Vehicle behavior control apparatus

• US 6,708,088 B2
• Filed: 04/22/2002
• Issued: 03/16/2004
• Est. Priority Date: 04/24/2001
• Status: Expired due to Term

• Current Assignee: Subaru Corp.
• Original Assignee: Fuji Jukogyo KK (Subaru Corp.)
• Inventors: Kogure, Masaru, Matsuno, Koji, Hiwatashi, Yutaka, Ichikawa, Katsufumi, Ushijima, Takayuki
• Primary Examiner(s): Camby, Richard M.
• Application Number:
  US10/132,017
• Publication Number:
  US 20020153770A1
• Time in Patent Office: 694 Days
• Field of Search: 701/1, 701/36, 701/37, 701/38, 701/41, 701/51, 701/70-74, 701/78-80
• US Class Current: 701/1
• CPC Class Codes: B60G 2400/0523 Yaw rate
• CPC Class Codes: B60G 2400/104 lateral or transversal with regard to vehicle
• CPC Class Codes: B60G 2400/106 longitudinal with regard to vehicle, e.g. braking
• CPC Class Codes: B60G 2400/208 of wheel rotation
• CPC Class Codes: B60G 2400/30 Propulsion unit conditions
• CPC Class Codes: B60G 2400/39 Brake pedal position
• CPC Class Codes: B60G 2400/412 of steering wheel or column
• CPC Class Codes: B60G 2400/61 Load distribution
• CPC Class Codes: B60G 2400/63 Location of the center of gravity
• CPC Class Codes: B60G 2400/822 Road friction coefficient determination affecting wheel traction
• CPC Class Codes: B60G 2600/044 Alarm means
• CPC Class Codes: B60G 2800/016 Yawing condition
• CPC Class Codes: B60G 2800/702 Improving accuracy of a sensor signal
• CPC Class Codes: B60G 2800/704 predicting unorthodox driving conditions for safe or optimal driving
• CPC Class Codes: B60G 2800/952 Electronic driving torque distribution
• CPC Class Codes: B60G 2800/954 Four-wheel drive
• CPC Class Codes: B60K 23/04 for differential gearing
• CPC Class Codes: B60T 2201/14 Electronic locking-differential
• CPC Class Codes: B60T 2250/02 Vehicle mass
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• 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 10/14 : Central differentials for dividing torque between front and rear axles
• CPC Class Codes: B60W 10/16 : Axle differentials, e.g. for dividing torque between left and right wheels
• CPC Class Codes: B60W 2510/20 : Steering systems
• CPC Class Codes: B60W 2520/105 : Longitudinal acceleration
• CPC Class Codes: B60W 2520/125 : Lateral acceleration
• CPC Class Codes: B60W 2530/10 : Weight
• CPC Class Codes: B60W 2540/18 : Steering angle
• CPC Class Codes: B60W 2552/40 : Coefficient of friction
• CPC Class Codes: B60W 2710/12 : Differentials
• CPC Class Codes: B60W 2720/14 : Yaw
• CPC Class Codes: B60W 30/02 : Control of vehicle driving stability
• CPC Class Codes: B60W 40/064 : Degree of grip
• CPC Class Codes: B60W 40/068 : Road friction coefficient
• CPC Class Codes: B60W 40/114 : Yaw movement
• CPC Class Codes: B60W 40/12 : related to parameters of the vehicle itself , e.g. tyre models

Abstract

A vehicle behavior control apparatus is divided into three major parts, sensors for detecting engine and vehicle operating conditions, a target yaw rate establishing section for establishing the rate and differential limiting apparatuses for selectively varying distribution ratios of driving force between front and rear wheels and/or between left and right wheels. The target yaw rate establishing section calculates a target yaw rate based on a vehicle mass, a mass distribution ratio between front and rear axles, front and rear axle mass, distances between front and rear axles and a center of gravity, a steering angle of a front wheel, and front and rear wheels equivalent cornering powers. A steady state yaw rate gain is separately calculated for left and right steering, respectively. A reference yaw rate is calculated by correcting a time constant of lag of yaw rate with respect to steering based on estimated road friction coefficient.

