Deceleration control apparatus and method for automotive vehicle

• US 7,765,048 B2
• Filed: 10/08/2004
• Issued: 07/27/2010
• Est. Priority Date: 10/15/2003
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Suzuki, Tatsuya, Matsumoto, Shinji
• Primary Examiner(s): To; Tuan C
• Assistant Examiner(s): MAWARI, REDHWAN K
• Application Number:
  US10/960,705
• Publication Number:
  US 20050085985A1
• Time in Patent Office: 2,118 Days
• Field of Search: 701 40- 44, 701/73, 701/80, 701/446, 180/446, 180 40- 44, 180/73, 180/80, 303/121, 303/138, 303/140, 303/147, 303/185, 477/47, 477/182
• US Class Current: 701/70
• CPC Class Codes: B60T 2201/16 Curve braking control, e.g. turn control within ABS control algorithm
• 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 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 2030/043 about the roll axis
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 30/04 related to roll-over prevention
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence

Abstract

In deceleration control apparatus and method for an automotive vehicle, a deceleration control is performed on the basis of a turning of the vehicle; and a controlled variable of the deceleration control is decreased when the vehicle is traveling on an outlet of a curved road.

Claims

1. A deceleration control apparatus for an automotive vehicle, comprising:

a deceleration controlling section configured to calculate a target vehicle velocity during a turning of the vehicle on a basis of a vehicular motion information generated during the turning of the vehicle and a lateral acceleration limitation value to perform a deceleration control such that a vehicle velocity is controlled to the target vehicle velocity;

a curved road outlet detecting section configured to detect whether the vehicle is traveling on an outlet of a curved road;

a section configured to perform a correction of the lateral acceleration limitation value to make the lateral acceleration limitation value larger as vehicle speed becomes lower; and

a controlled variable decreasing section configured to decrease a controlled variable of the deceleration control by correcting the lateral acceleration limitation value such that the lateral acceleration limitation value, in a case where the curved road outlet detecting section detects that the vehicle is traveling on the outlet of the curved road, is larger than the lateral acceleration limitation value before the outlet of the curved road has been detected while the vehicle is traveling on the curved road; and

a lateral acceleration limitation value correcting section configured to correct the lateral acceleration limitation value (Yg*) on a basis of a predetermined target lateral acceleration (Yga), a first lateral acceleration limitation value correction quantity (Yge), a second lateral acceleration limitation value correction quantity (Ygb) based on an acceleration opening angle, a third lateral acceleration limitation value correction quantity (Ygc) based on the vehicular velocity, and a fourth lateral acceleration limitation value correction quantity (Ygd) based on a road surface gradient (Yg*=Yga+Ygb+Ygc+Ygd+Yge).

2. A deceleration control apparatus for an automotive vehicle as claimed in claim 1, wherein the curved road outlet detecting section is configured to detect that the vehicle is traveling on the outlet of the curved road on the basis of a driving manipulation by a driver.

3. A deceleration control apparatus for an automotive vehicle as claimed in claim 2, wherein the curved road outlet detecting section is configured to detect that the vehicle is traveling on the outlet of the curved road in a case where the driver manipulates a steered steering wheel of the vehicle to run straightly.

4. A deceleration control apparatus for an automotive vehicle as claimed in claim 2, wherein the curved road outlet detecting section is configured to detect that the vehicle is traveling on the outlet of the curved road in a case where the driver manipulates an accelerator to accelerate the vehicle.

5. A deceleration control apparatus for an automotive vehicle as claimed in claim 1, wherein the curved road outlet detecting section is configured to detect that the vehicle is traveling on the outlet of the curved road on the basis of the vehicular motion.

6. A deceleration control apparatus for an automotive vehicle as claimed in claim 5, wherein the curved road outlet detecting section is configured to detect that the vehicle is traveling on the outlet of the curved road in a case where a yaw rate is decreased.

7. A deceleration control apparatus for an automotive vehicle as claimed in claim 5, wherein the curved road outlet detecting section is configured to detect that the vehicle is traveling on the outlet of the curved road in a case where a lateral acceleration is decreased.

8. A deceleration control apparatus for an automotive vehicle as claimed in claim 1, wherein the deceleration control is performed in order for the vehicle to be turned at a predetermined target lateral acceleration,

wherein the controlled variable of the deceleration control is set to be small as the predetermined target acceleration becomes large, and

wherein the deceleration control apparatus further comprises a target lateral acceleration correcting section configured to correct the predetermined target lateral acceleration on a basis of a driving manipulation by a vehicle driver or a vehicular motion.

9. A deceleration control apparatus for an automotive vehicle as claimed in claim 8, wherein the target lateral acceleration correcting section is configured to carry out such a correction that the predetermined target lateral acceleration becomes larger as the driver accelerates the vehicle.

