicle speed, and yaw rate, the device comprising:
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means for cyclically calculating yaw rate based upon at least the last detected steering angle, and vehicle speed, as variable parameters, the slip angle of the vehicle body last estimated by the vehicle body slip angle estimation device, a first feedback factor multiplied to a difference between the last detected yaw rate and the yaw rate last calculated by said yaw rate calculation means, and fixed parameters particular to the vehicle, such that the cyclically calculated yaw rate converges to the last detected yaw rate; means for cyclically calculating slip angle of the vehicle body based upon at least the last detected steering angle, vehicle speed, and yaw rate, the yaw rate last calculated by said yaw rate calculation means, a second feedback factor multiplied to the difference between the last detected yaw rate and the yaw rate last calculated by said yaw rate calculation means, and fixed parameters particular to the vehicle, such that the cyclically calculated yaw rate converges to the last detected yaw rate; means for detecting saturation index against a difference between a standard yaw rate last calculated by said yaw rate calculation means and the last detected yaw rate; and means for modifying said first and second feedback factors according to said saturation index such that non-linearity between lateral forces acting at the wheels and slip angles of the wheels is compensated for by the modification of said first and second feedback factors. - View Dependent Claims (2, 3, 4, 5)
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Specification