Steering control apparatus for a vehicle
First Claim
Patent Images
1. A steering control apparatus for a vehicle, comprising:
- steering control means for controlling a steered wheel angle of a wheel to be steered in response to steering operation of a vehicle driver;
braking force estimation means for estimating a braking force applied to each of at least a pair of right and left wheels of said vehicle, respectively;
lateral acceleration detection means for detecting a lateral acceleration of said vehicle;
braking force modification means for calculating a variation of braking force resulted from a varying load applied to each of said right and left wheels on the basis of the lateral acceleration detected by said detection means, when said vehicle is turning, and modifying the braking force estimated by said braking force estimation means, on the basis of the variation of braking force; and
steered wheel angle setting means for setting the steered wheel angle of said wheel to be steered, to cancel a moment about a gravity center of said vehicle, on the basis of the braking force modified by said braking force modification means.
2 Assignments
0 Petitions
Accused Products
Abstract
A steering control apparatus is provided for controlling a steered wheel angle of a wheel to be steered, wherein braking force applied to each of at least a pair of right and left wheels of the vehicle is estimated, and the braking force is modified on the basis of a variation of braking force resulted from a varying load applied to each of the wheels, when the vehicle is turning. And, a steered wheel angle of the wheel to be steered, or steering torque, is provided to cancel a moment about a gravity center of the vehicle, on the basis of the modified braking force.
26 Citations
12 Claims
-
1. A steering control apparatus for a vehicle, comprising:
-
steering control means for controlling a steered wheel angle of a wheel to be steered in response to steering operation of a vehicle driver;
braking force estimation means for estimating a braking force applied to each of at least a pair of right and left wheels of said vehicle, respectively;
lateral acceleration detection means for detecting a lateral acceleration of said vehicle;
braking force modification means for calculating a variation of braking force resulted from a varying load applied to each of said right and left wheels on the basis of the lateral acceleration detected by said detection means, when said vehicle is turning, and modifying the braking force estimated by said braking force estimation means, on the basis of the variation of braking force; and
steered wheel angle setting means for setting the steered wheel angle of said wheel to be steered, to cancel a moment about a gravity center of said vehicle, on the basis of the braking force modified by said braking force modification means. - View Dependent Claims (2, 3, 4)
-
-
5. A steering control apparatus for a vehicle, comprising:
-
steering torque applying means for applying a steering torque to a wheel to be steered in response to steering operation of a vehicle driver;
braking force estimation means for estimating a braking force applied to each of at least a pair of right and left wheels of said vehicle, respectively;
lateral acceleration detection means for detecting a lateral acceleration of said vehicle;
braking force modification means for calculating a variation of braking force resulted from a varying load applied to each of said right and left wheels on the basis of the lateral acceleration detected by said detection means, when said vehicle is turning, and modifying the braking force estimated by said braking force estimation means, on the basis of the variation of braking force; and
steering torque setting means for setting the steering torque of said wheel to be steered, to cancel a moment about a gravity center of said vehicle, on the basis of the braking force modified by said braking force modification means. - View Dependent Claims (6, 7, 8)
-
-
9. A steering control apparatus for a vehicle, comprising:
-
steering control means for controlling a steered wheel angle of a wheel to be steered in response to steering operation of a vehicle driver;
braking force estimation means for estimating a braking force applied to each of at least a pair of right and left wheels of said vehicle, respectively;
lateral force estimation means for estimating a lateral force applied to each of said right and left wheels;
slip angle calculation means for calculating a slip angle for each of said right and left wheels, to cancel a moment about a gravity center of said vehicle caused by the braking force and lateral force applied to each of said right and left wheels, on the basis of the results estimated by said braking force estimation means and said lateral force estimation means; and
steered wheel angle setting means for setting the steered wheel angle of said wheel to be steered, on the basis of the slip angle calculated by said slip angle calculation means. - View Dependent Claims (10)
-
-
11. A steering control apparatus for a vehicle, comprising:
-
steering torque applying means for applying a steering torque to a wheel to be steered in response to steering operation of a vehicle driver;
braking force estimation means for estimating a braking force applied to each of at least a pair of right and left wheels of said vehicle, respectively;
lateral force estimation means for estimating a lateral force applied to each of said right and left wheels;
slip angle calculation means for calculating a slip angle for each of said right and left wheels, to cancel a moment about a gravity center of said vehicle caused by the braking force and lateral force applied to each of said right and left wheels, on the basis of the results estimated by said braking force estimation means and said lateral force estimation means; and
steering torque setting means for setting the steering torque of said wheel to be steered, on the basis of the slip angle calculated by said slip angle calculation means. - View Dependent Claims (12)
-
Specification