Method and apparatus for estimating a vehicle maneuvering state and method and apparatus for controlling a vehicle running characteristic

• US 5,483,446 A
• Filed: 08/10/1994
• Issued: 01/09/1996
• Est. Priority Date: 08/10/1993
• Status: Expired due to Term

• Current Assignee: Mitsubishi Jidosha Kogyo Kabushiki Kaisha
• Original Assignee: Mitsubishi Jidosha Kogyo Kabushiki Kaisha
• Inventors: Ito, Masayoshi, Momose, Nobuo, Sano, Yoshiaki, Taira, Masahito, Tejima, Takashi, Yoshida, Hiroaki, Tani, Masanori
• Primary Examiner(s): ZANELLI, MICHAEL J
• Application Number:
  US08/288,034
• Time in Patent Office: 517 Days
• Field of Search: 364/424.01, 364/436, 364/424.05, 364/426.01, 364/554, 364/431.04, 395/905
• US Class Current: 701/1
• CPC Class Codes: B60W 2050/0057 Frequency analysis, spectral techniques or transforms
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2530/00 Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
• CPC Class Codes: B60W 2540/30 Driving style
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/406 Traffic density
• CPC Class Codes: B60W 40/09 Driving style or behaviour
• CPC Class Codes: B62D 6/007 adjustable by the driver, e.g. sport mode
• CPC Class Codes: B62D 7/159 characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
• CPC Class Codes: F16H 2059/003 Detecting or using driving style of a driver, e.g. for adapting shift schedules
• CPC Class Codes: F16H 2059/605 Traffic stagnation information, e.g. traffic jams
• CPC Class Codes: F16H 2061/0081 Fuzzy logic
• CPC Class Codes: F16H 2061/0084 Neural networks
• CPC Class Codes: F16H 59/00 Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
• CPC Class Codes: F16H 59/66 Road conditions, e.g. slope, slippery
• CPC Class Codes: F16H 61/0213 characterised by the method for generating shift signals
• CPC Class Codes: Y10S 706/905 Vehicle or aerospace

Abstract

An apparatus for estimating a vehicle maneuvering state and controlling a vehicle running characteristic includes a controller having a fuzzy estimating function and a neural network function. The controller carries out frequency analysis on vehicle driving parameters such as vehicle speed, steering angle, opening degree of an accelerator, and longitudinal acceleration and lateral acceleration of a vehicle, to thereby determine a mean value and variance of each parameter. It implements fuzzy inference based on a traveling time ratio, an average speed, and an average lateral acceleration, which are obtained from vehicle speed and/or steering angle, to thereby calculate road traffic condition parameters, including a city area degree, a jammed road degree, and a mountainous road degree. According to the neural network function, the controller further determines an output parameter, indicative of the vehicle maneuvering state, by subjecting the mean value and variance of the vehicle driving parameters and the weighted total sum of the road traffic condition parameters to nonlinear conversion. Then, it variably controls the operating characteristic of a vehicle-mounted apparatus such as a rear-wheel steering controlling unit in accordance with the output parameter, thereby variably controlling the vehicle running characteristic.

Claims

1. A method for estimating a vehicle maneuvering state, comprising the steps of:

(a) detecting a plurality of vehicle driving parameters;

(b) carrying out a frequency analysis of each of said plurality of vehicle driving parameters, said step (b) including determining a frequency distribution of each of said vehicle driving parameters, and determining a plurality of types of analysis values for each of said vehicle driving parameters, said plurality of types of analysis values characterizing said frequency distribution; and

(c) estimating a vehicle maneuvering state intended by a driver in accordance with results of the frequency analyses, said step (c) including outputting an output parameter, indicative of the vehicle maneuvering state, in accordance with a weighted total sum of input parameters, in parallel with each other, defined by said plurality of types of analysis values for each of said vehicle driving parameters.

2. The method for estimating a vehicle maneuvering state according to claim 1, wherein said step (b) includes determining a mean value and variance of the frequency distribution on each of said vehicle driving parameters, as said plurality of types of analysis values.

8. The method for estimating a vehicle maneuvering state according to claim 1 or 3, wherein said step (a) includes detecting a vehicle speed, an opening degree of an accelerator, and a longitudinal vehicular acceleration, as said plurality of vehicle driving parameters.

9. The method for estimating a vehicle maneuvering state according to claim 1 or 3, wherein said step (b) includes determining said frequency distribution by changing percentage of a detected value of each said vehicle driving parameter in dependence of a relationship between the detected value and a predetermined value.

