Control apparatus for vehicle

• US 6,064,931 A
• Filed: 06/30/1999
• Issued: 05/16/2000
• Est. Priority Date: 11/28/1997
• Status: Expired due to Fees

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Sawada, Mamoru, Onogi, Nobuyoshi
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Mancho, Ronnie
• Application Number:
  US09/343,678
• Time in Patent Office: 321 Days
• Field of Search: 280/124.101, 280/5.503, 280/5.519, 188/266.4, 701/37, 701/70, 701/41, 701/71, 701/79, 701/85, 73/146.5, 73/11, 73/146.2, 364/424.046, 267/140.14, 303/191
• US Class Current: 701/41
• CPC Class Codes: B60C 23/061 by monitoring wheel speed measuring distance traversed on the ground by vehicles G01C22/00
• CPC Class Codes: B60C 23/062 Frequency spectrum analysis of wheel speed signals, e.g. using Fourier transformation
• CPC Class Codes: B60G 17/019 characterised by the type of sensor or the arrangement thereof B60G17/01941 takes precedence
• CPC Class Codes: B60G 2400/52 in tyre
• CPC Class Codes: B60G 2400/61 Load distribution
• CPC Class Codes: B60G 2400/91 Frequency
• CPC Class Codes: B60G 2800/182 Traction
• CPC Class Codes: B60G 2800/21 Traction, slip, skid or slide control
• CPC Class Codes: B60G 2800/22 Braking, stopping
• CPC Class Codes: B60G 2800/70 Estimating or calculating vehicle parameters or state variables
• CPC Class Codes: B60G 2800/93 Skid or slide control [ASR]
• CPC Class Codes: B60G 2800/95 Automatic Traction or Slip Control [ATC]
• CPC Class Codes: B60T 2240/06 Wheel load; Wheel lift
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• CPC Class Codes: B60T 8/18 responsive to vehicle weight or load, e.g. load distribution using electrical circuitry on regulation means B60T8/17; B60T8/30 takes precedence; responsive to weight and speed condition B60T8/58
• CPC Class Codes: G01G 19/08 for incorporation in vehicles
• CPC Class Codes: G01G 19/12 having electrical weight-sensitive devices

Abstract

A wheel load of each wheel or a vehicle body load is estimated based on a gain of a resonance frequency of a tire, and the estimated wheel load or vehicle body load is applied to a braking control or an acceleration control. Further, a ground contact load of each wheel or the vehicle body load of the vehicle is estimated based on the gain of the resonance frequency extracted from each of the tires for use in a vehicle control.

Claims

1. A control apparatus for a vehicle, comprising:

resonance frequency detecting means for detecting each of resonance frequencies generated in tires of a plurality of wheels when a vehicle travels;

gain detecting means for detecting a gain of the resonance frequency of each tire, which is detected by the resonance frequency detecting means; and

vehicle body load estimating means for estimating a vehicle body load of the vehicle based on the gain of the resonance frequency extracted from each of the tires by the gain detecting means.

3. A control apparatus for a vehicle according to claim 1 or 2, further comprising:

control means for varying a braking characteristics of the vehicle based on the vehicle body load estimated by the vehicle body load estimating means.

4. A control apparatus for a vehicle according to claim 1 or 2, further comprising:

control means for varying a throttle angle corresponding to an operation amount of an accelerator pedal operated by a driver based on the vehicle body load estimated by the vehicle body load estimating means.

5. A control apparatus for a vehicle according to claim 1 or 2, further comprising:

control means for increasing or decreasing an assist power to steering operated by a driver based on the vehicle body load estimated by the vehicle body load estimating means.

25. A control apparatus for a vehicle according to claim 1, wherein:

the vehicle body load estimating means includes travel road surface state estimating means for estimating a state of a road surface on which the vehicle travels, and permits the vehicle body load to be estimated in accordance with the road surface state.

2. A control apparatus for a vehicle, comprising:

wheel speed detecting means for detecting a wheel speed of each of a plurality of wheels when a vehicle travels;

resonance frequency detecting means for detecting a resonance frequency generated in a tire of each of the wheels based on a wheel speed signal corresponding to each wheel detected by the wheel speed detecting means;

gain detecting means for detecting a gain of the resonance frequency of each tire detected by the resonance frequency detecting means;

wheel ground contact load estimating means for estimating a ground contact load of each wheel based on the gain of the resonance frequency of each tire detected by the gain detecting means; and

vehicle body load estimating means for estimating a vehicle body load based on the ground contact load of each wheel estimated by the wheel ground contact load estimating means.

