Apparatus and method for controlling vehicle behavior

• US 6,442,469 B1
• Filed: 10/10/2001
• Issued: 08/27/2002
• Est. Priority Date: 10/11/2000
• Status: Expired due to Fees

• Current Assignee: Fuji Jukogyo KK (Subaru Corp.)
• Original Assignee: Fuji Jukogyo KK (Subaru Corp.)
• Inventors: Matsuno, Koji
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Marc-Coleman, Marthe Y.
• Application Number:
  US09/973,192
• Publication Number:
  US 20020052681A1
• Time in Patent Office: 321 Days
• Field of Search: 701/70, 701/72, 701/75, 701/48, 731/21, 303/140, 180/197
• US Class Current: 701/70
• CPC Class Codes: B60K 17/3462 with means for changing distribution of torque between front and rear wheels
• CPC Class Codes: B60K 23/0808 for varying torque distribution between driven axles, e.g. by transfer clutch
• CPC Class Codes: B60T 2210/24 Curve radius
• 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
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2552/20 Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2720/14 Yaw
• CPC Class Codes: B60W 30/18145 Cornering

Abstract

A target yaw rate setting unit of a control characteristics changing unit computes a first target yaw rate based on the radius of curvature of a curve. A target yaw rate setting unit of a braking force control unit computes a second target yaw rate based on driving conditions. When a cornering decision unit decides a turning intention, if the absolute value of the first target yaw rate is larger than the absolute value of the second target yaw rate, the second target yaw rate is corrected with the first target yaw rate, and the corrected second target yaw rate is outputted to a target yaw rate changing unit. A braking force control unit controls the braking force with the second target yaw rate corrected.

Claims

1. A vehicle behavior control apparatus comprising:

a road shape recognizing unit for recognizing the road shape ahead of a vehicle;

a first target yaw rate setting unit for setting a first target yaw rate on the basis of said road shape;

a second target yaw rate setting unit for setting a second target yaw rate on the basis of driving conditions of the vehicle;

a target yaw rate correcting unit for correcting said second target yaw rate on the basis of said first target yaw rate; and

a braking force setting unit for applying a braking force to a selected wheel so that an actual yaw rate converges into the second target yaw rate corrected by said target yaw rate correcting unit.

2. The vehicle behavior control apparatus according to claim 1, further comprising:

a turning decision unit for deciding a turning intention if a steering angle exceeds a presetted value,

wherein said target yaw rate correcting unit corrects said second target yaw rate gradually toward said first target yaw rate if said turning decision unit decides the turning intention.

3. The vehicle behavior control apparatus according to claim 1, further comprising:

a target lateral acceleration setting unit for setting a target lateral acceleration on the basis of either the second target yaw rate corrected by said target yaw rate correcting unit or the actual yaw rate; and

a deceleration control unit for making a deceleration control if an actual lateral acceleration is below said target lateral acceleration.

4. A vehicle behavior control apparatus comprising:

a road shape recognizing unit for recognizing the road shape ahead of a vehicle;

a first target yaw rate setting unit for setting a first target yaw rate on the basis of said road shape;

a second target yaw rate setting unit for setting a second target yaw rate on the basis of the driving conditions of the vehicle;

a target yaw rate correcting unit for correcting said second target yaw rate on the basis of said first target yaw rate; and

a driving force distribution unit for setting the driving force distribution to left and right wheels so that an actual yaw rate converges into the second target yaw rate corrected by said target yaw rate correcting unit.

5. The vehicle behavior control apparatus according to claim 4, further comprising:

a turning decision unit for deciding a turning intention if a steering angle exceeds a presetted value,

wherein said target yaw rate correcting unit corrects said second target yaw rate gradually toward said first target yaw rate if said turning decision unit decides the turning intention.

6. The vehicle behavior control apparatus according to claim 4, further comprising:

a target lateral acceleration setting unit for setting a target lateral acceleration on the basis of either the second target yaw rate corrected by said target yaw rate correcting unit or the actual yaw rate; and

a deceleration control unit for making a deceleration control if an actual lateral acceleration is below said target lateral acceleration.

7. A vehicle behavior control method comprising:

recognizing the road shape ahead of a vehicle;

setting a first target yaw rate on the basis of said road shape;

setting a second target yaw rate on the basis of the driving conditions of the vehicle;

correcting said second target yaw rate on the basis of said first target yaw rate; and

applying a braking force to a selected wheel so that an actual yaw rate converges into the corrected second target yaw rate.

8. The vehicle behavior control method according to claim 7, further comprising:

deciding a turning intention if a steering angle exceeds a presetted value,

wherein said second target yaw rate is corrected gradually toward said first target yaw rate if the turning intention is decided.

9. The vehicle behavior control method according to claim 7, further comprising:

setting a target lateral acceleration on the basis of either the corrected second target yaw rate or the actual yaw rate; and

making a deceleration control if an actual lateral acceleration is below said target lateral acceleration.

10. A vehicle behavior control method comprising:

recognizing the road shape ahead of a vehicle;

setting a first target yaw rate on the basis of said road shape;

setting a second target yaw rate on the basis of the driving conditions of the vehicle;

correcting said second target yaw rate on the basis of said first target yaw rate; and

setting the driving force distribution to left and right wheels so that an actual yaw rate converges into the corrected second target yaw rate.

11. The vehicle behavior control method according to claim 10, further comprising:

deciding a turning intention if a steering angle exceeds a presetted value,

wherein said second target yaw rate is corrected gradually toward said first target yaw rate if the turning intention is decided.

12. The vehicle behavior control method according to claim 10, further comprising:

setting a target lateral acceleration on the basis of either the corrected second target yaw rate or the actual yaw rate; and

making a deceleration control if an actual lateral acceleration is below said target lateral acceleration.