Apparatus for controlling behavior of vehicle

• US 6,374,162 B1
• Filed: 09/27/2000
• Issued: 04/16/2002
• Est. Priority Date: 09/28/1999
• Status: Expired due to Term

• Current Assignee: Advics Company Limited (Aisin Corp.), Mazda Motor Corporation
• Original Assignee: Mazda Motor Corporation, Sumitomo Electric Industries, Inc.
• Inventors: Tanaka, Hirohisa, Katayama, Yoshio, Kato, Kazuhiro, Watanabe, Yoshihiro
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Hernandez, Olga
• Application Number:
  US09/670,269
• Time in Patent Office: 566 Days
• Field of Search: 701/1, 701/41, 701/72, 180/197, 303/140, 303/147
• US Class Current: 701/1
• CPC Class Codes: B60T 2220/03 Driver counter-steering; Avoidance of conflicts with ESP control
• 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

An apparatus for controlling behavior of a vehicle has an ECU (2) which estimates behavior of a yaw rate of the vehicle using a first target yaw rate, a second target yaw rate and an actual yaw rate to control the behavior of the yaw rate. The ECU (2) completes the behavior control if a completion condition is achieved during over-steering control of the vehicle. The completion condition is any one of the following matters. The steering wheel is operated to increase the steering angle. The vehicle is running straight in a stable state. The deviation between the second target yaw rate and the actual yaw rate is stable in a region lower than a preset value. The estimative brake fluid pressure is approximately identical to the fluid pressure of the master cylinder. The slip angle is small. The absolute values of the first and second target yaw rates and the absolute value of the actual yaw rate are smaller and approximately resemble to one another.

Claims

1. An apparatus for controlling behavior of a vehicle, said apparatus comprising,

a controller for estimating behavior of a yaw rate of said vehicle using of a first target yaw rate calculated on the basis of a steering angle, a second target yaw rate calculated on the basis of lateral acceleration of said vehicle and an actual yaw rate caused in said vehicle, while controlling braking force for said vehicle to control the behavior of the yaw rate on the basis of estimated results, wherein

said controller completes controlling the behavior of said vehicle if a completion condition established on the basis of an operation of a driver or a state of said vehicle is achieved during over-steering control of said vehicle,

wherein said completion condition is such that a steering wheel of said vehicle is operated so as to increase the steering angle in a direction of the actual yaw rate.

8. The apparatus according to any one of claims 1 to 7, wherein said controller delays completing the behavior control till a state meeting said completion condition is continued for a preset time.

2. An apparatus for controlling behavior of a vehicle, said apparatus comprising,

a controller for estimating behavior of a yaw rate of said vehicle using of a first target yaw rate calculated on the basis of a steering angle, a second target yaw rate calculated on the basis of lateral acceleration of said vehicle and an actual yaw rate caused in said vehicle, while controlling braking force for said vehicle to control the behavior of the yaw rate on the basis of estimated results, wherein

said controller completes controlling the behavior of said vehicle if a completion condition established on the basis of an operation of a driver or a state of said vehicle is achieved during over-steering control of said vehicle,

wherein said completion condition is such that said vehicle is running straight in a stable state.

3. An apparatus for controlling behavior of a vehicle, said apparatus comprising,

a controller for estimating behavior of a yaw rate of said vehicle using of a first target yaw rate calculated on the basis of a steering angle, a second target yaw rate calculated on the basis of lateral acceleration of said vehicle and an actual yaw rate caused in said vehicle, while controlling braking force for said vehicle to control the behavior of the yaw rate on the basis of estimated results, wherein

said controller completes controlling the behavior of said vehicle if a completion condition established on the basis of an operation of a driver or a state of said vehicle is achieved during over-steering control of said vehicle,

wherein said completion condition is such that a deviation between the second target yaw rate and the actual yaw rate is stable in a region lower than or equal to a preset value.

4. An apparatus for controlling behavior of a vehicle, said apparatus comprising,

a controller for estimating behavior of a yaw rate of said vehicle using of a first target yaw rate calculated on the basis of a steering angle, a second target yaw rate calculated on the basis of lateral acceleration of said vehicle and an actual yaw rate caused in said vehicle, while controlling braking force for said vehicle to control the behavior of the yaw rate on the basis of estimated results, wherein

said controller completes controlling the behavior of said vehicle if a completion condition established on the basis of an operation of a driver or a state of said vehicle is achieved during over-steering control of said vehicle,

wherein said completion condition is such that an estimative brake fluid pressure estimated on the basis of a braking degree generated by executing the behavior control is approximately identical to a fluid pressure of a master cylinder.

5. An apparatus for controlling behavior of a vehicle, said apparatus comprising,

a controller for estimating behavior of a yaw rate of said vehicle using of a first target yaw rate calculated on the basis of a steering angle, a second target yaw rate calculated on the basis of lateral acceleration of said vehicle and an actual yaw rate caused in said vehicle, while controlling braking force for said vehicle to control the behavior of the yaw rate on the basis of estimated results, wherein

said controller completes controlling the behavior of said vehicle if a completion condition established on the basis of an operation of a driver or a state of said vehicle is achieved during over-steering control of said vehicle,

wherein said completion condition is such that an estimative brake fluid pressure estimated on the basis of a braking degree generated by executing the behavior control is approximately identical to a fluid pressure of a master cylinder, and a slip angle is small.

6. An apparatus for controlling behavior of a vehicle, said apparatus comprising,

a controller for estimating behavior of a yaw rate of said vehicle using of a first target yaw rate calculated on the basis of a steering angle, a second target yaw rate calculated on the basis of lateral acceleration of said vehicle and an actual yaw rate caused in said vehicle, while controlling braking force for said vehicle to control the behavior of the yaw rate on the basis of estimated results, wherein

said controller completes controlling the behavior of said vehicle if a completion condition established on the basis of an operation of a driver or a state of said vehicle is achieved during over-steering control of said vehicle,

wherein said completion condition is such that an estimative brake fluid pressure estimated on the basis of a braking degree generated by executing the behavior control is approximately identical to a fluid pressure of a master cylinder, and all of the absolute values of the first and second target yaw rates and the absolute value of the actual yaw rate are smaller than a preset value.

7. An apparatus for controlling behavior of a vehicle, said apparatus comprising,

a controller for estimating behavior of a yaw rate of said vehicle using of a first target yaw rate calculated on the basis of a steering angle, a second target yaw rate calculated on the basis of lateral acceleration of said vehicle and an actual yaw rate caused in said vehicle, while controlling braking force for said vehicle to control the behavior of the yaw rate on the basis of estimated results, wherein

said controller completes controlling the behavior of said vehicle if a completion condition established on the basis of an operation of a driver or a state of said vehicle is achieved during over-steering control of said vehicle,

wherein said completion condition is such that a slip angle is small, and among the first and second target yaw rates and the actual yaw rate, the absolute values of any two ones are smaller than a preset value while the absolute value of the remaining one is resemble to the preset value.