24. A control apparatus for a vehicle according to any one of claims 2, wherein:

a second brake fluid pressure higher than the master cylinder pressure is generated at, at least the front wheel which is an outside wheel at the time of a turning, when a load of a rear wheel which is an inside wheel at the time of a turning is estimated to be about zero detected by the wheel load estimating means.

6. A control apparatus for a vehicle, comprising:

wheel speed detecting means for detecting each of wheel speeds of a plurality of wheels when a vehicle travels;

resonance frequency detecting means for detecting a resonance frequency generated in a tire of each wheel based on a wheel speed signal corresponding to each wheel detected by the wheel speed detecting means;

gain detecting means for detecting a gain of the resonance frequency of each tire detected by the resonance frequency detecting means;

wheel ground contact load ratio estimating means for estimating a ground contact load ratio of each wheel based on the gain of each tire detected by the gain detecting means; and

control means for executing at least one of a braking control, an acceleration control, a power steering control, and a driving force control of a vehicle in accordance with the ground contact load ratio estimated by the wheel ground contact load ratio estimating means.

7. A control apparatus for a vehicle according to claim 6, wherein:

the wheel ground contact load ratio estimating means estimates a value corresponding to the ground contact load of each wheel based on the gain of each tire detected by the gain detecting means and estimates the ground contact load ratio of each wheel based on the ground contact load of each wheel.

16. A control apparatus for a vehicle according to any one of claim 6, wherein:

the control means applies a brake fluid pressure which is increased to a pressure higher than the master cylinder pressure or decreased to a pressure lower than the master cylinder pressure to each wheel cylinder so as to correspond to each wheel ground contact load ratio, based on each wheel ground contact load ratio estimated by the wheel ground contact load ratio estimating means.

17. A control apparatus for a vehicle according to any one of claims 6, further comprising:

control means for controlling a driving force transmitted to each wheel when no brake is applied to the vehicle to a value according to a ground contact load ratio based on the ground contact load ratio of each wheel estimated by the wheel ground contact load ratio estimating means.

8. A control apparatus for a vehicle, comprising:

wheel speed detecting means for detecting each of wheel speeds of a plurality of wheels when a vehicle travels;

means for detecting a pitch as a vibration synchronized with rotation of each wheel based on a wheel speed signal corresponding to each wheel detected by the wheel speed detecting means;

gain detecting means for detecting a gain of a fluctuation in the pitch;

wheel ground contact load ratio estimating means for estimating a ground contact load ratio of each wheel based on the gain of each tire detected by the gain detecting means; and

control means for executing at least one of a braking control, an acceleration control, a power steering control, and a driving force control of a vehicle in accordance with the ground contact load ratio of each wheel estimated by the wheel ground contact load ratio estimating means.

9. A control apparatus for a vehicle, comprising:

wheel speed detecting means for detecting each of wheel speeds of a plurality of wheels when a vehicle travels;

resonance frequency detecting means for detecting a resonance frequency generated in a tire of each wheel based on a wheel speed signal corresponding to each wheel detected by the wheel speed detecting means;

gain detecting means for detecting a gain of the resonance frequency of each tire detected by the resonance frequency detecting means;

wheel ground contact load equivalent value calculating means for calculating an equivalent value which is equivalent to a ground contact load of each wheel based on the gain of each tire detected by the gain detecting means;

ground contact load ratio estimating means for estimating a ground contact load ratio of wheels in accordance with the ground contact load equivalent value of the wheel; and

control means for executing at least one of a braking control, an acceleration control, a power steering control, and a driving force control of a vehicle in accordance with the ground contact load ratio of each wheel estimated by the wheel ground contact load ratio estimating means.

10. A control apparatus for a vehicle according to claim 9, wherein:

the resonance frequency detecting means includes means for detecting a vibration frequency of the tire and means for detecting a linear coefficient by approximating the vibration frequency to a multiple order curve, and detects the resonance frequency from the linear coefficient; and

the gain detecting means detects the gain of the resonance frequency based on the linear coefficient.

11. A control apparatus for a vehicle according to claim 10, wherein:

the linear coefficient detecting means has means for masking a region apart from the resonance frequency among a plurality of peaks of a waveform of the vibration frequency, and approximates the vibration frequency to a quadric curve.

