Vehicle control device

• US 9,031,746 B2
• Filed: 01/09/2013
• Issued: 05/12/2015
• Est. Priority Date: 01/27/2012
• Status: Expired due to Fees

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Yokota, Takahiro, Kozuka, Tomoyuki
• Primary Examiner(s): Jabr, Fadey
• Assistant Examiner(s): Mahne, Kevin P.
• Application Number:
  US14/374,406
• Publication Number:
  US 20150006034A1
• Time in Patent Office: 853 Days
• US Class Current: 701/41
• CPC Class Codes: B60G 2800/70 Estimating or calculating vehicle parameters or state variables
• CPC Class Codes: B60T 2250/02 Vehicle mass
• CPC Class Codes: B60T 2250/03 Vehicle yaw rate
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• 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: B60T 8/17551 determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
• CPC Class Codes: B60T 8/18 responsive to vehicle weight or load, e.g. load distribution using electrical circuitry on regulation means B60T8/17; B60T8/30 takes precedence; responsive to weight and speed condition B60T8/58
• CPC Class Codes: B60W 2050/0031 Mathematical model of the vehicle
• CPC Class Codes: B60W 2050/0033 Single-track, 2D vehicle model, i.e. two-wheel bicycle model
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2520/20 Sideslip angle
• CPC Class Codes: B60W 2530/10 Weight
• CPC Class Codes: B60W 30/045 Improving turning performance
• CPC Class Codes: G01G 19/086 wherein the vehicle mass is dynamically estimated

Abstract

A vehicle control device includes: a weight calculating unit configured to estimate a weight of the vehicle; a traveling state calculating unit configured to estimate a turning characteristic of the vehicle; a guard setting unit configured to change and set at least one of an upper limit value and a lower limit value of the turning characteristic based on the weight of the vehicle estimated by the weight calculating unit; an upper and lower limit processing unit configured to perform a process of putting the turning characteristic into a range of the upper and lower limit values; and a behavior control unit configured to perform behavior control of the vehicle based on the turning characteristic after the process of putting the turning characteristic into the range of the upper and lower limit values.

Claims

1. A vehicle control device comprising:

a weight estimating unit configured to estimate a weight of a vehicle;

a traveling state estimating unit configured to estimate a turning characteristic of the vehicle;

an upper and lower limit values setting unit configured to both an upper limit value and a lower limit value of the turning characteristic based on the weight of the vehicle estimated by the weight estimating unit;

an upper and lower limit values changing unit configured to change at least one of the upper limit value and the lower limit value of the turning characteristic based on the weight of the vehicle estimated by the weight estimating unit;

an upper and lower limit processing unit configured to perform a process of putting the turning characteristic estimated by the traveling state estimating unit into a range of the upper and lower limit values set by the upper and lower limit values setting unit; and

a behavior control unit configured to perform behavior control of the vehicle based on the turning characteristic after the process of putting the turning characteristic into the range of the upper and lower limit values performed by the upper and lower limit processing unit.

2. The vehicle control device according to claim 1, wherein

the upper and lower limit values setting unit sets the upper and lower limit values as values determined in advance in a case where the estimation of the weight of the vehicle is not completed by the weight estimating unit at the time of setting the upper and lower limit values.

3. The vehicle control device according to claim 2, wherein

a value determined in advance is set to at least one of the weight of the vehicle and the turning characteristic of the vehicle in a case where the weight of the vehicle estimated by the weight estimating unit or the turning characteristic of the vehicle estimated by the traveling state estimating unit is above an upper limit value of a correlation determination range used for determining whether or not the weight of the vehicle or the turning characteristic of the vehicle is reliable, or is below a lower limit value of the correlation determination range.

4. The vehicle control device according to claim 2, wherein

the traveling state estimating unit estimates the turning characteristic based on the relation between lateral acceleration of the vehicle from which components of a first predetermined frequency and a lower frequency are removed and a yaw rate deviation index value from which a second predetermined frequency or a lower frequency are removed with an index value of a deviation between a transient yaw rate of the vehicle having relation of a first-order lag with respect to a normative yaw rate of the vehicle and an actual yaw rate of the vehicle being set as the yaw rate deviation index value.

5. The vehicle control device according to claim 1, wherein

a value determined in advance is set to at least one of the weight of the vehicle and the turning characteristic of the vehicle in a case where the weight of the vehicle estimated by the weight estimating unit or the turning characteristic of the vehicle estimated by the traveling state estimating unit is above an upper limit value of a correlation determination range used for determining whether or not the weight of the vehicle or the turning characteristic of the vehicle is reliable, or is below a lower limit value of the correlation determination range.

6. The vehicle control device according to claim 1, wherein

the traveling state estimating unit estimates the turning characteristic based on the relation between lateral acceleration of the vehicle from which components of a first predetermined frequency and a lower frequency are removed and a yaw rate deviation index value from which a second predetermined frequency or a lower frequency are removed with an index value of a deviation between a transient yaw rate of the vehicle having relation of a first-order lag with respect to a normative yaw rate of the vehicle and an actual yaw rate of the vehicle being set as the yaw rate deviation index value.

7. A vehicle control device comprising:

a weight estimating unit configured to estimate a weight of a vehicle;

a traveling state estimating unit configured to estimate a turning characteristic of the vehicle;

an upper and lower limit values setting unit configured to both an upper limit value and a lower limit value of the weight of the vehicle based on the turning characteristic of the vehicle estimated by the traveling state estimating unit;

an upper and lower limit values changing unit configured to change at least one of the upper limit value and the lower limit value of the weight of the vehicle based on the turning characteristic of the vehicle estimated by the traveling state estimating unit;

an upper and lower limit processing unit configured to perform a process of putting the weight of the vehicle estimated by the weight estimating unit into a range of the upper and lower limit values set by the upper and lower limit values setting unit; and

a behavior control unit configured to perform behavior control of the vehicle based on a weight of the vehicle after the process of putting the weight of the vehicle into the range of the upper and lower limit values performed by the upper and lower limit processing unit.

8. The vehicle control device according to claim 7, wherein

a value determined in advance is set to at least one of the weight of the vehicle and the turning characteristic of the vehicle in a case where the weight of the vehicle estimated by the weight estimating unit or the turning characteristic of the vehicle estimated by the traveling state estimating unit is above an upper limit value of a correlation determination range used for determining whether or not the weight of the vehicle or the turning characteristic of the vehicle is reliable, or is below a lower limit value of the correlation determination range.

9. The vehicle control device according to claim 8, wherein

the traveling state estimating unit estimates the turning characteristic based on the relation between lateral acceleration of the vehicle from which components of a first predetermined frequency and a lower frequency are removed and a yaw rate deviation index value from which a second predetermined frequency or a lower frequency are removed with an index value of a deviation between a transient yaw rate of the vehicle having relation of a first-order lag with respect to a normative yaw rate of the vehicle and an actual yaw rate of the vehicle being set as the yaw rate deviation index value.

10. The vehicle control device according to claim 7, wherein

the traveling state estimating unit estimates the turning characteristic based on the relation between lateral acceleration of the vehicle from which components of a first predetermined frequency and a lower frequency are removed and a yaw rate deviation index value from which a second predetermined frequency or a lower frequency are removed with an index value of a deviation between a transient yaw rate of the vehicle having relation of a first-order lag with respect to a normative yaw rate of the vehicle and an actual yaw rate of the vehicle being set as the yaw rate deviation index value.