VEHICLE CONTROL APPARATUS
First Claim
1. A vehicle control apparatus comprising:
- a vehicle behavior detection sensor configured to detect a behavior acting on a vehicle;
a vehicle behavior reference value calculation unit configured to calculate a reference value of the behavior of the vehicle, based on an output value of another sensor than the vehicle behavior detection sensor; and
an oscillating detection unit configured to compare the output value of the sensor and the reference value and detect that a trailer towed by a towing vehicle has an oscillating motion, based on a magnitude of an amplitude of the output value relative to an amplitude of the reference value.
1 Assignment
0 Petitions
Accused Products
Abstract
The present invention provides a vehicle control apparatus capable of determining an oscillating motion with no or less delay. The vehicle control apparatus includes a vehicle behavior detection sensor configured to detect a behavior acting on a vehicle, a vehicle behavior reference value calculation unit configured to calculate a reference value of the behavior of the vehicle, based on an output value of another sensor than the vehicle behavior detection sensor, and an oscillating detection unit configured to compare the output value of the sensor and the reference value and detect that a trailer towed by a towing vehicle has an oscillating motion, based on a magnitude of an amplitude of the output value relative to an amplitude of the reference value.
31 Citations
18 Claims
-
1. A vehicle control apparatus comprising:
-
a vehicle behavior detection sensor configured to detect a behavior acting on a vehicle; a vehicle behavior reference value calculation unit configured to calculate a reference value of the behavior of the vehicle, based on an output value of another sensor than the vehicle behavior detection sensor; and an oscillating detection unit configured to compare the output value of the sensor and the reference value and detect that a trailer towed by a towing vehicle has an oscillating motion, based on a magnitude of an amplitude of the output value relative to an amplitude of the reference value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
-
-
16. A vehicle control apparatus comprising:
-
a yaw rate sensor configured to detect a yaw rate acting on a vehicle; a lateral acceleration sensor configured to detect a lateral acceleration acting on the vehicle; a vehicle behavior reference value calculation unit configured to estimate a yaw rate or a lateral acceleration supposed to act on the vehicle as a reference value from a state of the vehicle; an oscillating detection unit configured to compare an output value of at least one of the sensors and the reference value corresponding to the at least one of the sensors, and detect that a trailer towed by a towing vehicle has an oscillating motion if an amplitude of the output value increases relative to an amplitude of the reference value; and a speed reduction unit configured to slow down a speed of the towing vehicle if the oscillating motion is detected by the oscillating detection unit. - View Dependent Claims (17)
-
-
18. A vehicle control apparatus comprising:
-
a yaw rate sensor configured to detect a yaw rate acting on a vehicle; a yaw rate reference value calculation unit configured to calculate a reference value of the yaw rate, based on a steering angle and a speed of a vehicle body; a first amplitude calculation unit configured to calculate an amplitude from an output value of the yaw rate sensor; a second amplitude calculation unit configured to calculate an amplitude of the reference value of the yaw rate; an amplitude comparison unit configured to compare the amplitudes respectively calculated by the first and second amplitude calculation units; and an oscillating detection unit configured to detect that a trailer towed by a towing vehicle has an oscillating motion if the comparison reveals a gradual increase in a difference of the amplitude of the output value from the amplitude of the reference value.
-
Specification