12. A control apparatus for a vehicle according to any one of claims 7 to 11, wherein:

the wheel ground contact load ratio estimating means includes front and rear load ratio estimating means for obtaining a load ratio on the front side of the vehicle body and a load ratio on the rear side of the vehicle body.

13. A control apparatus for a vehicle according to claim 12, wherein:

the control means distributes a first brake fluid pressure higher than a master cylinder pressure to a wheel cylinder on the front wheel side and a wheel cylinder on the rear wheel side in accordance with a front and rear ground contact load ratio based on the front and rear ground contact load ratio estimated by the wheel ground contact load ratio estimating means.

14. A control apparatus for a vehicle according to any one of claims 7 to 11, wherein:

the wheel ground contact load ratio estimating means includes right and left load ratio estimating means for estimating load ratios on the right and left sides of the vehicle body based on the load equivalent value.

15. A control apparatus for a vehicle according to claim 14, wherein:

the control means distributes, based on the right and left ground contact load ratio estimated by the wheel ground contact load ratio estimating means, the first brake pressure to a wheel cylinder on the left wheel side and a wheel cylinder on the right wheel side in accordance with the right and left ground contact load ratio, at a braking assist time during which a first brake fluid pressure higher than the master cylinder pressure is applied to either the wheel cylinder on the front wheel side or that on the rear wheel side.

18. A control apparatus for a vehicle according to any one of claims 7 to 11, comprising:

control means for increasing or decreasing an assist force to steering operated by the driver based on the ground contact load ratio of each wheel estimated by the wheel ground contact load ratio estimating means.

19. A control apparatus for a vehicle according to claim 12, wherein:

an assist force to steering operated by the driver is increased when the ground contact load on the front wheel side is larger than the ground contact load on the rear wheel side in the ratio of the front wheel load and the rear wheel load estimated by the front and rear wheel load ratio estimating means, and the assist force to the steering is reduced when the ground contact load on the rear wheel side is larger than that on the front wheel side.

20. A control apparatus for a vehicle according to any one of claims 7 to 11, wherein:

the control means varies an engine output of the vehicle corresponding to the accelerator pedal operation based on the ground contact load of each wheel estimated by the wheel ground contact load estimating means.

21. A control apparatus for a vehicle according to claim 20, wherein:

the control means varies the engine output by changing the throttle angle corresponding to the accelerator pedal operation.

22. A control apparatus for a vehicle according to claim 12, wherein:

a front wheel drive vehicle corrects, at the ratio of front and rear wheel loads estimated by the front and rear wheel load ratio estimating means, to increase the throttle angle corresponding to the accelerator pedal operation when the ground contact load on the front wheel side is larger than that on the rear wheel side, and to decrease the throttle angle corresponding to the accelerator pedal operation when the ground contact load on the rear wheel side is larger than that on the front wheel side.

23. A control apparatus for a vehicle according to claim 12, wherein:

a rear wheel drive vehicle corrects, at the ratio of the front and rear wheel load ratio estimated by the front and rear wheel load ratio estimating means, to decrease the throttle angle corresponding to the accelerator pedal operation when the ground contact load on the front wheel side is larger than that on the rear wheel side, and to increase the throttle angle corresponding to the accelerator pedal operation when the ground contact load on the rear wheel side is larger than that on the front wheel side.

26. A control apparatus for a vehicle, comprising:

gain detecting means for detecting a gain of a resonance frequency generated in a tire of each of a plurality of wheels when a vehicle travels; and

vehicle body load estimating means for estimating the vehicle body load of the vehicle based on the gain of the resonance frequency extracted from each of the tires by the gain detecting means.

27. A control apparatus for a vehicle, comprising:

wheel speed detecting means for detecting each of wheel speeds of a plurality of wheels when a vehicle travels;

gain detecting means for detecting a gain of a resonance frequency generated in a tire of each wheel based on a wheel speed signal corresponding to each wheel detected by the wheel speed detecting means;

wheel ground contact load ratio estimating means for estimating a ground contact load ratio of each wheel based on the gain of each tire detected by the gain detecting means; and

control means for executing at least one of a braking control, an acceleration control, a power steering control, and a driving force control of a vehicle in accordance with the ground contact load ratio estimated by the wheel ground contact load ratio estimating means.