Vehicle motion measurement apparatus, a vehicle abnormal motion prevention apparatus and a drive recorder

• US 8,090,492 B2
• Filed: 02/07/2007
• Issued: 01/03/2012
• Est. Priority Date: 02/07/2006
• Status: Active Grant

• Current Assignee: Tokyo University of Agriculture and Technology
• Original Assignee: Tokyo University of Agriculture and Technology
• Inventors: Nagai, Masao, Raksincharoensak, Pongsathorn, Michitsuji, Yohei
• Primary Examiner(s): Trammell, James
• Assistant Examiner(s): Marc, McDieunel
• Application Number:
  US12/223,594
• Publication Number:
  US 20090276114A1
• Time in Patent Office: 1,791 Days
• Field of Search: 701/29, 701/35, 701/36, 701/37, 701/38, 701/45, 701/48, 701/70, 701/72, 701/74, 701/75, 701/82, 701/90, 701/117, 701/124, 701/201, 701/204, 701/208, 701/301, 340/429, 340/440, 340/441, 340/444, 340/446, 340/447, 340/465, 340/466, 340/467, 340/905, 340/988, 340/995.13, 303/20, 303/13, 303/138, 303/148, 303/146, 303/163, 303/158, 303/168, 303/174, 280/5.501, 280/5.502, 280/5.504, 280/5.506, 280/5.513, 280/5.514, 280/6.15, 280/6.159, 280/735, 280/755, 280/756, 180/197, 180/271, 180/282, 477/34, 477/107
• US Class Current: 701/29
• CPC Class Codes: B60T 2230/02 Side slip angle, attitude angle, floating angle, drift angle
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• CPC Class Codes: B60W 40/101 Side slip angle of tyre

Abstract

The apparatus comprises a measured signal detector 11, a vehicle parameter obtainer 12, a sideslip angle temporary estimator 13, a sideslip angle differential corresponding value computer 14 and a sideslip angle real estimator 15. A sideslip angle temporary estimate value is computed from one or plural vehicle parameters including at least the mass. A sideslip angle differential corresponding value is computed from a measured signal and the vehicle parameters including no mass. A sideslip angle is derived from the sideslip angle temporary estimate value and the sideslip angle differential corresponding value. A sideslip can be detected without a steering angle detection mechanism.

Claims

1. A vehicle motion measurement apparatus comprising

a driving state variable estimator for detecting plural measured signals other than a steering angle which change depending on the equipped condition of a vehicle;

a vehicle parameter obtainer for obtaining by a processor at least one vehicle parameter that does not change by the driving condition of the vehicle;

a sideslip angle temporary estimator for computing by the processor a sideslip angle temporary estimated value from a first set of parameters selected from the plural measured signals and at least one vehicle parameters including the mass;

a sideslip angle differential corresponding value computer for computing by the processor a sideslip angle differential corresponding value from a second set of signals selected from the plural measured signals and at least one vehicle parameter including no mass; and

a sideslip angle combined estimator for performing a precise estimation of a sideslip angle from the sideslip angle temporary estimate value and the sideslip angle differential corresponding value.

2. A vehicle motion measurement apparatus

according to claim 1, wherein the sideslip angle temporally estimator computes by the processor the sideslip angle temporary estimate value by a sideslip angle temporary estimation function:

β

_E=K₁×

(γ

/V)+K₂×

a_y

where,

K₁, K₂;

coefficients including measured signals

γ

;

yaw-rate

V;

vehicle velocity

a_y;

vehicle lateral acceleration.

3. A vehicle motion measurement apparatus according to claim 2, wherein K₁=L_r

K₂=mL_f/(2L×

C_r),

where

L;

distance between the from axle and the rear axle

L_f;

approximate distance between the vehicle gravity center and the front wheel axle

L_r;

approximate distance between the vehicle gravity center and the rear wheel axle

m;

vehicle mass

C_r;

cornering stiffness.

4. A vehicle motion measurement apparatus according to claim 1, wherein the sideslip angle differential corresponding value computer computes by the processor the sideslip angle differential corresponding value by a sideslip angle differential corresponding value function:

β

^D=(a_y/V)−

γ

.

5. A vehicle abnormal motion prevention apparatus comprising a vehicle motion measurement apparatus according to claim 1 and a sideslip prevention control means, wherein the sideslip prevention control means generates a brake signal in response to the measurement result of the sideslip angle and sends out the brake signal to a brake system.