Vehicle stability control apparatus

• US 6,205,375 B1
• Filed: 12/02/1999
• Issued: 03/20/2001
• Est. Priority Date: 12/02/1998
• Status: Expired due to Term

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Naito, Genpei
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): HERNANDEZ, OLGA
• Application Number:
  US09/453,062
• Time in Patent Office: 474 Days
• Field of Search: 701/1, 701/38, 701/53, 701/91, 701/71, 303/140, 303/146, 303/5.507
• US Class Current: 701/1
• CPC Class Codes: B60G 2400/0513 Yaw angle
• CPC Class Codes: B60G 2400/104 lateral or transversal with regard to vehicle
• CPC Class Codes: B60G 2400/106 longitudinal with regard to vehicle, e.g. braking
• CPC Class Codes: B60G 2400/204 Vehicle speed
• CPC Class Codes: B60G 2400/208 of wheel rotation
• CPC Class Codes: B60G 2400/41 Steering angle
• CPC Class Codes: B60G 2800/016 Yawing condition
• CPC Class Codes: B60G 2800/212 Transversal; Side-slip during cornering
• CPC Class Codes: B60G 2800/242 Obstacle avoidance manoeuvre
• CPC Class Codes: B60G 2800/702 Improving accuracy of a sensor signal
• CPC Class Codes: B60G 2800/922 EBV - Electronic brake force distribution
• 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 vehicle stability control apparatus calculates a desired yaw rate from the angle of the steering wheel and vehicle'"'"'s velocity and always executes control so as to have the actual yaw rate correspond to the desired yaw rate. Both of the front wheels'"'"' braking force and the rear wheels'"'"' braking force are operated according to the amendment momentum calculated by a control in response to the yaw rate difference. However, the actual yaw rate cannot be accurately corresponded to the desired yawing moment without delay when the driver operates a steering wheel rapidly in the emergency evasion condition, the control unit increases the amendment momentum right after the emergency evasion condition. Furthermore, the control unit decreases the amendment momentum when the vehicle is converging on straight-ahead driving.

Claims

1. A vehicle stability control apparatus, comprising:

a yaw rate sensor to detect a yaw rate of a vehicle;

a physical amount detector to detect a physical amount input in the vehicle;

a yaw momentum control apparatus to control yaw momentum of the vehicle in response to a control signal; and

a control unit operatively coupled with the yaw rate sensor, the physical amount detector, and a yaw momentum control apparatus;

wherein

the control unit calculates a first desired yaw rate for the vehicle from the physical amount;

the control unit sets the first desired yaw rate as a desired yaw rate;

the control unit judges that the vehicle is in an emergency evasion condition when the difference between the yaw rate and the first yaw rate is larger than a first value;

the control unit sets 0 or nearly 0 as a desired yaw rate when the control unit judges that the vehicle is in the emergency evasion condition; and

the control unit applies the control signal to the yaw momentum control apparatus to reduce the difference between the yaw rate and the desired yaw rate.

2. A vehicle stability control apparatus as claimed in claim 1, wherein the physical amount detector comprises:

a vehicle velocity detector to detect a vehicle velocity; and

an angular sensor for detecting angular positioning of a steering wheel.

3. A vehicle stability control apparatus as claimed in claim 1, wherein the control unit stops judging that the vehicle is in the emergency evasion condition when the difference between the yaw rate and the first desired yaw rate is smaller than a second value, which is smaller than the first value, or when the yaw rate becomes 0 or nearly 0.

4. A vehicle stability control apparatus as claimed in claim 3, further comprising an under steer detector to detect under steer of the vehicle;

wherein the control unit limits the control signal so as to decrease yaw momentum controlled by the yaw momentum control apparatus for a predetermined time after the control unit stops judging the vehicle is in the emergency evasion condition if the under steer detector detects under steer.

5. A vehicle stability control apparatus as claimed in claim 1, wherein the yaw momentum control apparatus comprises:

a hydraulic circuit fluidly disposed for applying braking force to the front and rear wheels;

a source of braking fluid for supplying the braking fluid to said hydraulic circuit; and

an electromagnetic valve included in said hydraulic circuit for adjusting braking pressure applied to wheels in response to the control signal.

6. A vehicle stability control apparatus as claimed in claim 5, wherein the control unit limits adjustment of braking pressure applied to the rear wheels while the control unit judges that the vehicle is in the emergency evasion condition.

