Vehicle controller
First Claim
1. A vehicle controller comprising:
- a sudden change judgment section that judges whether a change rate of a detected yaw rate detected by a yaw rate sensor is equal to or more than a predetermined value;
a normative yaw rate calculator that calculates a normative yaw rate based on a steering angle amount detected by a steering angle sensor; and
a correction section that performs a correction for making a detected lateral acceleration detected by a lateral acceleration sensor close to a value to be detected at a gravity center of a vehicle, the lateral acceleration sensor being positioned not at the gravity center, the correction being performed by using;
the detected yaw rate when the sudden change judgment section judges that the change rate of the detected yaw rate is less than the predetermined value;
the normative yaw rate instead of the detected yaw rate when the sudden change judgment section judges that the change rate of the detected yaw rate is equal to or more than the predetermined value; and
an unstability judgment section that judges that a traveling state of the vehicle is unstable according to a filtered detected yaw rate and the normative yaw rate based on the steering angle amount detected by the steering angle sensor.
2 Assignments
0 Petitions
Accused Products
Abstract
According to one embodiment, there is provided a vehicle controller including: a sudden change judgment section that judges whether a change rate of a detected yaw rate is equal to or more than a predetermined value; a normative yaw rate calculator that calculates a normative yaw rate based on a steering angle amount; and a correction section that performs a correction for making a detected lateral acceleration close to a value to be detected at a gravity center of a vehicle, by using: the detected yaw rate when the sudden change judgment section judges that the change rate of the detected yaw rate is less than the predetermined value; and the normative yaw rate instead of the detected yaw rate when the sudden change judgment section judges that the change rate of the detected yaw rate is equal to or more than the predetermined value.
7 Citations
19 Claims
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1. A vehicle controller comprising:
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a sudden change judgment section that judges whether a change rate of a detected yaw rate detected by a yaw rate sensor is equal to or more than a predetermined value; a normative yaw rate calculator that calculates a normative yaw rate based on a steering angle amount detected by a steering angle sensor; and a correction section that performs a correction for making a detected lateral acceleration detected by a lateral acceleration sensor close to a value to be detected at a gravity center of a vehicle, the lateral acceleration sensor being positioned not at the gravity center, the correction being performed by using; the detected yaw rate when the sudden change judgment section judges that the change rate of the detected yaw rate is less than the predetermined value; the normative yaw rate instead of the detected yaw rate when the sudden change judgment section judges that the change rate of the detected yaw rate is equal to or more than the predetermined value; and an unstability judgment section that judges that a traveling state of the vehicle is unstable according to a filtered detected yaw rate and the normative yaw rate based on the steering angle amount detected by the steering angle sensor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A vehicle controller comprising:
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a sudden change judgment section that judges whether a change rate of a detected yaw rate detected by a yaw rate sensor is equal to or more than a predetermined value; a normative yaw rate calculator that calculates a normative yaw rate based on a steering angle amount detected by a steering angle sensor; and a correction section that performs a correction for making a detected lateral acceleration detected by a lateral acceleration sensor close to a value to be detected at a gravity center of a vehicle, the lateral acceleration sensor being positioned not at the gravity center, the correction being performed by using; the detected yaw rate when the sudden change judgment section judges that the change rate of the detected yaw rate is less than the predetermined value; and the normative yaw rate instead of the detected yaw rate when the sudden change judgment section judges that the change rate of the detected yaw rate is equal to or more than the predetermined value, an unstability judgment section that judges that a traveling state of the vehicle is unstable when a unstable level is more than a threshold value, the unstable level indicating an unstableness of the traveling state of the vehicle, wherein the correction section performs the correction using the normative yaw rate only when the unstability judgment section does not judge the traveling state of the vehicle to be unstable, wherein the correction section includes a selection section, a position correction calculator and a storage section, wherein the selection section makes a selection as to whether a differential value of the detected yaw rate or a differential value of the normative yaw rate is used as a differential value for position correction based on a counter value output from a timer, wherein when no signal is received from the unstability judgment section, the selection section selects the differential value of the detected yaw rate and outputs the differential value to the position correction calculator as the position correction differential value. - View Dependent Claims (18, 19)
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Specification