Vehicle yawing behavior control apparatus
First Claim
1. An apparatus for controlling the yawing behavior of an automotive vehicle supported on a pair of front road wheels and a pair of rear road wheels, comprising:
- means for sensing parameters representing a condition of vehicle movement;
means for calculating a target value for vehicle yawing motion based on the sensed parameters;
means for detecting at least vehicle yaw rate and vehicle slip angle representing an actual value of vehicle yawing motion; and
a control unit for controlling the vehicle behavior to bring the actual vehicle yawing motion value into agreement with the calculated target value, the control unit including means for producing a control signal when the detected vehicle slip angle is directed outside with respect to a circle in which the vehicle is turning and is greater than a reference slip angle, means responsive to the control signal for correcting the calculated target vehicle yawing motion value to a greater degree outside with respect to the circle in which the vehicle is turning as a deviation of the detected vehicle slip angle from the reference slip angle increases, and means for increasing the reference slip angle as the calculated target vehicle yawing motion value increases.
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Abstract
A vehicle yawing behavior control apparatus for controlling the vehicle behavior to bring the actual vehicle yawing motion into agreement with the calculated target value calculated based on the parameters representing a condition of vehicle movement. At least vehicle yaw rate and slip angle representing an actual value of vehicle yawing motion is detected. When the detected vehicle slip angle is directed outside with respect to the vehicle movement and is greater than a reference slip angle, the calculated target vehicle yawing motion value is corrected outside with respect to the vehicle movement to a greater degree at a greater deviation of the detected vehicle slip angle from the reference slip angle. The reference slip angle is increased as the calculated target vehicle yawing motion value increases.
101 Citations
16 Claims
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1. An apparatus for controlling the yawing behavior of an automotive vehicle supported on a pair of front road wheels and a pair of rear road wheels, comprising:
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means for sensing parameters representing a condition of vehicle movement; means for calculating a target value for vehicle yawing motion based on the sensed parameters; means for detecting at least vehicle yaw rate and vehicle slip angle representing an actual value of vehicle yawing motion; and a control unit for controlling the vehicle behavior to bring the actual vehicle yawing motion value into agreement with the calculated target value, the control unit including means for producing a control signal when the detected vehicle slip angle is directed outside with respect to a circle in which the vehicle is turning and is greater than a reference slip angle, means responsive to the control signal for correcting the calculated target vehicle yawing motion value to a greater degree outside with respect to the circle in which the vehicle is turning as a deviation of the detected vehicle slip angle from the reference slip angle increases, and means for increasing the reference slip angle as the calculated target vehicle yawing motion value increases. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. In an apparatus for controlling an automotive vehicle when the vehicle is turning a circle, including yawing behavior control means having a control element positionable in response to a control signal to establish various positions of the vehicle against surrounding circumstances and control unit means for developing the control signal to reduce a deviation of an actual yawing motion value from a target yawing motion value toward zero,
the improvement wherein the control unit means inputs information of a slip angle of the vehicle and a yaw rate of the vehicle; -
the control unit means determines whether the input slip angle indicates that the vehicle moves in a direction outward of the circle in which the vehicle turns; the control unit means determines whether the input slip angle is greater than a reference slip angle; the control unit means calculates a deviation of the input slip angle from the reference slip angle; the control unit means corrects the calculated target yawing motion value at a rate, with respect to time, determined by the calculated deviation and in such a direction as to cause the vehicle to move outward of the circle in which the vehicle turns upon determination that the direction in which the vehicle moves points outward of the circle in which the vehicle turns and that the input slip angle is greater than the reference slip angle; and the control unit means increases the reference slip angle with an increase in the calculated target yawing motion value. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16)
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Specification