Apparatus for controlling behavior of vehicle using brakes
First Claim
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1. A vehicle behavior control apparatus comprising:
- a wheel speed sensor measuring speeds of wheels;
a plurality of brake actuators producing braking efforts applied to wheels of a vehicle;
a lateral momentum determining circuit determining a lateral momentum of a vehicle body during traveling;
a vehicle state estimating circuit estimating a state of behavior of the vehicle body based on the speeds of the wheels measured by said wheel speed sensor and the lateral momentum determined by said lateral momentum determining circuit;
a target braking effort determining circuit determining a target braking effort to be produced by each of said brake actuators based on the state of behavior of the vehicle estimated by said vehicle state estimating circuit; and
braking effort regulating means for regulating the braking efforts produced by said brake actuators so as to agree with target braking efforts, respectively, to control behavior of the vehicle body, wherein said vehicle state estimating circuit includes wheel state variable determining means for determining a wheel state variable based on a difference in speeds between a right one of the wheels and a left one of the wheels and estimates the state of behavior of the vehicle body based on the wheel state variable.
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Abstract
A vehicle behavior control apparatus is provided which is designed to estimate the state of behavior of a vehicle body and to apply the brakes to wheels for suppressing an unwanted change in behavior of the vehicle body. The apparatus determines a lateral momentum of the vehicle body during traveling to estimate the state of behavior of the vehicle body based on the speeds of the wheels and calculates a target braking effort to be produced by each of the brake actuators based on the state of behavior of the vehicle.
75 Citations
24 Claims
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1. A vehicle behavior control apparatus comprising:
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a wheel speed sensor measuring speeds of wheels;
a plurality of brake actuators producing braking efforts applied to wheels of a vehicle;
a lateral momentum determining circuit determining a lateral momentum of a vehicle body during traveling;
a vehicle state estimating circuit estimating a state of behavior of the vehicle body based on the speeds of the wheels measured by said wheel speed sensor and the lateral momentum determined by said lateral momentum determining circuit;
a target braking effort determining circuit determining a target braking effort to be produced by each of said brake actuators based on the state of behavior of the vehicle estimated by said vehicle state estimating circuit; and
braking effort regulating means for regulating the braking efforts produced by said brake actuators so as to agree with target braking efforts, respectively, to control behavior of the vehicle body, wherein said vehicle state estimating circuit includes wheel state variable determining means for determining a wheel state variable based on a difference in speeds between a right one of the wheels and a left one of the wheels and estimates the state of behavior of the vehicle body based on the wheel state variable. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A vehicle behavior control apparatus comprising:
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wheel speed sensors measuring speeds of wheels;
brake actuators producing braking efforts applied to wheels of a vehicle;
a lateral momentum measuring sensor measuring lateral motion of the vehicle body to determine a vehicle state variable;
vehicle body portion state variable determining means for determining state variables of different portions of a vehicle body based on the speeds of the wheels;
state parameter determining means for determining one of a first state parameter indicating instability of the whole of the vehicle body and a second state parameter indicating a location of one of the portions of the vehicle body which is unstable in behavior of the vehicle body based on said vehicle state variable and the state variables;
a target braking effort determining circuit determining a target braking effort to be produced by each of said brake actuators based on the one of the first and second state parameters; and
braking effort regulating means for regulating the braking efforts produced by said brake actuators so as to agree with the target braking efforts, respectively, to control behavior of the vehicle body.
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22. A vehicle behavior control apparatus comprising:
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a wheel speed sensor measuring speeds of wheels;
brake actuators producing braking efforts applied to wheels of a vehicle;
a lateral momentum determining circuit determining a lateral momentum of a vehicle body during traveling;
wheel lift determining means for determining whether any of the wheels is lifted away from a road surface or not based on the speeds of the wheels and the lateral momentum of the vehicle body; and
actuator driving means for driving an actuator based on a result of the determination of said wheel lift determining means. - View Dependent Claims (23, 24)
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Specification