Claims

1. A vehicle behavior control apparatus having target yaw rate establishing means for establishing a target yaw rate as a control target of said vehicle behavior control apparatus, said target yaw rate establishing means comprising:

vehicle mass estimating means for estimating a vehicle mass based on a vehicle acceleration or deceleration;

mass distribution calculating means for calculating a mass distribution between front and rear axles based on said vehicle mass;

front and rear axles to gravity center distance calculating means for calculating distances between front and rear axles and a center of gravity;

front wheel steering angle calculating means for calculating a steering angle of a front wheel based on a steering wheel rotation angle;

first stability factor calculating means for calculating a stability factor on steering left based on at least one of said vehicle mass, said vehicle mass distribution, said distances between front and rear axles and center of gravity and said steering angle of said front wheel;

second stability factor calculating means for calculating a stability factor on steering right based on at least one of said vehicle mass, said vehicle mass distribution, said distances between front and rear axles and center of gravity and said steering angle of said front wheel; and

target yaw rate calculating means for calculating said target yaw rate based on said first stability factor when turning left and for calculating said target yaw rate based on said second stability factor when turning right.

2. The vehicle behavior control apparatus according to claim 1, wherein said front wheel steering angle calculating means includes a steering gear ratio varying means and said target yaw rate establishing means calculates said target yaw rate based on a steering gear ratio established by said steering gear ratio varying means.

3. The vehicle behavior control apparatus according to claim 1, wherein said target yaw rate establishing means includes road friction coefficient estimating means for estimating a road friction coefficient and calculating said target yaw rate by estimating a lag of target yaw rate with respect to steering at least according to said estimated road friction coefficient.

4. The vehicle behavior control apparatus according to claim 1, wherein said target yaw rate establishing means includes road friction coefficient estimating means for estimating a road friction coefficient and warning means for providing a warning based on said road friction coefficient and calculating said target yaw rate by estimating a lag of target yaw rate with respect to steering according to at least said estimated road friction coefficient.

5. The vehicle behavior control apparatus according to claim 1, wherein said target yaw rate establishing means has reference yaw rate calculating means for establishing said target yaw rate calculated by estimating a lag of yaw rate with respect to steering to a reference yaw rate and said reference yaw rate is corrected by multiplying said reference yaw rate by a target yaw rate correction factor to obtain a final target yaw rate.

23. The vehicle behavior control apparatus according to claim 1, wherein when said stability factor calculating means calculates said stability factor, said target yaw rate correction factor on steering left is used separately from said target yaw rate correction factor on steering right.

24. The vehicle behavior control apparatus according to claim 3, wherein said road friction coefficient estimating means estimates said road friction coefficient according to said target yaw rate correction factor.

25. The vehicle behavior control apparatus according to claim 4, wherein said road friction coefficient estimating means estimates said road friction coefficient according to said target yaw rate correction factor.

6. A vehicle behavior control apparatus having target yaw rate establishing means for establishing a target yaw rate as a control target of said vehicle behavior control apparatus, said target yaw rate establishing means comprising:

road friction coefficient estimating means for estimating a road friction coefficient and

target yaw rate calculating means for calculating said target yaw rate by estimating a lag of said target yaw rate with respect to steering at least according to said estimated road friction coefficient,

wherein said road friction coefficient estimating means estimates said road friction coefficient according to said target yaw rate correction factor.

7. A vehicle behavior control having target yaw rate establishing means for establishing a target yaw rate as a control target of said vehicle behavior control apparatus, said target yaw rate establishing means comprising:

road friction coefficient estimating means for estimating a road friction coefficient;

target yaw rate calculating means for calculating said target yaw rate by estimating a lag of said target yaw rate with respect to steering at least according to said estimated road friction coefficient; and

warning means for providing a warning based on said estimated road friction coefficient,

wherein said road friction coefficient estimating means estimates said road friction coefficient according to said target yaw rate correction factor.

8. The vehicle behavior control apparatus having target yaw rate establishing means for establishing a target yaw rate as a control target of said vehicle behavior control apparatus, said target yaw rate establishing means comprising:

reference yaw rate calculating means for calculating a reference yaw rate which is a target yaw rate calculated by estimating a lag with respect to steering; and

reference yaw rate correcting means for correcting said reference yaw rate by multiplying said reference yaw rate by a target yaw rate correction factor to obtain a final target yaw rate,

wherein said final target yaw rate is outputted to a differential limiting control means for controlling a differentiation between one shaft and another shaft.

9. A method for establishing a target yaw rate as a control target of a vehicle behavior control apparatus comprising the steps of:

calculating a first stability factor on steering left based on at least one of vehicle mass, vehicle mass distribution, distances between front and rear axles and center of gravity and steering angle of a front wheel;

calculating a second stability factor on steering right based on at least one of the vehicle mass, the vehicle mass distribution, the distances between front and rear axles and center of gravity and steering angle of the front wheel; and

calculating a target yaw rate based on said first stability factor when turning left and calculating a target yaw rate based on said second stability factor when turning right.

10. The method for establishing the target yaw rate as claimed in claim 9, further including the steps of estimating a road friction coefficient and calculating said target yaw rate by estimating a lag of target yaw rate with respect to steering according to at least said estimated road friction coefficient.

