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

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Yokota, Takahiro
• Primary Examiner(s): Jabr, Fadey
• Assistant Examiner(s): KLEINMAN, LAIL A
• Application Number:
  US13/389,696
• Publication Number:
  US 20120173039A1
• Time in Patent Office: 1,713 Days
• Field of Search: 701/41, 701/42, 701/43, 701/44
• US Class Current: 701/42
• CPC Class Codes: B60W 2050/0088 Adaptive recalibration
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 30/18145 Cornering
• CPC Class Codes: B60W 40/11 Pitch movement
• CPC Class Codes: B60W 40/112 Roll movement
• CPC Class Codes: B60W 40/114 Yaw movement

Abstract

The device calculates a transient yaw rate of the vehicle on the basis of a standard yaw rate of the vehicle using an estimated value of a time constant coefficient of steering response, and adjusts the estimated value of a time constant coefficient of steering response on the basis of the relationship between a transient yaw rate of the vehicle and an actual yaw rate of the vehicle so that a transient yaw rate of the vehicle approaches an actual yaw rate of the vehicle.

Claims

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, and

wherein 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.

2. The turning characteristic estimation method for a vehicle according to claim 1, wherein the estimated value of the time constant coefficient of the steering response is adjusted so that the transient yaw rate of the vehicle approaches the actual yaw rate of the vehicle by means of reducing at least one of a difference in magnitude between the transient yaw rate of the vehicle and the actual yaw rate of the vehicle and a difference in phase between a transient yaw rate of the vehicle and an actual yaw rate of the vehicle.

3. The turning characteristic estimation method for a vehicle according to claim 2, wherein three transient yaw rates of the vehicle are calculated using a first reference value which is a stored time constant coefficient of steering response, a second reference value which is larger than the first reference value and a third reference value which is smaller than the first reference value, and the reference value among the three reference values is selected, the reference value corresponding to a minimum value among yaw rate deviation index values which index differences in magnitude between transient yaw rates of the vehicle and an actual yaw rate of the vehicle to set the selected reference value to an estimated time constant coefficient of steering response.

4. The turning characteristic estimation method for a vehicle according to claim 3, wherein the estimated time constant coefficient of steering response is set to a renewed first reference value;

three transient yaw rates of the vehicle using the renewed first reference value, a renewed second reference value which is larger than the renewed first reference value and a renewed third reference value which is smaller than the renewed first reference value are calculated; and

the reference value among the three renewed reference values is selected, the reference value corresponding to a minimum value among yaw rate deviation index values to set the selected reference value to a renewed estimated time constant coefficient of steering response.

5. The turning characteristic estimation method for a vehicle according to claim 4, wherein the difference between the renewed second reference value and the renewed first reference value is smaller than the difference between the second reference value and the first reference value, and the difference between the renewed third reference value and the renewed first reference value is smaller than the difference between the third reference value and the first reference value.

6. The turning characteristic estimation method for a vehicle according to claim 3, wherein the yaw rate deviation index values are calculated on the basis of the magnitude of the difference between an actual yaw rate removed of components equal to or lower than a first prescribed frequency and a transient yaw rates removed of components equal to or lower than a second prescribed frequency.

7. The turning characteristic estimation method for a vehicle according to claim 6, wherein the first prescribed frequency and/or the second prescribed frequency is/are varied according to an index value of the number of reciprocating steering operations by a driver per unit time.

8. The turning characteristic estimation method for a vehicle according to claim 6, wherein the first prescribed frequency and/or the second prescribed frequency according to a magnitude of lateral acceleration of the vehicle.

9. The turning characteristic estimation method for a vehicle according to claim 3, wherein the yaw rate deviation index values are calculated as values in which the magnitude of the differences between transient yaw rates and an actual yaw rate is transferred to the magnitude of steered angle deviations of the front wheels.

10. The turning characteristic estimation method for a vehicle according to claim 2, wherein the estimated value of the time constant coefficient of the steering response is increasingly adjusted when the phase of the transient yaw rates is leading to that of the actual yaw rate, but the estimated value of the time constant coefficient of the steering response is decreasingly adjusted when the phase of the transient yaw rates is behind that of the actual yaw rate.

11. The turning characteristic estimation method for a vehicle according to claim 1, wherein the time constant coefficient of the steering response is estimated individually for clockwise turning and counter-clockwise turning.

12. The turning characteristic estimation method for a vehicle according to claim 1, wherein the time constant coefficient of the steering response is estimated individually for each area of lateral acceleration of the vehicle.