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Device for estimating turning characteristic of vehicle

A technology of turning characteristics and vehicles, which is applied in the field of estimating devices of turning characteristics of vehicles, and can solve the problems that the estimation of stability coefficient is susceptible to detection errors and it is difficult to improve the estimation accuracy.

Inactive Publication Date: 2012-07-04
TOYOTA JIDOSHA KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, as described in the above publication, in the conventional turning characteristic estimating device, the estimation of the stability coefficient is easily affected by the detection error, so it is difficult to improve the estimation accuracy of the stability coefficient.

Method used

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  • Device for estimating turning characteristic of vehicle
  • Device for estimating turning characteristic of vehicle
  • Device for estimating turning characteristic of vehicle

Examples

Experimental program
Comparison scheme
Effect test

no. 1 approach

[0109] figure 1 is a schematic configuration diagram showing a first embodiment of a turning characteristic estimating device according to the present invention applied to a motion control device of a vehicle.

[0110] exist figure 1 In , reference numeral 50 shows the entire motion control device of the vehicle 10 , and the turning characteristic estimating device according to the present invention constitutes a part of the motion control device 50 . The vehicle 10 has left and right front wheels 12FL and 12FR and left and right rear wheels 12RL and 12RR. Left and right front wheels 12FL and 12FR serving as steered wheels are steered by a rack and pinion power steering device 16 driven in response to steering of a steering wheel 14 by a driver via tie rods 18L and 18R.

[0111] Brake pressures of wheel cylinders 24FR, 24FL, 24RR, and 24RL are controlled by hydraulic circuit 22 of brake device 20, thereby controlling the braking force of each wheel. It is not shown in the...

no. 2 approach

[0177] Figure 4 It is a flowchart showing the main part of the estimation calculation routine of the stability coefficient Kh in the second embodiment of the turning characteristic estimating device according to the present invention configured as a modified example of the first embodiment. In addition, in Figure 4 in, for with figure 2 The steps shown correspond to the steps, labeled with the figure 2 The same step numbers as the step numbers marked in , are also the same for flowcharts of other embodiments described later.

[0178] In this second embodiment, after step 80 is completed, in step 82 , the number of reciprocating steering performed by the driver per unit time is calculated as the steering frequency fs. In addition, based on the steering frequency fs and according to the Figure 5The cut-off frequency fhc is calculated by using the corresponding map shown in the graph, so that the lower the steering frequency fs is, the smaller the cut-off frequency fhc o...

no. 3 approach

[0184] Figure 6 It is a flowchart showing the main part of the estimation calculation routine of the stability coefficient Kh in the third embodiment of the turning characteristic estimating device according to the present invention constituted as a modified example of the first embodiment.

[0185] In the third embodiment, after step 80 is completed, in step 84 , the number of reciprocating steering performed by the driver per unit time is calculated as the steering frequency fs. In addition, based on the absolute value of the steering frequency fs and the front-rear acceleration Gx of the vehicle and according to the Figure 7 The cut-off frequency fhc is calculated from the map corresponding to the graph shown, so that the lower the steering frequency fs is, the smaller the cut-off frequency fhc of the high-pass filter processing is, and the greater the absolute value of the front-rear acceleration Gx of the vehicle is, the higher the cut-off frequency fhc of the high-pass...

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Abstract

A device for estimating turning characteristic of a vehicle estimates a stability factor indicating the turning characteristic of a vehicle. The device for estimating the turning characteristic calculates the transient yaw rate of a vehicle involved in the relationship of a primary delay relative to the steady-state normative yaw rate of a vehicle, and calculates the deviation between the transient yaw rate of the vehicle and the actual yaw rate of the vehicle. The device for estimating the turning characteristic corrects the estimated value of the stability factor so as to approach the true stability factor by correcting the initial value of the stability factor supplied to the calculation of the normative yaw rate of the vehicle on the basis of the relationship between the deviation of the yaw rate and the lateral acceleration of the vehicle so that the transient yaw rate of the vehicle approaches the true yaw rate.

Description

technical field [0001] The present invention relates to a turning characteristic estimating device of a vehicle, and more particularly to a turning characteristic estimating device for a vehicle which estimates a vehicle stability factor representing the turning characteristic of the vehicle based on the relationship between a reference yaw rate and a transition yaw rate when the vehicle is turning. Background technique [0002] There is a first-order lag relationship between the actual yaw rate of the vehicle and the reference yaw rate of the vehicle. If the coefficient related to the vehicle speed of the time constant of the first-order lag is set as the steering response time constant coefficient, the stability coefficient of the vehicle and the steering The response time constant coefficient represents the turning characteristics of the vehicle. Using ARX (auto-regressive exogenous model, exogenous regression model) to estimate the parameters a and b of the discrete-time...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W40/114B60W40/10
CPCB60W2050/0088B60W2520/125B60W40/114B60W40/11B60W40/112B60W2520/14B60W30/02B60W2050/0043B60W30/18145
Inventor 横田尚大
Owner TOYOTA JIDOSHA KK
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