11. The method for establishing the target yaw rate as claimed in claim 9, further including the steps of establishing said target yaw rate calculated by estimating a lag of yaw rate with respect to steering to a reference yaw rate, and correcting said reference yaw rate by multiplying said reference yaw rate by a target yaw rate correction factor to obtain a final target yaw rate.

12. A method for establishing the target yaw rate as a control target of a vehicle behavior control apparatus comprising the steps of:

varying a steering gear ratio according to a steering wheel rotation angle;

calculating a target yaw rate based on said steering gear ratio;

establishing said target yaw rate calculated by estimating a lag of yaw rate with respect to steering to a reference yaw rate; and

correcting said reference yaw rate by multiplying said reference yaw rate by a target yaw rate correction factor to obtain a final target yaw rate.

13. A method for establishing a target yaw rate as a control target of a vehicle behavior control apparatus of a vehicle, said method comprising the steps of:

calculating a reference yaw rate;

calculating a target yaw rate correction factor based on the reference yaw rate, an actual yaw rate and a first order lag time constant;

calculating the target yaw rate based on the target yaw rate correction factor and the reference yaw rate;

calculating a road friction coefficient estimating value based on the target yaw rate correction factor; and

outputting the target yaw rate to center and rear differential limiting control sections of the vehicle.

28. The method for establishing the target yaw rate as claimed in claim 13, further including the step of correcting a stability factor when turning left and a stability factor when turning right based on an average target yaw rate correction factor.

14. A vehicle behavior control apparatus having target yaw rate establishing means for establishing a target yaw rate as a control target of said vehicle behavior control apparatus, said target yaw rate establishing means comprising:

reference yaw rate calculating means for calculating a reference yaw rate which is a target yaw rate calculated by estimating a lag with respect to steering; and

reference yaw rate correcting means for correcting said reference yaw rate by multiplying said reference yaw rate by a target yaw rate correction factor to obtain a final target yaw rate,

wherein said target yaw rate correction factor is calculated based on at least one of a target yaw rate correction factor previously calculated, a target yaw rate previously calculated, a reference yaw rate presently calculated and an actual yaw rate presently detected.

15. A vehicle behavior control apparatus having target yaw rate establishing means for calculating a target yaw rate as a control target of said vehicle behavior control apparatus, said target yaw rate establishing means comprising:

steering gear ratio varying means for varying a steering gear ratio according to a steering wheel rotation angle; and

target yaw rate calculating means for calculating a target yaw rate based on said steering gear ratio,

wherein said target yaw rate establishing means has reference yaw rate calculating means for establishing the target yaw rate calculated by estimating a lag of yaw rate with respect to steering to a reference yaw rate and said reference yaw rate is corrected by multiplying said reference yaw rate by a target yaw rate correction factor to obtain a final target yaw rate, and

wherein said target yaw rate correction factor is calculated based on at least one of a target yaw rate correction factor previously calculated, a target yaw rate previously calculated, a reference yaw rate presently calculated and an actual yaw rate presently detected.

16. A vehicle behavior control apparatus having target yaw rate establishing means for establishing a target yaw rate as a control target of said vehicle behavior control apparatus, said target yaw rate establishing means comprising:

reference yaw rate calculating means for calculating a reference yaw rate which is a target yaw rate calculated by estimating a lag with respect to steering; and

reference yaw rate correcting means for correcting said reference yaw rate by multiplying said reference yaw rate by a target yaw rate correction factor to obtain a final target yaw rate,

wherein said target yaw rate correction factor corrects said reference yaw rate at a response speed substantially smaller than a changing speed caused by disturbance.

17. A vehicle behavior control apparatus having target yaw rate establishing means for calculating a target yaw rate as a control target of said vehicle behavior control apparatus, said target yaw rate establishing means comprising:

steering gear ratio varying means for varying a steering gear ratio according to a steering wheel rotation angle; and

target yaw rate calculating means for calculating a target yaw rate based on said steering gear ratio,

wherein said target yaw rate establishing means has reference yaw rate calculating means for establishing the target yaw rate calculated by estimating a lag of yaw rate with respect to steering to a reference yaw rate and said reference yaw rate is corrected by multiplying said reference yaw rate by a target yaw rate correction factor to obtain a final target yaw rate, and

wherein said target yaw rate correction factor corrects said reference yaw rate at a response speed substantially smaller than a changing speed caused by disturbance.

