Vehicle behavior control system

• US 6,216,079 B1
• Filed: 10/27/1999
• Issued: 04/10/2001
• Est. Priority Date: 10/28/1998
• Status: Expired due to Fees

• Current Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Inventors: Matsuda, Shohei
• Primary Examiner(s): Zanelli, Michael J.
• Assistant Examiner(s): Gibson, Eric M
• Application Number:
  US09/427,587
• Time in Patent Office: 531 Days
• Field of Search: 701/70, 701/41, 701/42, 701/48, 701/72, 180/408, 180/411, 180/422
• US Class Current: 701/70
• CPC Class Codes: B60T 13/686 in hydraulic systems or parts thereof
• CPC Class Codes: B60T 2230/02 Side slip angle, attitude angle, floating angle, drift angle
• 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

Control for inhibiting an under-steered state or an over-steered state of a vehicle can be performed properly in consideration of the shape of a road by laterally distributing braking forces and driving forces. An actual motion state of the vehicle and a reference motion state for the vehicle are compared with each other to calculate a deviation. A braking force and a driving force for the vehicle are controlled by an operation amount calculated based on the deviation, thereby generating a yaw moment to stabilize the behavior of the vehicle. In this case, the direction of a road is presumed based on an information from a navigation system and the actual direction of movement of the vehicle are compared with each other. The operation amount is corrected by a correcting amount calculated based on the result of the comparison, and the braking force and the driving force for the vehicle are controlled based on an operation amount resulting from the correction.

Claims

1. A vehicle control system comprising:

a motion state detecting means for detecting an actual motion state of a vehicle, based on a parameters indicating the behavior of the vehicle,

a reference motion state determining means for determining a reference value for the motion state of the vehicle, based on the parameters indicating the behavior of the vehicle,

a first comparing means for comparing the motion state of the vehicle detected by said motion state detecting means with the reference value determined by said reference motion state determining means,

an operation-amount calculating means for calculating an amount of operation for controlling the behavior of the vehicle, based on the result of the comparison by said first comparing means,

a vehicle behavior control means for controlling at least one of the driving force and the braking force for the vehicle, based on the amount of operation calculated by said operation-amount calculating means, wherein said vehicle control system further includes

a road shape detecting means for detecting the shape of a road on which the vehicle is traveling, in the direction of movement of the vehicle, and

an operation-amount correcting means for correcting the amount of operation calculated by said operation-amount calculating means, based on the shape of the road detected by said road shape detecting means,

a vehicle movement-direction presuming means for presuming a direction of movement of the vehicle, based on the motion state of the vehicle detected by said motion state detecting means,

a second comparing means for comparing the direction of movement of the vehicle presumed by said vehicle movement-direction presuming means with the shape of the road detected by said road shape detecting means,

a correct-amount calculating means for calculating a correcting amount for correcting the amount of operation, based on the result of the comparison by said second comparing means, and

a vehicle-position presuming means for presuming the position of the vehicle, based on the shape of the road detected by said road shape detecting means, wherein when it is presumed that a curve exists within a predetermined distance from the position of the vehicle, the time point when a steering operation is conducted by a drive is determined to be when the vehicle is at an entrance of the curve.

7. A vehicle control system according to claim 1, 2, 5 or 6, wherein said operation-amount correcting means increases the amount of operation calculated by said operation-amount calculating means, or hastens the start of the control by said vehicle behavior control means, based on the amount of operation.

8. A vehicle control system according to claim 1, 2, 5 or 6, wherein said operation-amount correcting means decreases the amount of operation calculated by said operation-amount calculating means, or hastens the end of the control by said vehicle behavior control means, based on the amount of operation.

9. A vehicle control system according to claim 1, 2, 5 or 6, further including

a road direction presuming means for presuming the direction of the road ahead of the vehicle, based on the position of the vehicle presumed by said vehicle-position presuming means and the shape of the road detected by said road shape detecting means,

wherein said second comparing means compares the direction of movement of the vehicle presumed by said vehicle movement-direction presuming means with the direction of the road ahead of the vehicle presumed by said road direction presuming means.

10. A vehicle control system according to claim 1, 2, 5 or 6, wherein when the result of the comparison by said first comparing means determines that the vehicle is in an under-steered state, said vehicle behavior control means applies a braking force to inner wheels and a driving force to outer wheels of the vehicle, as viewed during turning of the vehicle.

2. A vehicle control system comprising:

a motion state detecting means for detecting an actual motion state of a vehicle, based on a parameters indicating the behavior of the vehicle,

a reference motion state determining means for determining a reference value for the motion state of the vehicle, based on the parameters indicating the behavior of the vehicle,

a first comparing means for comparing the motion state of the vehicle detected by said motion state detecting means with the reference value determined by said reference motion state determining means,

an operation-amount calculating means for calculating an amount of operation for controlling the behavior of the vehicle, based on the result of the comparison by said first comparing means,

a vehicle behavior control means for controlling at least one of the driving force and the braking force for the vehicle, based on the amount of operation calculated by said operation-amount calculating means, wherein said vehicle control system further includes

a road shape detecting means for detecting the shape of a road on which the vehicle is traveling, in the direction of movement of the vehicle, and

an operation-amount correcting means for correcting the amount of operation calculated by said operation-amount calculating means, based on the shape of the road detected by said road shape detecting means,

a vehicle movement-direction presuming means for presuming a direction of movement of the vehicle, based on the motion state of the vehicle detected by said motion state detecting means,

a second comparing means for comparing the direction of movement of the vehicle presumed by said vehicle movement-direction presuming means with the shape of the road detected by said road shape detecting means,

a correct-amount calculating means for calculating a correcting amount for correcting the amount of operation, based on the result of the comparison by said second comparing means,

wherein when the under-steered state of the vehicle is presumed based on the result of the comparison by said first comparing means during traveling of the vehicle on a road short of an entrance of a curve, said vehicle behavior control means decelerates the vehicle.

