×

Vehicular dynamic controlling apparatus and method

  • US 6,615,124 B1
  • Filed: 03/31/2000
  • Issued: 09/02/2003
  • Est. Priority Date: 04/02/1999
  • Status: Active Grant
First Claim
Patent Images

1. A vehicular dynamic controlling apparatus comprising:

  • a vehicular velocity sensor to detect a vehicular velocity;

    a steering angular displacement sensor to detect a steering angular displacement of a vehicular steering wheel;

    a yaw rate sensor to detect a vehicular yaw rate;

    a yaw rate gain estimating section that estimates a vehicular yaw rate gain from detected values of the vehicular velocity, the yaw rate, and the steering angular displacement;

    a target yaw rate gain setting section that sets a target value of the yaw rate gain;

    a brake force distribution controlling section that calculates a brake force command value for each of vehicular front left and right and rear left and right tire wheels to reduce a deviation between an estimated value of the yaw rate gain and the target value thereof;

    a brake pressure controlling section that controls a brake pressure to be applied to each tire wheel in accordance with the brake force command value for each tire wheel;

    a tire information calculating section that calculates a tire information related to a vehicular dynamic information on the basis of the brake force command value for each tire wheel individually and previously measured tire data;

    a rear tire wheel steering actuator to be enabled to actuate the rear tire wheels to be steered;

    a target vehicular dynamical variable calculating section that calculates target vehicular dynamical variables on the basis of the detected values of the vehicular velocity and the steering angular displacement and a target vehicular dynamic model;

    a rear tire wheel steering angular displacement command value calculating section that calculates a rear tire wheel steering angular displacement command value according to the detected values of the vehicular velocity and the steering angular displacement, the target vehicular dynamical variables, the tire information, and a previously measured controlled vehicular dynamic model; and

    a rear tire wheel steering angular displacement controlling section that controls an actuation of the rear tire wheel steering angular displacement actuator to make the rear tire wheel steering angular displacement command value coincident with an actual rear tire wheel steering angular displacement.

View all claims
  • 1 Assignment
Timeline View
Assignment View
    ×
    ×