Behavior control device of vehicle based upon double checking of yaw rate deviation

• US 6,101,434 A
• Filed: 06/16/1998
• Issued: 08/08/2000
• Est. Priority Date: 07/23/1997
• Status: Expired due to Term

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Matsuo, Yoshiaki, Irie, Yoshiaki
• Primary Examiner(s): LOUIS JACQUES, JACQUES H
• Application Number:
  US09/098,418
• Time in Patent Office: 784 Days
• Field of Search: 701/69, 701/70, 701/71, 701/73, 701/74, 701/75, 701/76, 701/79, 701/82, 701/83, 701/89, 701/90, 701/92, 701/38, 701/72, 701/37, 701/36, 701/41, 303/146, 303/147, 303/116.2, 303/122.08, 303/140, 303/139, 303/163, 280/5.504, 280/5.513, 280/5.512, 280/5.51, 180/410, 180/412, 180/422, 180/197, 180/415, 180/413
• US Class Current: 701/36
• 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 8/1755 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

A behavior control device of a vehicle adapted to detect a first yaw rate deviation of a yaw rate detected by a yaw rate sensor relative to a standard yaw rate estimated from a steering angle detected by a steering angle sensor and a vehicle speed detected by a vehicle speed sensor, and also detect at least one of a second yaw rate deviation of a yaw rate estimated from wheel rotation speed of a pair of left and right wheels from the standard yaw rate and a third yaw rate deviation of a yaw rate estimated from a lateral acceleration detected by a lateral acceleration sensor and a vehicle speed detected by a vehicle speed sensor from the standard yaw rate, and execute a yaw rate suppress control such as a spin or driftout suppress control, when the first yaw rate deviation exceeds a threshold value determined therefor and at least one of the second and third yaw rate deviations also exceeds a threshold value determined therefor.

Claims

1. A behavior control device of a vehicle having a vehicle body, front left, front right, rear left and rear right wheels suspended by the vehicle body, a steering system, and a brake system for selectively braking each of the wheels, the behavior control device comprising:

means for detecting a yaw rate of the vehicle body;

means for detecting a rotation speed of the wheels;

means for detecting a steering angle of the steering system;

means for detecting lateral acceleration of the vehicle body; and

calculation-control means for calculating;

a first yaw rate deviation of the yaw rate detected by the yaw rate detection means relative to a standard yaw rate estimated from the steering angle detected by the steering angle detection means and vehicle speed detected by the wheel rotation speed detection means, and

at least one of a second yaw rate deviation of a yaw rate estimated from wheel rotation speed of a pair of left and right ones of the wheels from the standard yaw rate and a third yaw rate deviation of a yaw rate estimated from the lateral acceleration detected by the lateral acceleration detection means and vehicle speed detected by the wheel rotation speed detection means from the standard yaw rate,

the calculation-control means checking;

if the first yaw rate deviation is exceeding a first threshold value determined therefor to generate a first control signal for execution of a spin or driftout control according to a direction of the first yaw rate deviation when an answer of the checking is yes, and also

if at least one of the second and third yaw rate deviations is exceeding a second threshold value determined therefor to generate a second control signal for execution of a spin or driftout control corresponding to the spin or driftout control due to the first yaw rate deviation according to a direction of the associated second or third yaw rate deviation when an answer of the checking is yes, and

the calculation-control means controlling the vehicle against a spin or driftout associated with first yaw rate deviation according to the first yaw rate deviation, when the second control signal was generated in addition to the first control signal.

2. A behavior control device according to claim 1, wherein the calculation-control means checks if at least one of the second and third yaw rate deviations is exceeding the associated second or third threshold value after having checked that the first yaw rate deviation exceeded the first threshold value over a first threshold time duration.

3. A behavior control device according to claim 2, wherein the calculation-control means checks if at least one of the second and third yaw rate deviations is exceeding the associated second or third threshold value over an associated second or third threshold time duration determined therefor to generate the second control signal thereon.

4. A behavior control device according to claim 1, wherein the calculation-control means checks if the second and third yaw rate deviations are each exceeding the associated second or third threshold value respectively in succession in order to generate the second control signal when at least one of the answer of the checking is yes.

5. A behavior control device according to claim 1, wherein the calculation-control means calibrates the yaw rate detection means with respect to a neutral shift thereof when the vehicle is at a stoppage or when the vehicle is running straight forward or both.