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System for controlling braking of an automotive vehicle

  • US 5,915,800 A
  • Filed: 06/14/1996
  • Issued: 06/29/1999
  • Est. Priority Date: 06/19/1995
  • Status: Expired due to Fees
First Claim
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1. A braking force control system for an automotive vehicle having wheel speed detecting means for detecting a speed of each wheel and for generating a wheel speed signal, steering angle detecting means for detecting a steering angle of a steering wheel, and a yaw rate detector for detecting an actual yaw rate of the vehicle and for generating a yaw rate signal, comprising:

  • vehicle speed calculating means responsive to said wheel speed signal from each wheel for computing a vehicle speed and for producing a vehicle speed signal;

    yaw rate calculating means responsive to said vehicle speed signal for calculating a yaw rate gain and for producing a yaw rate signal;

    target yaw rate calculating means responsive to said steering angle signal and said yaw rate signal for calculating a target yaw rate on the basis of said vehicle speed and said steering angle and for generating a target yaw rate signal;

    yaw rate difference calculating means responsive to said yaw rate and said target yaw rate signals for calculating a difference in said yaw rate by subtracting said target yaw rate from said yaw rate and for producing a difference signal;

    target braking force calculating means responsive to said difference signal for calculating a target braking force of said vehicle on the basis of said difference in said yaw rate and running conditions of said vehicle and for generating a target signal;

    discriminating means responsive to said yaw rate and said difference signals for selecting a wheel to be braked on the basis of said yaw rate and said difference and for producing a discrimination signal;

    output means responsive to said discrimination signal and said target yaw rate signal for outputting a braking signal so as to control a target braking force at an optimum value corresponding to said running conditions of said vehicle; and

    output discriminating means for setting a first threshold as a yaw-rate difference discriminating threshold which discriminates whether the difference in yaw rate is in a control region, and for setting a second threshold when the sign of the actual yaw rate is the same as the sign of the difference in yaw rate after the sign of the actual yaw rate has been different from the sign of the difference in yaw rate, the absolute value of the second threshold being smaller that the absolute value of the first threshold, andfor discriminating as to whether the difference in yaw rate is in the control region by comparing the difference in yaw rate with discriminating threshold, when the sign of the actual yaw rate is the same as the sign of the difference in yaw rate after the sign of the actual yaw rate has been different from the sign of the difference in yaw rate.

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