Behavior control device of vehicle having means for avoiding miscontrol due to neutral shift of yaw rate sensor
First Claim
1. A behavior control device of a vehicle having a vehicle body, a plurality of wheels suspended by the vehicle body, an engine, a steering system, and a brake system for selectively braking the wheels, the device comprising:
- means for detecting vehicle speed;
means for detecting steering angle;
means for detecting yaw rate of the vehicle; and
means for controlling the vehicle against a spin or a driftout according to a deviation of the yaw rate detected by the yaw rate detecting means relative to a standard yaw rate estimated from the vehicle speed detected by the vehicle speed detecting means and the steering angle detected by the steering angle detecting means increasing beyond a threshold value toward a liability of the vehicle to spin or driftout, respectively, wherein the controlling means calculates an equivalent by steering angle of a neutral shift of the yaw rate detecting means when the vehicle is running straight so as thereby to modify the steering angle detected by the steering angle detecting means for a compensation of the neutral shift of the yaw rate detecting means while modifying the threshold value so as to be raised after a predetermined time has lapsed from the calculation of said equivalent.
1 Assignment
0 Petitions
Accused Products
Abstract
In a behavior control device of a vehicle adapted to control the brake system according to a calculation based upon vehicle speed detected by a vehicle speed sensor, steering angle detected by a steering angle sensor, and yaw rate detected by a yaw rate sensor such that, when a deviation of the yaw rate detected by the yaw rate sensor relative to a standard yaw rate estimated from the vehicle speed and the steering angle increases beyond a threshold value, at least one of the wheels is braked by the brake system so as to generate a yaw moment in the vehicle body for decreasing the deviation of the yaw rate, the threshold value is temporarily increased until the yaw rate sensor is warmed up.
-
Citations
4 Claims
-
1. A behavior control device of a vehicle having a vehicle body, a plurality of wheels suspended by the vehicle body, an engine, a steering system, and a brake system for selectively braking the wheels, the device comprising:
-
means for detecting vehicle speed;
means for detecting steering angle;
means for detecting yaw rate of the vehicle; and
means for controlling the vehicle against a spin or a driftout according to a deviation of the yaw rate detected by the yaw rate detecting means relative to a standard yaw rate estimated from the vehicle speed detected by the vehicle speed detecting means and the steering angle detected by the steering angle detecting means increasing beyond a threshold value toward a liability of the vehicle to spin or driftout, respectively, wherein the controlling means calculates an equivalent by steering angle of a neutral shift of the yaw rate detecting means when the vehicle is running straight so as thereby to modify the steering angle detected by the steering angle detecting means for a compensation of the neutral shift of the yaw rate detecting means while modifying the threshold value so as to be raised after a predetermined time has lapsed from the calculation of said equivalent. - View Dependent Claims (2, 3, 4)
-
Specification