Method and system for computing a vehicle body slip angle in a vehicle movement control
First Claim
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1. A method for computing a vehicle body slip angle in a vehicle movement control, comprising the steps of:
- computing a tire slip angle α
from a yaw rate γ
, a vehicle speed V, a vehicle body slip angle β
which is given as an initial value or a preceding computed value and a road wheel steering angle δ
;
computing a cornering force Y from a dynamic model of the tire by taking into account at least the tire slip angle α
; and
computing a hypothetical vehicle body slip angle β
e from the cornering force Y, the vehicle speed V and the yaw rate γ
;
wherein the tire slip angle α
is computed by feeding back only the hypothetical vehicle body slip angle β
e while the yaw rate γ and
the vehicle speed V are based on measured values.
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Abstract
Provided are a method and system for computing a vehicle body slip angle in the vehicle movement control so as to allow the vehicle movement to be controlled with an adequate response and stability for practical purposes even without directly detecting or accurately estimating the frictional coefficient between the road surface and the tire. A tire slip angle is computed from a yaw rate, a vehicle speed, a vehicle body slip angle and a road wheel steering angle; a cornering force is computed from a dynamic model of the tire by taking into account at least the tire slip angle; and a hypothetical vehicle body slip angle is computed from the cornering force, the vehicle speed and the yaw rate; the tire slip angle being computed by feeding back the hypothetical vehicle body slip angle in a recursive manner.
34 Citations
12 Claims
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1. A method for computing a vehicle body slip angle in a vehicle movement control, comprising the steps of:
-
computing a tire slip angle α
from a yaw rate γ
, a vehicle speed V, a vehicle body slip angle β
which is given as an initial value or a preceding computed value and a road wheel steering angle δ
;
computing a cornering force Y from a dynamic model of the tire by taking into account at least the tire slip angle α
; and
computing a hypothetical vehicle body slip angle β
e from the cornering force Y, the vehicle speed V and the yaw rate γ
;
wherein the tire slip angle α
is computed by feeding back only the hypothetical vehicle body slip angle β
e while the yaw rate γ and
the vehicle speed V are based on measured values.- View Dependent Claims (2, 3, 4, 5, 6)
-
-
5. A method for computing a vehicle body slip angle in a vehicle movement control according to claim 1, wherein said step of computing a hypothetical vehicle body slip angle β
-
e from the cornering force Y, the vehicle speed V and the yaw rate γ
includes the use of the following equations;
-
e from the cornering force Y, the vehicle speed V and the yaw rate γ
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6. A method for computing a vehicle body slip angle in a vehicle movement control according to claim 5, wherein said fore-and-aft speed Vx of the vehicle is approximated by a wheel speed of said vehicle.
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7. A system for computing a vehicle body slip angle in a vehicle movement control, comprising:
-
a computing unit for computing a tire slip angle α
from a yaw rate γ
, a vehicle speed V, a vehicle body slip angle β
which is given as an initial value or a preceding computed value and a wheel steering angle δ
;
a computing unit for computing a cornering force Y from a dynamic model of the tire by taking into account at least the tire slip angle α
; and
a computing unit for computing a hypothetical vehicle body slip angle β
e from the cornering force Y, the vehicle speed V and the yaw rate γ
;
wherein only the hypothetical vehicle body slip angle β
e is fed back to the computing unit for computing the tire slip rate α
while the yaw rate γ and
the vehicle speed V are based upon measured values.- View Dependent Claims (8, 9, 10, 11, 12)
-
-
11. A system for computing a vehicle body slip angle in a vehicle movement control according to claim 7, wherein said computing unit for computing a hypothetical vehicle body slip angle β
-
e from the cornering force Y, the vehicle speed V and the yaw rate γ
uses the following equations;
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e from the cornering force Y, the vehicle speed V and the yaw rate γ
-
12. A system for computing a vehicle body slip angle in a vehicle movement control according to claim 11, wherein said fore-and-aft speed Vx of the vehicle is approximated by a wheel speed of said vehicle.
Specification
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Current AssigneeHonda Giken Kogyo Kabushiki Kaisha (Honda Motor Company), Masato Abe
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Original AssigneeHonda Giken Kogyo Kabushiki Kaisha (Honda Motor Company), Masato Abe
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InventorsShibahata, Yasuji, Abe, Masato, Furukawa, Yoshimi
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Primary Examiner(s)Zanelli, Michael J.
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Assistant Examiner(s)Gibson, Eric M.
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Application NumberUS09/192,894Time in Patent Office910 DaysField of Search701/1, 701/41, 701/72, 701/80, 701/74, 701/75, 303/146, 303/150US Class Current701/74CPC Class CodesB60T 2230/02 Side slip angle, attitude a...B62D 6/04 responsive only to forces d...