10. The method for estimating a vehicle maneuvering state according to claim 1 or 3, wherein said step (c) includes determining said output parameter by supplying said input parameters to a neural network.

11. The method for estimating a vehicle maneuvering state according to claim 1 or 3, wherein said output parameter indicates a degree of driving sportiness of the driver.

3. A method for estimating a vehicle maneuvering state, comprising the steps of:

(a) detecting a plurality of vehicle driving parameters;

(b) carrying out a frequency analysis on each of said plurality of vehicle driving parameters, said step (b) including determining a frequency distribution of each of said vehicle driving parameters, and determining at least one analysis value of each of said vehicle driving parameters, said at least one analysis value characterizing said frequency distribution;

(c) estimating a vehicle maneuvering state intended by a driver in accordance with results of the frequency analyses; and

(d) outputting at least one estimated value independently of step (c), the at least one estimated value being determined using at least one of the detected vehicle driving parameters of step (a) and being indicative of a road traffic condition under which a vehicle is traveling, said step (c) including outputting an output parameter, indicative of the vehicle maneuvering state, in accordance with a weighted total sum of input parameters, defined by said at least one estimated value indicative of the road traffic condition and said at least one analysis value for each of said vehicle driving parameters.

4. The method for estimating a vehicle maneuvering state according to claim 3, wherein said step (b) includes determining a mean value and variance of the frequency distribution on each of said vehicle driving parameters, as said at least one analysis value.

5. The method for estimating a vehicle maneuvering state according to claim 3, wherein said step (d) includes outputting said at least one estimated value in accordance with at least one of the detected vehicle driving parameters and a plurality of preset fuzzy rules.

6. The method for estimating a vehicle maneuvering state according to claim 3, wherein said step (d) includes outputting a city area degree and a jammed road degree, as said at least one estimated value, in accordance with an average speed and a traveling time ratio, each calculated from at least one of the detected vehicle driving parameters of step (a).

7. The method for estimating a vehicle maneuvering state according to claim 3, wherein said step (d) includes outputting a mountainous road degree, as said at least one estimated value, in accordance with an average lateral acceleration calculated from at least one of the detected vehicle driving parameters of step (a).

12. A method for controlling a vehicle running characteristic, comprising the steps of:

(a) detecting a plurality of vehicle driving parameters;

(b) carrying out a frequency analysis on each of said plurality of vehicle driving parameters, said step (b) including determining a frequency distribution of each of said vehicle driving parameters, and determining a plurality of types of analysis values for each of said vehicle driving parameters, the plurality of types of analysis values characterizing said frequency distribution;

(c) estimating a vehicle maneuvering state, intended by a driver, in accordance with results of the frequency analyses, said step (c) including outputting an output parameter, indicative of the vehicle maneuvering state, in accordance with a weighted total sum of input parameters, in parallel with each other, defined by said plurality of types of analysis values for each of said vehicle driving parameters; and

(d) variably controlling a running characteristic of the vehicle by variably controlling an operating characteristic of an apparatus mounted on the vehicle in accordance with said estimated vehicle maneuvering state.

14. The method for controlling a vehicle running characteristic according to claim 12 or 13, wherein said step (d) includes variably controlling an operating characteristic of a rear-wheel steering apparatus, which serves as said apparatus mounted on the vehicle and which sets a target rear-wheel steering angle by multiplying a value indicative of a front-wheel steering state or a value indicative of a vehicle behavior by a coefficient, by variably controlling said coefficient in accordance with said output parameter.

15. The method for controlling a vehicle running characteristic according to claim 12 or 13, wherein said step (d) includes variably controlling a steering reaction force vs. vehicle speed characteristic of a power steering unit in accordance with said output parameter, the power steering unit serving as said apparatus mounted on the vehicle and changing a steering reaction force in accordance with vehicle speed, detected as a vehicle driving parameter in step (a).

16. The method for controlling a vehicle running characteristic according to claim 12 or 13, wherein said step (d) includes variably setting a speed change map in accordance with said output parameter, the map being based on vehicle speed and throttle opening degree and being provided for an automatic transmission, which serves as said apparatus mounted on the vehicle.

17. The method for controlling a vehicle running characteristic according to claim 12 or 13, wherein said step (d) includes variably controlling an operating characteristic of a traction control unit, which serves as said apparatus mounted on the vehicle and which restricts an engine output to a target driving torque based on a turning state of the vehicle, detected as a vehicle driving parameter in step (a), and also restricts a variation amount of target driving torque to a predetermined amount, by variably controlling said predetermined amount in accordance with said output parameter.

