Vehicle attitude control device based on stability factor
First Claim
1. A vehicle attitude control device for controlling the attitude of a vehicle to make a deviation between a measured actual yaw rate representing a steering property depending on the state of a load carried on the vehicle and a target yaw rate calculated in advance come close to zero by using a reference stability factor, the reference stability factor being a value set within a stability factor range particular to the vehicle and including values which are obtained by changing the state of a load quantity carried on the vehicle from a non-loading state to a maximum loading state, the vehicle attitude control device comprising:
- vehicle body speed detection means for detecting a vehicle body speed;
steering angle detection means for detecting a steering angle of the vehicle;
actual yaw rate detection means for detecting a yaw rate actually exerted on the vehicle;
target yaw rate calculation means for calculating a target yaw rate of the vehicle based on a stability factor representing the steering property of the vehicle; and
yaw rate deviation calculation means for calculating a yaw rate deviation by executing a subtraction between the actual yaw rate detected by the actual yaw rate detection means and the target yaw rate calculated by the target yaw rate calculation means;
wherein a comparison between the yaw rate deviation calculated by the yaw rate deviation calculation means and control intervention threshold values is made to execute an attitude control for the vehicle based on the comparison result, and wherein the vehicle attitude control device further comprises;
estimated stability factor derivation means for deriving the stability factor by calculation during turning of the vehicle based on the behavior of the vehicle represented by parameters including at least the vehicle speed, the steering angle and the actual yaw rate, with a result of the derivation being taken as an estimated stability factor; and
attitude control means for comparing the estimated stability factor estimated based on at least the vehicle speed, the steering angle and the actual yaw rate which are measured at a predetermined time interval during turning of the vehicle, and the reference stability factor, for lowering an attitude control necessary-or-not judgment sensitivity based on a result of the comparison, by lowering the control intervention threshold values, and for executing the attitude control for the vehicle after lowering the attitude control necessary-or-not judgment sensitivity.
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Accused Products
Abstract
A vehicle attitude control device derives a stability factor during turning of a vehicle based on the behavior of the vehicle to take the derivation result as an estimated stability factor (step 112), compares the estimated stability factor with a reference stability factor (steps 114 and 116), varies an attitude control necessary-or-not judgment sensitivity based on the comparison result (steps 118, 130 and 134), and executes the attitude control for the vehicle (step 126).
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Citations
11 Claims
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1. A vehicle attitude control device for controlling the attitude of a vehicle to make a deviation between a measured actual yaw rate representing a steering property depending on the state of a load carried on the vehicle and a target yaw rate calculated in advance come close to zero by using a reference stability factor, the reference stability factor being a value set within a stability factor range particular to the vehicle and including values which are obtained by changing the state of a load quantity carried on the vehicle from a non-loading state to a maximum loading state, the vehicle attitude control device comprising:
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vehicle body speed detection means for detecting a vehicle body speed; steering angle detection means for detecting a steering angle of the vehicle; actual yaw rate detection means for detecting a yaw rate actually exerted on the vehicle; target yaw rate calculation means for calculating a target yaw rate of the vehicle based on a stability factor representing the steering property of the vehicle; and yaw rate deviation calculation means for calculating a yaw rate deviation by executing a subtraction between the actual yaw rate detected by the actual yaw rate detection means and the target yaw rate calculated by the target yaw rate calculation means; wherein a comparison between the yaw rate deviation calculated by the yaw rate deviation calculation means and control intervention threshold values is made to execute an attitude control for the vehicle based on the comparison result, and wherein the vehicle attitude control device further comprises; estimated stability factor derivation means for deriving the stability factor by calculation during turning of the vehicle based on the behavior of the vehicle represented by parameters including at least the vehicle speed, the steering angle and the actual yaw rate, with a result of the derivation being taken as an estimated stability factor; and attitude control means for comparing the estimated stability factor estimated based on at least the vehicle speed, the steering angle and the actual yaw rate which are measured at a predetermined time interval during turning of the vehicle, and the reference stability factor, for lowering an attitude control necessary-or-not judgment sensitivity based on a result of the comparison, by lowering the control intervention threshold values, and for executing the attitude control for the vehicle after lowering the attitude control necessary-or-not judgment sensitivity. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A vehicle attitude control device for
controlling the attitude of a vehicle to make a deviation between a measured actual yaw rate representing a steering property depending on the state of a load carried on the vehicle and a target yaw rate calculated in advance come close to zero by using a reference stability factor, the reference stability factor being a value set within a stability factor range particular to the vehicle and including values which are obtained by changing the state of a load quantity carried on the vehicle from a non-loading state to a maximum loading state, the vehicle attitude control device comprising: -
vehicle body speed detection means for detecting a vehicle body speed; steering angle detection means for detecting a steering angle of the vehicle; actual yaw rate detection means for detecting a yaw rate actually exerted on the vehicle; target yaw rate calculation means for calculating a target yaw rate of the vehicle based on a stability factor representing the steering property of the vehicle; yaw rate deviation calculation means for calculating a yaw rate deviation by executing a subtraction between the actual yaw rate detected by the actual yaw rate detection means and the target yaw rate calculated by the target yaw rate calculation means; wherein the yaw rate deviation calculated by the yaw rate deviation calculation means is compared to control intervention threshold values to execute an attitude control for the vehicle based on the comparison result; estimated stability factor derivation means for deriving the stability factor by calculation during turning of the vehicle based on the behavior of the vehicle represented by parameters including at least the vehicle speed, the steering angle and the actual yaw rate, with a result of the derivation being taken as an estimated stability factor; comparison means for comparing the estimated stability factor derived by the estimated stability factor derivation means based on at least the vehicle speed, the steering angle and the actual yaw rate which are measured at a predetermined time interval during turning of the vehicle, with the reference stability factor; attitude control means for lowering an attitude control necessary-or-not judgment sensitivity by compensating the estimated stability factor in dependence on a comparison result obtained by the comparison means; and wherein the attitude control means executes the attitude control for the vehicle after lowering the attitude control necessary-or-not judgment sensitivity. - View Dependent Claims (9, 10, 11)
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Specification