Dynamic behavior control apparatus of automotive vehicle
First Claim
1. A dynamic behavior control apparatus of an automotive vehicle having a behavior control device for stabilizing unstable behavior of the vehicle, first detection means for detecting a side slip angle of the vehicle, second detection means for detecting a side slip angular velocity of the vehicle, and electric control means for controlling operation of the behavior control device when a dynamic state of the vehicle defined by the detected side slip angle and its angular velocity is in an unstable region, comprising:
- third detection means for detecting a driving condition amount related to stability of the vehicle in a lateral direction; and
means for varying the unstable region in accordance with the detected driving condition amount.
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Abstract
A dynamic behavior control apparatus of an automotive vehicle wherein a side slip angle and its angular velocity are detected to determine whether a dynamic state of the vehicle defined by the detected side slip angle and its angular velocity is in a stable region or an unstable region, and wherein an unstable degree of the dynamic state of the vehicle is calculated. As a result of the detection and calculation, each target braking force of front and rear road wheels of the vehicle is calculated for correction of unstable behavior of the vehicle. A boundary line of the stable and unstable regions is varied in accordance with a driving condition amount of the vehicle such as a vehicle speed, a steering angle and a steering angle velocity and a travel circumstance amount such as a road surface frictional coefficient.
107 Citations
5 Claims
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1. A dynamic behavior control apparatus of an automotive vehicle having a behavior control device for stabilizing unstable behavior of the vehicle, first detection means for detecting a side slip angle of the vehicle, second detection means for detecting a side slip angular velocity of the vehicle, and electric control means for controlling operation of the behavior control device when a dynamic state of the vehicle defined by the detected side slip angle and its angular velocity is in an unstable region, comprising:
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third detection means for detecting a driving condition amount related to stability of the vehicle in a lateral direction; and means for varying the unstable region in accordance with the detected driving condition amount.
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2. A dynamic behavior control apparatus of an automotive vehicle having a behavior control device for stabilizing unstable behavior of the vehicle, first detection means for detecting a side slip angle of the vehicle, second detection means for detecting a side slip angular velocity of the vehicle, and electric control means for controlling operation of the behavior control device when a dynamic state of the vehicle defined by the detected side slip angle and its angular velocity is in an unstable region, comprising:
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third detection means for detecting a travel circumstance condition amount related to stability of the vehicle in a lateral direction; and
means for varying the unstable region in accordance with the detected travel circumstance condition amount.
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3. A dynamic behavior control apparatus of an automotive vehicle comprising:
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a behavior control device for stabilizing unstable behavior of the vehicle; first detection means for detecting a side slip angle of the vehicle; second detection means for detecting a side slip angular velocity of the vehicle; third detection means for detecting a driving condition amount related to stability of the vehicle in a lateral direction; and electric control means for controlling operation of the behavior control device when a dynamic state of the vehicle defined by the detected side slip angle and the detected angular velocity is in an unstable region, wherein said electric control means comprises; means for varying the unstable region in accordance with the detected driving condition amount; calculation means for calculating an unstable degree within the unstable region of the dynamic state of the vehicle; determination means for determining a control amount which is increased proportionally with an increase of the unstable degree; and output means for producing an electric control signal indicative of the control amount and applying it to said electric control means. - View Dependent Claims (4)
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5. A dynamic behavior control apparatus of an automotive vehicle comprising:
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a behavior control device for stabilizing unstable behavior of the vehicle; first detection means for detecting a side slip angle of the vehicle; second detection means for detecting a side slip angular velocity of the vehicle; third detection means for detecting a travel circumstance condition amount related to stability of the vehicle in a lateral direction; and electric control means for controlling operation of the behavior control device when a dynamic state of the vehicle defined by the detected side slip angle and the detected angular velocity is in an unstable region, wherein said electric control means comprises; means for varying the unstable region in accordance with the detected travel circumstance condition amount; calculation means for calculating an unstable degree within the unstable region of the dynamic state of the vehicle; determination means for determining a control amount which is increased proportionally with an increase of the unstable degree; and output means for producing an electric control signal indicative of the control amount and applying it to said electric control means.
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Specification