7. A vehicle stability control apparatus as claimed in claim 1, wherein the control unit sets 0 or nearly 0 as the desired yaw rate when the control unit judges that the vehicle is in the emergency evasion condition and both of the yaw rate and the first desired yaw rate are of same sign.

8. A vehicle stability control apparatus, comprising:

a yaw rate sensor to detect a yaw rate of a vehicle;

a physical amount detector to detect a physical amount input in the vehicle;

a yaw momentum control apparatus to control yaw momentum of the vehicle in response to a control signal; and

a control unit operatively coupled with the yaw rate sensor, the physical amount detector, and a yaw momentum control apparatus;

wherein

the control unit calculates a first desired yaw rate for the vehicle from the physical amount;

the control unit judges whether the vehicle is in a normal condition or an emergency evasion condition, the control unit judging that the vehicle changes from the normal condition to the emergency evasion condition when the difference between the yaw rate and the first yaw rate is larger than a first value;

the control unit sets the first desired yaw rate as a desired yaw rate;

the control unit sets 0 or nearly 0 as the desired yaw rate when the control unit judges that the vehicle is in the emergency evasion condition;

the control unit applies the control signal to the yaw momentum control apparatus to reduce the difference between the yaw rate and the desired yaw rate.

9. A vehicle stability control apparatus as claimed in claim 8, wherein the physical amount detector comprises:

a vehicle velocity detector to detect a vehicle velocity; and

an angular sensor for detecting angular positioning of a steering wheel.

10. A vehicle stability control apparatus as claimed in claim 8, wherein the control unit judges that the vehicle changes from the emergency evasion condition to the normal condition when a difference between the yaw rate and the first desired yaw rate is smaller than a second value, which is smaller than the first value, or when the yaw rate becomes 0 or nearly 0.

11. A vehicle stability control apparatus as claimed in claim 10, further comprising an under steer detector to detect under steer of the vehicle;

wherein the control unit limits the control signal so as to decrease yaw momentum controlled by the yaw momentum control apparatus for a predetermined time after the control unit judges that the vehicle changes from the emergency evasion condition to the normal condition.

12. A vehicle stability control apparatus as claimed in claim 8, wherein the yaw momentum control apparatus comprises:

a hydraulic circuit fluidly disposed for applying braking force to front and rear wheels;

a source of braking fluid for supplying the braking fluid to said hydraulic circuit; and

an electromagnetic valve included in said hydraulic circuit for adjusting braking pressure applied to wheels in response to the control signal.

13. A vehicle stability control apparatus as claimed in claim 12, wherein the control unit limits adjustment of braking pressure applied to the rear wheels while the control unit judges that the vehicle is in the emergency evasion condition.

14. A vehicle stability control apparatus as claimed in claim 8, wherein the control unit sets 0 or nearly 0 as the desired yaw rate when the control unit judges that the vehicle is in the emergency evasion condition and both of the yaw rate and the first desired yaw rate are of same sign.

15. A vehicle stability control apparatus, comprising:

means for detecting a yaw rate of a vehicle;

means for detecting a physical amount, the physical amount being input in the vehicle;

means for controlling yaw momentum of the vehicle in response to a control signal;

means for calculating a first desired yaw rate for the vehicle from the physical amount;

means for setting the first desired yaw rate as a desired yaw rate;

means for judging whether the vehicle is in an emergency evasion condition when the difference between the yaw rate and the first yaw rate is larger than a first value;

means for setting 0 or nearly 0 as a desired yaw rate when the means for judging judges that the vehicle is in an emergency evasion condition;

means for applying the control signal to the means for controlling yaw momentum to reduce the difference between the yaw rate and the desired yaw rate.

16. A vehicle stability control apparatus, comprising:

means for detecting a yaw rate of a vehicle;

means for detecting a physical amount, the physical amount being input in the vehicle;

means for calculating a first desired yaw rate for the vehicle from the physical amount;

means for judging whether the vehicle is in a normal condition or emergency evasion condition, judging that the vehicle changes from the normal condition to the emergency evasion condition when the difference between the yaw rate and the first yaw rate is larger than a first value;

means for setting the first desired yaw rate as a desired yaw rate when the means for judging judges that the vehicle is in the normal condition;

means for setting 0 or nearly 0 as the desired yaw rate when the control unit means for judging judges as the vehicle is on the emergency evasion condition;

means for applying the control signal to a yaw momentum control apparatus to reduce the difference between the yaw rate and the desired yaw rate.