10. A deceleration control apparatus for an automotive vehicle as claimed in claim 8, wherein the target lateral acceleration correcting section is configured to carry out such a correction that, as a vehicle velocity becomes smaller, the predetermined target lateral acceleration becomes larger.

11. A deceleration control apparatus for an automotive vehicle as claimed in claim 8, wherein the target lateral acceleration correcting section is configured to carry out such a correction that, as an ascending slope gradient of the traveling road becomes larger, the predetermined target lateral acceleration becomes larger.

12. A deceleration control apparatus for an automotive vehicle as claimed in claim 1, wherein the deceleration control apparatus is configured so that a road surface frictional coefficient within the curved road is estimated, a predetermined target velocity during a travel on the curved road is calculated on the basis of the estimated curved road surface frictional coefficient, the controlled variable is set on the basis of the predetermined target velocity, and the road surface frictional coefficient is corrected on the basis of a driving manipulation of a vehicle driver.

13. A deceleration control apparatus for an automotive vehicle as claimed in claim 1, wherein the deceleration control apparatus further comprises:

a target vehicular velocity calculating section configured to calculate the target vehicle velocity (V*) on a basis of an estimated value of a road surface frictional coefficient (μ

), a yaw rate selected value (ψ

*), and the lateral acceleration limitation value (Yg*);

a target deceleration calculating section configured to calculate a target deceleration (Xg*) as follows;

Xg*=K1×

Δ

V/Δ

t, wherein K1 denotes a gain, Δ

V =V−

V*, wherein V denotes an actual vehicular velocity, and Δ

t denotes a predetermined time; and

a deceleration control section configured to control an engine throttle control unit and a brake control unit in order for an actual deceleration to be made substantially equal to the target deceleration (Xg*).

14. A deceleration control apparatus for an automotive vehicle as claimed in claim 13, wherein the deceleration control apparatus is configured so that the first lateral acceleration limitation value correction quantity (Yge) is counted up until a predetermined value (E) when the curved road outlet detecting section detects that the vehicle is traveling on the outlet of the curved road.

15. A deceleration control apparatus for an automotive vehicle as claimed in claim 1, wherein the deceleration control apparatus further comprises:

a target vehicular velocity calculating section configured to calculate the target vehicle velocity (V*) on a basis of an estimated value of a road surface frictional coefficient (μ

), a yaw rate selected value (ψ

*), and the lateral acceleration limitation value (Yg*);

a target deceleration calculating section configured to calculate a target deceleration (Xg*) as follows;

Xg*=K1×

Δ

V/Δ

t, wherein K1 denotes a gain, Δ

V =V−

V*, wherein V denotes an actual vehicular velocity, and Δ

t denotes a predetermined time; and

a deceleration control section configured to control an engine throttle control unit and a brake control unit in such a way that an actual deceleration is made substantially equal to the target deceleration (Xg*).

16. A deceleration control apparatus for an automotive vehicle as claimed in claim 1, wherein the deceleration control apparatus further comprises:

a target vehicular velocity calculating section configured to calculate the target vehicle velocity (V*) on the basis of an estimated value of a road surface frictional coefficient (μ

), a yaw rate selected value (ψ

*), and the lateral acceleration limitation value (Yg*);

a target deceleration calculating section configured to calculate a target deceleration (Xg*) as follows;

Xg*=(K2×

Δ

V+K3×

dΔ

V)/Δ

t, wherein K2 and K3 denote gains, Δ

V=V−

V*, wherein dΔ

V=Δ

V−

Δ

VZ, wherein Δ

V>

0 and Δ

VZ denotes a past value of Δ

V, and Δ

t denotes a predetermined time; and

a deceleration control section configured to control an engine throttle control unit and a brake control unit in such a way that an actual deceleration is made substantially equal to the target deceleration (Xg*).

17. A deceleration control apparatus for an automotive vehicle as claimed in claim 1, wherein the deceleration control apparatus further comprises:

a target vehicular velocity calculating section configured to calculate the target vehicle velocity (V*) as follows;

V*=Yg(t)/ψ

*, wherein Yg(t) denotes a present lateral acceleration and ψ

* denotes a selected value of a yaw rate from one of an estimated value of the yaw rate and an actual yaw rate which is larger than the other;

a target deceleration calculating section configured to calculate a target deceleration (Xg*) as follows;

Xg*=K1×

Δ

V/Δ

t, wherein K1 denotes a gain, Δ

V=V−

V*, wherein V denotes an actual vehicular velocity, and Δ

t denotes a predetermined time; and

a deceleration control section configured to control an engine throttle control unit and a brake control unit in such a way that an actual deceleration is made substantially equal to the target deceleration (Xg*).

