Vehicle behavior estimating and controlling method and system as well as body slip angle estimating method and system
First Claim
1. A vehicle behavior estimating method for estimating an overturn parameter which represents readiness of overturn of a vehicle in running said vehicle, comprising steps of:
- measuring a roll angle and a roll rate of said vehicle; and
calculating an estimation value of said overturn parameter by using the measured result of said roll angle and roll rate based on an operational expression derived from the following physical model describing the behavior of the vehicle during running based on said roll angle;
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Accused Products
Abstract
To estimate the readiness of overturn of vehicle accurately at quick timing corresponding to the behavior of an actual vehicle, at first, a roll angle φ0 and a roll rate φ0′ which indicate an actual tendency of overturn of a running vehicle are measured (calculated). Then, the maximum amplitude A (estimation value) is calculated based on an operational expression for estimating the maximum amplitude A of the behavior estimation value φ (t) of the roll angle φ before damp derived from the following physical model describing the vehicle behavior based on the roll angle φ indicating the overturn tendency of the running vehicle and the estimation value A is set as the overturn parameter X which indicates the readiness of overturn of the vehicle:
(where, J: roll inertia, D: damper constant, K: spring constant, F: centrifugal force, φ″: roll rate differential value, φ′: roll rate, φ: roll angle).
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Citations
21 Claims
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1. A vehicle behavior estimating method for estimating an overturn parameter which represents readiness of overturn of a vehicle in running said vehicle, comprising steps of:
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measuring a roll angle and a roll rate of said vehicle; and
calculating an estimation value of said overturn parameter by using the measured result of said roll angle and roll rate based on an operational expression derived from the following physical model describing the behavior of the vehicle during running based on said roll angle;
- View Dependent Claims (2, 3, 4, 14)
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5. A vehicle behavior estimating system for estimating an overturn parameter which represents readiness of overturn of a vehicle in running said vehicle, comprising:
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vehicle state detecting means for measuring a roll angle and a roll rate of said vehicle; and
overturn parameter estimating means for calculating an estimation value of said overturn parameter by using said roll angle and roll rate measured by said vehicle state detecting means based on an operational expression derived from the following physical model describing the behavior of the vehicle during running based on said roll angle;
- View Dependent Claims (6, 7, 8, 9, 10, 11, 12, 13, 15)
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16. A body slip angle estimating method for a running vehicle comprising steps of:
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measuring yaw rate Δ
θ
, lateral acceleration Gy and body speed Vb of said running vehicle;
calculating a body slip angular velocity estimation value Δ
β
H by using the following expression (where, Δ
θ
;
yaw rate, Gy;
lateral acceleration, Vb;
body speed) based on the measured result and a delay element H3 set in advance to compensate measuring errors of said lateral acceleration;
- View Dependent Claims (17, 18)
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19. A body slip angle estimating system for a running vehicle, comprising:
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yaw rate measuring means for measuring yaw rate Δ
θ
of said running vehicle;
lateral acceleration measuring means for measuring lateral acceleration of said vehicle;
body speed measuring means for measuring body speed Vb of said vehicle;
body slip angular velocity estimation value calculating means for calculating a body slip angular velocity estimation value Δ
β
H by using the following expression (where, Δ
θ
;
yaw rate, Gy;
lateral acceleration, Vb;
body speed) based on the measured results of said yaw rate, lateral acceleration and body speed and a delay element H3 set in advance to compensate measuring errors of said lateral acceleration;
- View Dependent Claims (20, 21)
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Specification