18. The method for controlling a vehicle running characteristic according to claim 12 or 13, wherein said step (d) includes switchingly controlling of a damping force or a spring constant of a suspension unit in accordance with said output parameter, said suspension unit being of a variable damping force or variable spring constant type and serving as said apparatus mounted on the vehicle.

13. A method for controlling a vehicle running characteristic, comprising the steps of:

(a) detecting a plurality of vehicle driving parameters;

(b) carrying out a frequency analysis on each of said plurality of vehicle driving parameters, said step (b) including determining a frequency distribution of each of said vehicle driving parameters, and determining at least one analysis value for each of said vehicle driving parameters, said at least one analysis value characterizing said frequency distribution;

(c) estimating a vehicle maneuvering state, intended by a driver, in accordance with results of the frequency analyses;

(d) variably controlling a running characteristic of the vehicle by variably controlling an operating characteristic of an apparatus mounted on the vehicle in accordance with said estimated vehicle maneuvering state; and

(e) outputting at least one estimated value independently of step (c), the at least one estimated value being determined using at least one of the detected vehicle driving parameters of step (a) and being indicative of a road traffic condition under which the vehicle is traveling, said step (c) including outputting an output parameter, indicative of the vehicle maneuvering state, in accordance with a weighted total sum of input parameters defined by said at least one estimated value of the road traffic condition and said at least one analysis value for each of said vehicle driving parameters.

19. An apparatus for estimating a vehicle maneuvering state, comprising:

a driving parameter detecting means for detecting a plurality of vehicle driving parameters;

a frequency analyzing means for carrying out frequency analysis on each of said plurality of vehicle driving parameters, for determining a frequency distribution of each of said vehicle driving parameters and for determining a plurality of types of analysis values for each of said vehicle driving parameters, the plurality of types of analysis values characterizing said frequency distribution; and

a vehicle maneuvering state estimating means for estimating a vehicle maneuvering state intended by a driver in accordance with results of the frequency analyses, and for outputting an output parameter, indicative of the vehicle maneuvering state, in accordance with a weighted total sum of input parameters, input in parallel with each other, defined by said plurality of types of analysis values for each of said vehicle driving parameters.

20. The apparatus for estimating a vehicle maneuvering state according to claim 19, wherein said frequency analyzing means determines a mean value and variance of the frequency distribution for each of said vehicle driving parameters, as said plurality of types of analysis values.

26. The apparatus for estimating a vehicle maneuvering state according to claim 19 or 21, wherein said driving parameter detecting means detects a vehicle speed, an opening degree of an accelerator, and a longitudinal vehicular acceleration, as said plurality of vehicle driving parameters.

27. The apparatus for estimating a vehicle maneuvering state according to claim 19 or 21, wherein said frequency analyzing means determines said frequency distribution by changing percentage of a detected value of each said vehicle driving parameter in dependence of a relationship between the detected value and a predetermined value.

28. The apparatus for estimating a vehicle maneuvering state according to claim 19 or 21, wherein said vehicle maneuvering state estimating means determines said output parameter by supplying said input parameters to a neural network.

29. The apparatus for estimating a vehicle maneuvering state according to claim 19 or 22, wherein said output parameter indicates driving sportiness of a driver.

21. An apparatus for estimating a vehicle maneuvering state, comprising:

a driving parameter detecting means for detecting a plurality of vehicle driving parameters;

a frequency analyzing means for carrying out frequency analysis on each of said plurality of vehicle driving parameters, for determining a frequency distribution of each of said vehicle driving parameters and for determining at least one analysis value for each of said vehicle driving parameters, said at least one analysis value characterizing said frequency distribution;

a road traffic condition estimating means for outputting at least one estimated value independently of an estimated vehicle maneuvering state, the at least one estimated value being determined using at least one of the detected vehicle driving parameters and being indicative of a road traffic condition under which a vehicle is traveling; and

a vehicle maneuvering state estimating means for estimating a vehicle maneuvering state intended by a driver in accordance with results of the frequency analyses, and for outputting an output parameter, indicative of the vehicle maneuvering state, in accordance with a weighted total sum of input parameters, defined by said estimated value of the road traffic condition and said at least one analysis value for each of said vehicle driving parameters.

22. The apparatus for estimating a vehicle maneuvering state according to claim 21, wherein said frequency analyzing means determines a mean value or variance of the frequency distribution for each of said vehicle driving parameters, as said at least one analysis value.

23. The apparatus for estimating a vehicle maneuvering state according to claim 21, wherein said road traffic condition estimating means outputs said at least one estimated value in accordance with at least one of the detected vehicle driving parameters and a plurality of preset fuzzy rules.

