Vehicle behavior control apparatus
First Claim
Patent Images
1. A vehicle behavior control apparatus comprising:
- a deceleration control portion that decelerates the vehicle to reduce a deviation between a target turning index value, and an actual turning index value of the vehicle, the target turning index value being determined based on a steering angle of the vehicle, whereinthe deceleration has a first gradient of decrease when a roll motion index value of the vehicle is below a threshold roll motion index value,the deceleration has a second gradient of decrease, that is smaller than the first gradient of decrease, when the roll motion index value of the vehicle exceeds the threshold roll motion index value,the deceleration control portion decelerates the vehicle to reduce the deviation between the target turning index value and the actual turning index value by correcting a target value of the deceleration so as to keep a rate of change in the deceleration per predetermined time period smaller than a predetermined value that is smaller than a rate of change in the deceleration when the roll motion index does not exceed the threshold roll motion index,the target turning index value is at least one value selected from the group consisting of a yaw rate of the vehicle, a wheel angle, and a lateral acceleration, wherein the yaw rate is determined based on the steering angle and a vehicle speed, and the wheel angle is an angle of a left or right wheel of the vehicle, andthe actual turning index value is a turning index value that is actually detected or estimated, and which corresponds to the target turning index value of the vehicle.
1 Assignment
0 Petitions
Accused Products
Abstract
A vehicle behavior control apparatus including a deceleration control mechanism decelerating the vehicle to reduce a deviation between a target turning index value, which is determined based on a steering angle of the vehicle, and an actual turning index value. The deceleration control mechanism reduces the decrease gradient of the deceleration when a roll motion index value of the vehicle exceeds a threshold roll motion index value.
55 Citations
18 Claims
-
1. A vehicle behavior control apparatus comprising:
-
a deceleration control portion that decelerates the vehicle to reduce a deviation between a target turning index value, and an actual turning index value of the vehicle, the target turning index value being determined based on a steering angle of the vehicle, wherein the deceleration has a first gradient of decrease when a roll motion index value of the vehicle is below a threshold roll motion index value, the deceleration has a second gradient of decrease, that is smaller than the first gradient of decrease, when the roll motion index value of the vehicle exceeds the threshold roll motion index value, the deceleration control portion decelerates the vehicle to reduce the deviation between the target turning index value and the actual turning index value by correcting a target value of the deceleration so as to keep a rate of change in the deceleration per predetermined time period smaller than a predetermined value that is smaller than a rate of change in the deceleration when the roll motion index does not exceed the threshold roll motion index, the target turning index value is at least one value selected from the group consisting of a yaw rate of the vehicle, a wheel angle, and a lateral acceleration, wherein the yaw rate is determined based on the steering angle and a vehicle speed, and the wheel angle is an angle of a left or right wheel of the vehicle, and the actual turning index value is a turning index value that is actually detected or estimated, and which corresponds to the target turning index value of the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
-
-
14. A vehicle behavior control apparatus comprising:
-
a deceleration control portion that decelerates the vehicle to reduce a deviation between a target turning index value, and an actual turning index value of the vehicle, the target turning index value being determined based on a steering angle of the vehicle, wherein the deceleration has a first gradient of decrease when a roll motion index value of the vehicle equals a threshold reference roll index value, the deceleration has a second gradient of decrease, that is smaller than the first gradient of decrease, when the roll motion index value deviates from the threshold reference roll index value, the deceleration control portion decelerates the vehicle to reduce the deviation between the target turning index value and the actual turning index value by correcting a target value of the deceleration so as to keep a rate of change in the deceleration per predetermined time period smaller than a predetermined value that is smaller than a rate of change in the deceleration when the roll motion index does not exceed the target roll motion index value, the target turning index value is at least one value selected from the group consisting of a yaw rate of the vehicle, a wheel angle, and a lateral acceleration, wherein the yaw rate is determined based on the steering angle and a vehicle speed, and the wheel angle is an angle of a left or right wheel of the vehicle, and the actual turning index value is a turning index value that is actually detected or estimated, and which corresponds to the target turning index value of the vehicle. - View Dependent Claims (15)
-
-
16. A vehicle behavior control method comprising:
-
decelerating, by an electronic controller, the vehicle to reduce a deviation between a target turning index value, and an actual turning index value of the vehicle, the target turning index value being determined based on a steering angle of the vehicle, wherein the deceleration is performed according to a first gradient of decrease when a roll motion index value of the vehicle is below a threshold roll motion index value, the deceleration is performed according to a second gradient of decrease, that is smaller than the first gradient of decrease, when the roll motion index value of the vehicle exceeds the threshold roll motion index value, reducing, by the electronic controller, the deviation between the target turning index value and the actual turning index value by correcting a target value of the deceleration so as to keep a rate of change in the deceleration per predetermined time period smaller than a predetermined value that is smaller than a rate of change in the deceleration when the roll motion index value does not exceed the threshold roll motion index value, the target turning index value is at least one value selected from the group consisting of a yaw rate of the vehicle, a wheel angle, and a lateral acceleration, wherein the yaw rate is determined based on the steering angle and a vehicle speed, and the wheel angle is an angle of a left or right wheel of the vehicle, and the actual turning index value is a turning index value that is actually detected or estimated, and which corresponds to the target turning index value of the vehicle. - View Dependent Claims (17)
-
-
18. A vehicle behavior control apparatus comprising:
-
a deceleration control portion that decelerates the vehicle to reduce a deviation between a target turning index value, and an actual turning index value of the vehicle, the target turning index value being determined based on a steering angle of the vehicle, wherein the deceleration has a first gradient of decrease when a roll motion index value of the vehicle is below a threshold roll motion index value, the deceleration has a second gradient of decrease, that is smaller than the first gradient of decrease, when the roll motion index value of the vehicle exceeds the threshold roll motion index value, the deceleration is determined based on the deviation between the target turning index value and the actual turning index value, the deceleration control portion decelerates the vehicle to reduce the deviation between the target turning index value and the actual turning index value by correcting a target value of the deceleration so as to keep a rate of change in the deceleration per predetermined time period smaller than a predetermined value that is smaller than a rate of change in the deceleration when the roll motion index value does not exceed the target roll motion index value, the target turning index value is at least one value selected from the group consisting of a yaw rate of the vehicle, a wheel angle, and a lateral acceleration, wherein the yaw rate is determined based on the steering angle and a vehicle speed, and the wheel angle is an angle of a left or right wheel of the vehicle, and the actual turning index value is a turning index value that is actually detected or estimated, and which corresponds to the target turning index value of the vehicle.
-
Specification