Vehicle posture control apparatus
First Claim
1. A vehicle posture control apparatus which controls posture of a vehicle in a yawing direction by independently controlling brakes of the vehicle'"'"'s wheels, comprising:
- first judging means for judging whether an understeering tendency of the vehicle is stronger than a preset reference value;
second judging means for judging whether a steering wheel is turned from a situation in which the vehicle is moving straight forward;
third judging means for judging whether a deviation between a change rate of a steering wheel angle and a change rate of an actual yaw rate is in an increasing tendency; and
control means for independently controlling the brakes of the wheels of the vehicle in accordance with results of the judgment by the first, second and third judging means;
wherein the control means controls, when the first judging means judges that an understeering tendency of the vehicle is stronger than the preset reference value during the vehicle is cornering, the brakes of the wheels of the vehicle independently to suppress the understeering tendency; and
wherein when the third judging means judges that a deviation between the change rate of the steering wheel angle and the change rate of the actual yaw rate is in an increasing tendency at a beginning of cornering of the vehicle when the second judging means judge that the steering wheel is tuned from a situation in which the vehicle is moving straight forward, the control means controls the brakes of the wheels of the vehicle independently to suppress the increasing tendency of the deviation with an amount less than a control amount for suppressing the understeering tendency during the cornering of the vehicle in accordance with a result of judgment of the first judging means, regardless of the result of judgment by the first judging means.
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Accused Products
Abstract
In a posture control apparatus controlling the posture of a vehicle in yawing direction by independently controlling brakes of the wheels, intervention of a first understeer control suppressing an understeering tendency is carried out when the understeering tendency of the vehicle is stronger than a preset reference value. Moreover, intervention of a second understeer control, in which the control amount is lower than in the first understeer control, is carried out when the actual yaw rate does not make a predetermined change with respect to a change of a steering wheel angle, thus improving the sense of stability and the controllability felt by the driver.
39 Citations
7 Claims
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1. A vehicle posture control apparatus which controls posture of a vehicle in a yawing direction by independently controlling brakes of the vehicle'"'"'s wheels, comprising:
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first judging means for judging whether an understeering tendency of the vehicle is stronger than a preset reference value;
second judging means for judging whether a steering wheel is turned from a situation in which the vehicle is moving straight forward;
third judging means for judging whether a deviation between a change rate of a steering wheel angle and a change rate of an actual yaw rate is in an increasing tendency; and
control means for independently controlling the brakes of the wheels of the vehicle in accordance with results of the judgment by the first, second and third judging means;
wherein the control means controls, when the first judging means judges that an understeering tendency of the vehicle is stronger than the preset reference value during the vehicle is cornering, the brakes of the wheels of the vehicle independently to suppress the understeering tendency; and
wherein when the third judging means judges that a deviation between the change rate of the steering wheel angle and the change rate of the actual yaw rate is in an increasing tendency at a beginning of cornering of the vehicle when the second judging means judge that the steering wheel is tuned from a situation in which the vehicle is moving straight forward, the control means controls the brakes of the wheels of the vehicle independently to suppress the increasing tendency of the deviation with an amount less than a control amount for suppressing the understeering tendency during the cornering of the vehicle in accordance with a result of judgment of the first judging means, regardless of the result of judgment by the first judging means. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A vehicle posture control apparatus which controls posture of a vehicle in a yawing direction of the vehicle by independently controlling brakes of the wheels of the vehicle comprising:
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a lateral acceleration sensor for detecting a lateral acceleration of the vehicle;
a yaw rate sensor for detecting a yaw rate generated in the vehicle;
a steering angle sensor for detecting a steering angle of a steering wheel off the vehicle;
solenoid valves for exchanging brake pressure of the brakes of the wheels between supply and discharge, respectively; and
a controller which receives detecting signals of the lateral acceleration sensor, the yaw rate sensor and the steering angle sensor to control the solenoid valves according to the detection signals, wherein the controller is configurated to;
judge whether an understeering tendency of the vehicle is stronger than a preset reference value;
judge whether the steering wheel is turned from a situation in which vehicle is moving straight forward;
judge whether a deviation between a change rate of a steering wheel angle and a change rate of an actual yaw rate is in an increasing tendency;
control, when it is judged that an understeering tendency of the vehicle is stronger than the preset reference value during cornering of the vehicle, the solenoid valves to suppress the understeering tendency; and
control, when it is judged that the deviation between the change rate of the steering wheel angle and the change rate of the actual yaw rate is in an increasing tendency at a beginning of cornering of the vehicle when it is judged that the steering wheel is turned from a situation in which the vehicle is moving straight forward, the solenoid valves so as to supply to the brakes of the cornering inside wheels a brake pressure lower than that for suppressing the understeering tendency during cornering of the vehicle, regardless of the amount of the understeering tendency.
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Specification