24. The apparatus for estimating a vehicle maneuvering state according to claim 21, wherein said road traffic condition estimating means outputs a city area degree and a jammed road degree, as said at least one estimated value, in accordance with an average speed and a traveling time ratio, each calculated from at least one of the detected vehicle driving parameters.

25. The apparatus for estimating a vehicle maneuvering state according to claim 21, wherein said road traffic condition estimating means outputs a mountainous road degree, as said at least one estimated value, in accordance with an average lateral acceleration calculated from at least one of the detected vehicle driving parameters.

30. An apparatus for controlling a vehicle running characteristic, comprising:

a driving parameter detecting means for detecting a plurality of vehicle driving parameters;

a frequency analyzing means for carrying out frequency analysis on each of said plurality of vehicle driving parameters, for determining a frequency distribution of each of said vehicle driving parameters and for determining a plurality of types of analysis values for each of said vehicle driving parameters, the plurality of types of analysis values characterizing said frequency distribution;

a vehicle maneuvering state estimating means for estimating a vehicle maneuvering state intended by a driver in accordance with results of the frequency analyses, and for outputting an output parameter, indicative of the vehicle maneuvering state, in accordance with a weighted total sum of input parameters, input in parallel with each other, defined by said plurality of types of analysis values for each of said vehicle driving parameters; and

a characteristic controlling means for variably controlling a running characteristic of the vehicle by variably controlling an operating characteristic of an apparatus mounted on the vehicle in accordance with said estimated vehicle maneuvering state.

32. The apparatus for controlling a vehicle running characteristic according to claim 30 or 31, wherein said characteristic controlling means variably controls an operating characteristic of a rear-wheel steering unit, which serves as said apparatus mounted on the vehicle and which sets a target rear-wheel steering angle by multiplying a value indicative of a front-wheel steering state or a value indicative of vehicle behavior by a coefficient, by variably controlling said coefficient in accordance with said output parameter.

33. The apparatus for controlling a vehicle running characteristic according to claim 30 or 31, wherein said characteristic controlling means variably controls a steering reaction force vs. vehicle speed characteristic of a power steering unit in accordance with said output parameter, the power steering unit serving as said apparatus mounted on the vehicle and changing the steering reaction force in accordance with vehicle speed detected as a vehicle driving parameter.

34. The apparatus for controlling a vehicle running characteristic according to claim 30 or 31, wherein said characteristic controlling means variably sets a speed change map in accordance with said output parameter, the map being based on vehicle speed and throttle opening degree and being provided for an automatic transmission, which serves as said apparatus mounted on the vehicle.

35. The apparatus for controlling a vehicle running characteristic according to claim 30 or 31, wherein said characteristic controlling means variably controls an operating characteristic of a traction control unit, which serves as said apparatus mounted on the vehicle, which restricts an engine output to a target driving torque based on a turning state of the vehicle, detected as a vehicle driving parameter, and which restricts a variation amount of target driving torque to a predetermined amount, by controlling said predetermined amount in accordance with said output parameter.

36. The apparatus for controlling a vehicle running characteristic according to claim 30 or 31, wherein said characteristic controlling means variably controls a damping force or a spring constant of a suspension unit in accordance with said output parameter, said suspension unit being of a variable damping force or variable spring constant type and serving as said apparatus mounted on the vehicle.

31. An apparatus for controlling a vehicle running characteristic, comprising:

a driving parameter detecting means for detecting a plurality of vehicle driving parameters;

a frequency analyzing means for carrying out frequency analysis on each of said plurality of vehicle driving parameters, for determining a frequency distribution of each of said vehicle driving parameters and for determining at least one analysis value of each of said vehicle driving parameters, said at least one analysis value characterizing said frequency distribution;

a road traffic state estimating means for outputting at least one estimated value independently of an estimated vehicle maneuvering state, the at least one estimated value being determined using at least one of the detected vehicle driving parameters and being indicative of a road traffic condition under which a vehicle is traveling;

a vehicle maneuvering state estimating means for estimating a vehicle maneuvering state intended by a driver in accordance with results of the frequency analyses and for outputting an output parameter, indicative of the vehicle maneuvering state, in accordance with a weighted total sum of input parameters, defined by said at least one estimated value of road traffic condition and said at least one analysis value for each of said vehicle driving parameters; and

a characteristic controlling means for variably controlling a running characteristic of the vehicle by variably controlling an operating characteristic of an apparatus mounted on the vehicle in accordance with said estimated vehicle maneuvering state.