3. A vehicle control system according to claim 2, wherein said vehicle behavior control means brakes all the wheels of the vehicle to decelerate the vehicle.

4. A vehicle control system according to claim 2, further including a vehicle-position presuming means for presuming the position of the vehicle, based on the shape of the road detected by said road shape detecting means, and

a road direction presuming means for presuming the direction of the road ahead of the vehicle, based on the position of the vehicle presumed by said vehicle-position presuming means and the shape of the road detected by said road shape detecting means,

wherein said second comparing means compares the direction of movement of the vehicle presumed by said vehicle movement-direction presuming means with the direction of the road ahead of the vehicle presumed by said road direction presuming means.

5. A vehicle control system comprising:

a motion state detecting means for detecting an actual motion state of a vehicle, based on a parameters indicating the behavior of the vehicle,

a reference motion state determining means for determining a reference value for the motion state of the vehicle, based on the parameters indicating the behavior of the vehicle,

a first comparing means for comparing the motion state of the vehicle detected by said motion state detecting means with the reference value determined by said reference motion state determining means,

an operation-amount calculating means for calculating an amount of operation for controlling the behavior of the vehicle, based on the result of the comparison by said first comparing means,

a vehicle behavior control means for controlling at least one of the driving force and the braking force for the vehicle, based on the amount of operation calculated by said operation-amount calculating means, wherein said vehicle control system further includes

a road shape detecting means for detecting the shape of a road on which the vehicle is traveling, in the direction of movement of the vehicle, and

an operation-amount correcting means for correcting the amount of operation calculated by said operation-amount calculating means, based on the shape of the road detected by said road shape detecting means,

a vehicle movement-direction presuming means for presuming a direction of movement of the vehicle, based on the motion state of the vehicle detected by said motion state detecting means,

a second comparing means for comparing the direction of movement of the vehicle presumed by said vehicle movement-direction presuming means with the shape of the road detected by said road shape detecting means,

a correct-amount calculating means for calculating a correcting amount for correcting the amount of operation, based on the result of the comparison by said second comparing means,

a vehicle movement-direction presuming means for presuming a direction of movement of the vehicle, based on the motion state of the vehicle detected by said motion state detecting means,

a vehicle position presuming means for presuming the position of the vehicle, based on the shape of the road detected by said road shape detecting means, and

a road direction presuming means for presuming the direction of the road ahead of the vehicle, based on the position of the vehicle presumed by said vehicle position presuming means and the shape of the road detected by said road shape detecting means,

wherein when said vehicle position presuming means presumes that the vehicle is close to an exit of a curve, said first comparing means determines that the vehicle is in an under-steered state, and a second comparing means determines that the vehicle is in an over-steered state, based on the result of comparison of the direction of movement of vehicle presumed by said vehicle movement-direction presuming means with the direction of a road ahead of the vehicle presumed by a road direction presuming means, the amount of operation calculated by said operation-amount calculating means is decreased based on the result of said comparison.

6. A vehicle control system comprising:

a motion state detecting means for detecting an actual motion state of a vehicle, based on a parameters indicating the behavior of the vehicle,

a reference motion state determining means for determining a reference value for the motion state of the vehicle, based on the Parameters indicating the behavior of the vehicle,

a first comparing means for comparing the motion state of the vehicle detected by said motion state detecting means with the reference value determined by said reference motion state determining means,

an operation-amount calculating means for calculating an amount of operation for controlling the behavior of the vehicle, based on the result of the comparison by said first comparing means,

a vehicle behavior control means for controlling at least one of the driving force and the braking force for the vehicle, based on the amount of operation calculated by said operation-amount calculating means, wherein said vehicle control system further includes

a road shape detecting means for detecting the shape of a road on which the vehicle is traveling, in the direction of movement of the vehicle, and

an operation-amount correcting means for correcting the amount of operation calculated by said operation-amount calculating means, based on the shape of the road detected by said road shape detecting means,

a vehicle movement-direction presuming means for presuming a direction of movement of the vehicle, based on the motion state of the vehicle detected by said motion state detecting means,

a second comparing means for comparing the direction of movement of the vehicle presumed by said vehicle movement-direction presuming means with the shape of the road detected by said road shape detecting means,

a correct-amount calculating means for calculating a correcting amount for correcting the amount of operation, based on the result of the comparison by said second comparing means,

a vehicle movement-direction presuming means for presuming a direction of movement of the vehicle, based on the motion state of the vehicle detected by said motion state detecting means,

a vehicle position presuming means for presuming the position of the vehicle, based on the shape of the road detected by said road shape detecting means, and

a road direction presuming means for presuming the direction of the road ahead of the vehicle, based on the position of the vehicle presumed by said vehicle position presuming means and the shape of the road detected by said road shape detecting means,

wherein when said vehicle position presuming means presumes that the vehicle is close to an exit of a curve, said first comparing means determines that the vehicle is in an under-steered state, and a second comparing means determines that the vehicle is in an over-steered state, based on the result of comparison of the direction of movement of vehicle presumed by said vehicle movement-direction presuming means with the direction of a road ahead of the vehicle presumed by a road direction presuming means, the end of the control of at least one of the braking force and the driving force of the vehicle based on the amount of operation calculated by said operation-amount calculating means, is hastened.