20. A deceleration control apparatus for an automotive vehicle as claimed in claim 1, wherein the deceleration control apparatus further comprises:

a target vehicular velocity calculating section configured to calculate the target vehicle velocity (V*) on the basis of an estimated value of a road surface frictional coefficient (μ

), a yaw rate selected value (ψ

*), and the lateral acceleration limitation value (Yg*); and

a target deceleration calculating section configured to calculate a target deceleration (Xg*) as follows;

Xg*=(K2×

Δ

V+K3×

dΔ

V)/Δ

t, wherein K2 and K3 denote gains, Δ

V=V−

V*, wherein dΔ

V=Δ

V−

Δ

VZ, wherein Δ

V>

0 and Δ

VZ denotes a past value of Δ

V, and Δ

t denotes a predetermined time.

18. A deceleration control apparatus for an automotive vehicle, comprising:

deceleration controlling means for calculating a target vehicle velocity during a turning of the vehicle on a basis of a vehicular motion information generated during the turning of the vehicle and a predetermined lateral acceleration limitation value to perform a deceleration control such that a vehicle velocity is controlled to the target vehicle velocity;

curved road outlet detecting means for detecting whether the vehicle is traveling on an outlet of a curved road;

correction means for performing a correction of the lateral acceleration limitation value to make the lateral acceleration limitation value larger as the vehicle speed becomes lower; and

controlled variable decreasing means for decreasing a controlled variable of the deceleration control by correcting the lateral acceleration limitation value such that the lateral acceleration limitation value, in a case where the curved road outlet detecting means detects that the vehicle is traveling on the outlet of the curved road, is larger than the lateral acceleration limitation value before the outlet of the curved road has been detected while the vehicle is traveling on the curved road; and

a lateral acceleration limitation value correcting section configured to correct the lateral acceleration limitation value (Yg*) on a basis of a predetermined target lateral acceleration (Yga), a first lateral acceleration limitation value correction quantity (Yge), a second lateral acceleration limitation value correction quantity (Ygb) based on an acceleration opening angle, a third lateral acceleration limitation value correction quantity (Ygc) based on the vehicular velocity, and a fourth lateral acceleration limitation value correction quantity (Ygd) based on a road surface gradient (Yg*=Yga+Ygb+Ygc+Ygd+Yge).

21. A deceleration control apparatus for an automotive vehicle as claimed in claim 18, wherein the deceleration controlling means further comprises:

a target vehicular velocity calculating means for calculating the target vehicle velocity (V*) on the basis of an estimated value of a road surface frictional coefficient (μ

), a yaw rate selected value (ψ

*), and the lateral acceleration limitation value (Yg*); and

a target deceleration calculating means for calculating a target deceleration (Xg*) as follows;

Xg*=(K2×

Δ

V+K3×

dΔ

V)/Δ

t, wherein K2 and K3 denote gains, Δ

V=V−

V*, wherein dΔ

V=Δ

V−

Δ

VZ, wherein Δ

V>

0 and Δ

VZ denotes a past value of Δ

V, and Δ

t denotes a predetermined time.

19. A deceleration control method for an automotive vehicle, comprising:

performing a deceleration control;

calculating a target vehicle velocity during a turning of the vehicle on a basis of a vehicular motion information generated during the turning of the vehicle and a predetermined lateral acceleration limitation value to perform the deceleration control such that a vehicle velocity is controlled to the target vehicle velocity;

detecting whether the vehicle is traveling on an outlet of a curved road;

performing a correction of the lateral acceleration limitation value to make the lateral acceleration limitation value larger as the vehicle speed becomes lower; and

decreasing a controlled variable of the deceleration control by correcting the lateral acceleration limitation value such that the lateral acceleration limitation value, in a case where the vehicle is detected to be traveling on the outlet of the curved road, is larger than the lateral acceleration limitation value before the outlet of the curved road has been detected while the vehicle is traveling on the curved road; and

a lateral acceleration limitation value correcting section configured to correct the lateral acceleration limitation value (Yg*) on a basis of a predetermined target lateral acceleration (Yga), a first lateral acceleration limitation value correction quantity (Yge), a second lateral acceleration limitation value correction quantity (Ygb) based on an acceleration opening angle, a third lateral acceleration limitation value correction quantity (Ygc) based on the vehicular velocity, and a fourth lateral acceleration limitation value correction quantity (Ygd) based on a road surface gradient (Yg*=Yga+Ygb+Ygc+Ygd+Yge).

22. A deceleration control method for an automotive vehicle as claimed in claim 19, wherein the step of deceleration control further comprises:

calculating the target vehicle velocity (V*) on the basis of an estimated value of a road surface frictional coefficient (μ

), a yaw rate selected value (ψ

*), and the lateral acceleration limitation value (Yg*); and

calculating a target deceleration (Xg*) as follows;

Xg*=(K2×

Δ

V+K3×

dΔ

V)/Δ

t, wherein K2 and K3 denote gains, Δ

V=V−

V*, wherein dΔ

V=Δ

V−

Δ

VZ, wherein Δ

V>

0and Δ

VZ denotes a past value of Δ

V, and Δ

t denotes a predetermined time.