Stability factor learning method and apparatus for a vehicle and control apparatus for a vehicle

• US 6,941,212 B2
• Filed: 09/29/2001
• Issued: 09/06/2005
• Est. Priority Date: 09/30/2003
• Status: Expired due to Fees

• Current Assignee: Mitsubishi FUSO Truck & Bus Corporation (Daimler Truck Holding AG)
• Original Assignee: Mitsubishi FUSO Truck & Bus Corporation (Daimler Truck Holding AG)
• Inventors: Sakata, Kunio
• Primary Examiner(s): Camby, Richard M.
• Application Number:
  US10/953,515
• Publication Number:
  US 20050102085A1
• Time in Patent Office: 1,438 Days
• Field of Search: 701/1, 701/41, 701/42, 701/44, 701/70, 701/71, 701/72, 701/74, 701/75, 701/77, 180/197, 180/40, 180/41, 180/443, 180/446, 180/421
• US Class Current: 701/72
• 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 8/17551 determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
• CPC Class Codes: B60W 2510/20 Steering systems
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 40/10 related to vehicle motion

Abstract

The invention provides a technique for learning a stability factor of a vehicle by which the stability factor of the vehicle can be calculated in response to a state of the vehicle. To this end, a state of the vehicle during traveling is detected, and it is decided based on the detection information whether or not the current traveling state of the vehicle is a stable turning state. If it is decided that the current traveling state of the vehicle is a stable turning state, then the stability factor of the vehicle is calculated in accordance with a predetermined arithmetic operation expression based on a vehicle speed, a steering angle and a yaw rate detected during traveling, and the calculated value is determined as a learned value of the stability factor of the vehicle thereby to determine the stability factor in the current state of the vehicle.

Claims

1. A stability factor learning method for a vehicle for learning a stability factor of said vehicle in a state of said vehicle during traveling, comprising:

a decision step of detecting a state of said vehicle during traveling and deciding based on the detection information whether or not the current traveling state of said vehicle is a stable turning state; and

a learning step of calculating, based on a vehicle body speed V_body, a steering angle δ and

a yaw rate Yaw_body detected during traveling, a stability factor A of said vehicle in accordance with an arithmetic operation expression (1);

$\begin{array}{cc}A=\left(\frac{V_{\mathrm{body}}·<br><br>\mathrm{\delta <br><br>}}{{\mathrm{Yaw}}_{\mathrm{body}}·<br><br>L}-1\right)<br><br>\frac{1}{V_{\mathrm{body}}^2}& \left(1\right)\end{array}$

and then setting, if it is decided at the decision step that the current traveling state of said vehicle is a stable turning state, the calculated value as a learned value of the stability factor A of said vehicle.

2. The stability factor learning method for a vehicle as claimed in claim 1, wherein a decision condition that the current traveling state of said vehicle is a stable turning state at the decision step is that all of a first condition that the magnitude of the yaw rate of said vehicle is equal to or higher than a predetermined value set in advance, a second condition that the magnitude of a forward-backward acceleration of said vehicle is lower than a predetermined value set in advance, a third condition that the magnitude of a lateral acceleration of said vehicle is within a range set in advance, a fourth condition that the vehicle speed is within a range set in advance, a fifth condition that the magnitude of a steering angular velocity of said vehicle is smaller than a predetermined value set in advance and a sixth condition that the magnitude of the steering angle of said vehicle is equal to or greater than a predetermined value set in advance are satisfied, and a learning condition that the calculated value according to the arithmetic operation expression (1) at the learning step is set to the learned value of the stability factor A of said vehicle is set to that the state wherein all of the first to sixth conditions are satisfied continues for a predetermined period of time set in advance or more.

3. The stability factor learning method for a vehicle as claimed in claim 2, wherein, at the learning step, if all of the first to sixth conditions are satisfied, the stability factor A is calculated repetitively in a predetermined cycle until any of the first to sixth conditions becomes unsatisfied, and then upon the arithmetic operation, if the state wherein all of the first to sixth conditions are satisfied continues for the predetermined period of time or more, an average value of results of the arithmetic operation performed in the predetermined cycle is calculated and used to update the learned value of the stability factor A of said vehicle.

4. The stability factor learning method for a vehicle as claimed in claim 2, wherein the predetermined values and the ranges included in the decision condition are set to those which differ among different turning modes of said vehicle.

5. The stability factor learning method for a vehicle as claimed in claim 3, wherein the predetermined values and the ranges included in the decision condition are set to those which differ among different turning modes of said vehicle.

6. The stability factor learning method for a vehicle as claimed in claim 5, wherein, when the turning speed of said vehicle is a low vehicle speed corresponding to that upon turning to the right or turning to the left, the predetermined values and the ranges included in the decision condition are set to those which differ between turning to the left and turning to the right.

7. A stability factor learning apparatus for a vehicle for use with the stability factor learning method for a vehicle as claimed in claim 1, comprising:

vehicle state detection means for detecting a traveling state or an operation state of said vehicle, said vehicle state detection means including yaw rate detection means for detecting a yaw rate generated on said vehicle, vehicle speed detection means for detecting a vehicle speed and steering angle detection means for detecting a steering angle of said vehicle;

decision means for deciding based on the detection information from said vehicle state detection means whether or not the current traveling state of said vehicle is a stable turning state; and

learned value setting means for calculating, based on a vehicle body speed V_body, a steering angle δ and

a yaw rate Yaw_body obtained from said vehicle state detection means during traveling while it remains decided by said decision means that the current traveling state of said vehicle is a stable turning state, a stability factor A of said vehicle in accordance with the arithmetic operation expression (1) and then setting the calculated value as a learned value of the stability factor A of said vehicle.

8. A control apparatus for a vehicle, comprising:

a stability factor leaning apparatus for a vehicle as claimed in claim 7; and

control means for controlling said vehicle based on a stability factor learned value learned by said learning apparatus;

a controlling stability factor for use for the control of said vehicle being determined by weighted averaging a controlling stability factor in a preceding cycle and the latest stability factor learned value with weighting coefficients set in advance.

9. A stability factor learning apparatus for a vehicle for use with the stability factor learning method for a vehicle as claimed in claim 1, comprising:

a vehicle state sensor for detecting a traveling state or an operation state of said vehicle, said vehicle state sensor including a yaw rate sensor for detecting a yaw rate generated on said vehicle, a vehicle speed sensor for detecting a vehicle speed and a steering angle sensor for detecting a steering angle of said vehicle; and

an electronic control unit including a decision section for deciding based on the detection information from said vehicle state sensor whether or not the current running state of said vehicle is a stable turning state and a learned value setting section for calculating, based on a vehicle body speed V_body, a steering angle δ and

a yaw rate Yaw_body obtained from said vehicle state sensor during traveling while it remains decided by said decision means that the current traveling state of said vehicle is a stable turning state, a stability factor A of said vehicle in accordance with the arithmetic operation expression (1) and setting the calculated value as the learned value of the stability factor A of said vehicle.

10. A control apparatus for a vehicle, comprising:

a stability factor leaning apparatus for a vehicle as claimed in claim 9; and

control means for controlling said vehicle based on a stability factor learned value learned by said learning apparatus;

a controlling stability factor for use for the control of said vehicle being determined by weighted averaging a controlling stability factor in a preceding cycle and the latest stability factor learned value with weighting coefficients set in advance.