18. A vehicle behavior control apparatus having target yaw rate establishing means for establishing a target yaw rate as a control target of said vehicle behavior control apparatus, said target yaw rate establishing means comprising:

reference yaw rate calculating means for calculating a reference yaw rate which is a target yaw rate calculated by estimating a lag with respect to steering; and

reference yaw rate correcting means for correcting said reference yaw rate by multiplying said reference yaw rate by a target yaw rate correction factor to obtain a final target yaw rate,

wherein said target yaw rate correction factor retards a correction speed of said reference yaw rate when an absolute value of said actually detected yaw rate is larger than that of said target yaw rate.

19. A vehicle behavior control apparatus having target yaw rate establishing means for calculating a target yaw rate as a control target of said vehicle behavior control apparatus, said target yaw rate establishing means comprising:

steering gear ratio varying means for varying a steering gear ratio according to a steering wheel rotation angle; and

target yaw rate calculating means for calculating a target yaw rate based on said steering gear ratio,

wherein said target yaw rate establishing means has reference yaw rate calculating means for establishing the target yaw rate calculated by estimating a lag of yaw rate with respect to steering to a reference yaw rate and said reference yaw rate is corrected by multiplying said reference yaw rate by a target yaw rate correction factor to obtain a final target yaw rate, and

wherein said target yaw rate correction factor retards a correction speed of said reference yaw rate when an absolute value of said actually detected yaw rate is larger than that of said target yaw rate.

20. A vehicle behavior control apparatus having target yaw rate establishing means for establishing a target yaw rate as a control target of said vehicle behavior control apparatus, said target yaw rate establishing means comprising:

reference yaw rate calculating means for calculating a reference yaw rate which is a target yaw rate calculated by estimating a lag with respect to steering; and

reference yaw rate correcting means for correcting said reference yaw rate by multiplying said reference yaw rate by a target yaw rate correction factor to obtain a final target yaw rate,

wherein said target yaw rate correction factor varies a value to retard a correction speed of said reference yaw rate according to a lateral acceleration calculated from said actually detected yaw rate and an actually detected lateral acceleration.

21. A vehicle behavior control apparatus having target yaw rate establishing means for establishing a target yaw rate as a control target of said vehicle behavior control apparatus, said target yaw rate establishing means comprising:

reference yaw rate calculating means for calculating a reference yaw rate which is a target yaw rate calculated by estimating a lag with respect to steering; and

reference yaw rate correcting means for correcting said reference yaw rate by multiplying said reference yaw rate by a target yaw rate correction factor to obtain a final target yaw rate,

wherein said final target yaw rate is limited by a yaw rate calculated based on a lateral acceleration actually detected.

22. A vehicle behavior control apparatus having target yaw rate establishing means for calculating a target yaw rate as a control target of said vehicle behavior control apparatus, said target yaw rate establishing means comprising:

steering gear ratio varying means for varying a steering gear ratio according to a steering wheel rotation angle; and

target yaw rate calculating means for calculating a target yaw rate based on said steering gear ratio;

wherein said target yaw rate establishing means has reference yaw rate calculating means for establishing the target yaw rate calculated by estimating a lag of yaw rate with respect to steering to a reference yaw rate and said reference yaw rate is corrected by multiplying said reference yaw rate by a target yaw rate correction factor to obtain a final target yaw rate, and

wherein said target yaw rate correction factor varies a value to retard a correction speed of said reference yaw rate according to a lateral acceleration calculated from said actually detected yaw rate and an actually detected lateral acceleration.

26. A vehicle behavior control apparatus having target yaw rate establishing means for calculating a target yaw rate as a control target of said vehicle behavior control apparatus, said target yaw rate establishing means comprising:

steering gear ratio varying means for varying a steering gear ratio according to a steering wheel rotation angle; and

target yaw rate calculating means for calculating a target yaw rate based on said steering gear ratio,

wherein said target yaw rate establishing means includes road friction coefficient estimating means for estimating a road friction coefficient and calculating said target yaw rate by estimating a lag of said yaw rate with respect to steering according to at least said estimated road friction coefficient, and

wherein said road friction coefficient estimating means estimates said road friction coefficient according to a target yaw rate correction factor.

27. A vehicle behavior control apparatus having target yaw rate establishing means for calculating a target yaw rate as a control target of said vehicle behavior control apparatus, said target yaw rate establishing means comprising:

steering gear ratio varying means for varing a steering gear ratio according to a steering wheel rotation angle; and

target yaw rate calculating means for calculating a target yaw rate based on said steering gear ratio,

wherein said target yaw rate establishing means includes road friction coefficient estimating means for estimating a road friction coefficient and warning means for providing a warning based on said road friction coefficient and calculating said target yaw rate by estimating a lag of said target yaw rate with respect to steering according to at least said estimated road friction coefficient, and

wherein said road friction coefficient estimating means estimates said road friction coefficient according to a target yaw rate correction factor.