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Device for estimating turning characteristic of vehicle

  • US 8,744,686 B2
  • Filed: 09/24/2009
  • Issued: 06/03/2014
  • Est. Priority Date: 09/24/2009
  • Status: Active Grant
First Claim
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1. A turning characteristic estimation method for a vehicle, comprising:

  • obtaining an actual yaw rate of the vehicle;

    obtaining a vehicle speed of the vehicle;

    obtaining a steered angle of front wheels of the vehicle;

    obtaining a lateral acceleration of the vehicle;

    calculating a steady-state basic yaw rate based on the obtained vehicle speed, the obtained steered angle and the obtained lateral acceleration;

    calculating a plurality of transient yaw rates based on the calculated basic yaw rate using a steering response equation in which the transient yaw rate is expressed as having a first order delay relative to the basic yaw rate,wherein the steering response equation comprises a time constant of the first order delay, andwherein each of the plurality of transient yaw rates is calculated based on a corresponding different reference value of a time constant coefficient which is a coefficient multiplied to the vehicle speed in the time constant of the first order delay;

    calculating respective differences between each of the plurality of transient yaw rates and the obtained actual yaw rate;

    selecting a reference value among the plurality of reference values corresponding to the transient yaw rate having a minimum difference to the actual yaw rate as an estimated time constant coefficient of the steering response, which represents the turning characteristic of the vehicle; and

    updating each reference value based on the estimated time constant coefficient;

    wherein the turning characteristic estimation of the vehicle is performed by an electronic control unit.

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