Vehicle behavior control device
First Claim
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1. A vehicle behavior control device, comprising:
- a first means for calculating a spin amount serving as an index of spin behavior of a vehicle;
a control means for performing a braking force control of each wheel of the vehicle to prevent side slip in accordance with the spin amount;
a second means for calculating a slip angle of a front wheel of the vehicle, the slip angle being a discrepancy between a rolling direction of the front wheel and a traveling direction of the vehicle;
a determination means for determining whether the slip angle of the front wheel is outside of the determined range, by determining whether an absolute value of the slip angle of the front wheel calculated by the second means for calculating is equal to or larger than a threshold value, the determination means determining that the vehicle is not spinning when the absolute value of the slip angle of the front wheel is smaller than a threshold value; and
a correction means for correcting the spin amount based on a result of determination of the determination means.
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Abstract
It is predicted whether a spin amount is tending to diverge and a vehicle is tending to become unstable, or the spin amount is tending to converge and the vehicle is tending to become stable. When the convergent tendency is predicted, a correction to reduce the spin amount is performed. As a result, the performance of a braking force control can be made difficult when the spin amount is tending to converge. Thus, it is possible to prevent an anti-spin control from being performed when there is actually no need to perform the anti-spin control, such as when the vehicle posture is correcting.
15 Citations
18 Claims
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1. A vehicle behavior control device, comprising:
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a first means for calculating a spin amount serving as an index of spin behavior of a vehicle; a control means for performing a braking force control of each wheel of the vehicle to prevent side slip in accordance with the spin amount; a second means for calculating a slip angle of a front wheel of the vehicle, the slip angle being a discrepancy between a rolling direction of the front wheel and a traveling direction of the vehicle; a determination means for determining whether the slip angle of the front wheel is outside of the determined range, by determining whether an absolute value of the slip angle of the front wheel calculated by the second means for calculating is equal to or larger than a threshold value, the determination means determining that the vehicle is not spinning when the absolute value of the slip angle of the front wheel is smaller than a threshold value; and a correction means for correcting the spin amount based on a result of determination of the determination means. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A vehicle behavior control device, comprising:
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a first means for calculating a spin amount serving as an index of spin behavior of a vehicle; a control means for performing a braking force control of each wheel of the vehicle to prevent side slip in accordance with the spin amount; a second means for calculating a slip angle of a front wheel of the vehicle, the slip angle being a discrepancy between a rolling direction of the front wheel and a traveling direction of the vehicle; a determination means for determining whether the slip angle of the front wheel is outside of the determined range, by determining whether an absolute value of the slip angle of the front wheel calculated by the second means for calculating is equal to or larger than a threshold value, the determination means determining that the vehicle is not spinning when the absolute value of the slip angle of the front wheel is smaller than a threshold value; and an inhibition means for inhibiting the braking force control for the side slip prevention when the determination means determines that the vehicle is not spinning. - View Dependent Claims (12, 13, 14, 15, 16)
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17. A vehicle behavior control method, comprising:
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calculating a spin amount serving as an index of spin behavior of a vehicle; performing a braking force control of each wheel of the vehicle to prevent side slip in accordance with the spin amount; calculating a slip angle of a front wheel; determining whether the vehicle is spinning based on the slip angle of the front wheel; correcting the spin amount based on the determination result; and performing the braking force control of each wheel of the vehicle for the side slip prevention based on the corrected spin amount.
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18. A vehicle behavior control method, comprising:
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calculating a spin amount serving as an index of spin behavior of a vehicle; performing a braking force control of each wheel of the vehicle to prevent side slip in accordance with the spin amount; calculating a slip angle of a front wheel; determining whether the vehicle is spinning based on the slip angle of the front wheel; and inhibiting the braking force control for the side slip prevention when determination is made that the vehicle is not spinning.
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Specification