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Turning control device for vehicle

A turning control and vehicle technology, applied in the direction of brakes, etc., can solve problems such as unrealistic, ineffective, large yaw moment stability, etc., and achieve the effect of improving responsiveness and turning head

Active Publication Date: 2015-05-06
HONDA MOTOR CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0010] However, in the turning control device described in Patent Document 1, the yaw moment is always assisted during braking and turning. Therefore, it is considered unrealistic that the yaw moment may become too large and the stability may decrease.
[0011] On the other hand, the turning control device described in Patent Document 2 reflects the first yaw moment largely when turning sharply (when the steering angular velocity or steering angular acceleration is high), and the turning performance at this time is improved, but in normal Doesn't work when turning

Method used

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  • Turning control device for vehicle
  • Turning control device for vehicle

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Experimental program
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Embodiment approach 1

[0053] First, refer to Figure 1 to Figure 9 The accompanying drawings illustrate Embodiment 1 of a turning control device for a vehicle according to the present invention.

[0054] figure 1 It is a control block diagram of the vehicle turning control device according to the first embodiment.

[0055] A turning control device 1 for a vehicle includes a brake control unit 2 and a brake device 10 (brake control unit).

[0056] The brake control unit 2 determines braking force control amounts for the front, rear, left, and right wheels according to the running state of the vehicle. The brake device 10 controls the braking force of each wheel based on the braking force control amount of each wheel determined by the brake control unit 2 .

[0057] From the steering angle sensor 3 (steering amount detection unit) that detects the steering angle (steering amount) of the steering wheel of the vehicle, the vehicle speed sensor 4 (vehicle speed detection unit) that detects the vehicl...

Embodiment approach 2

[0133] Next, refer to Figure 10 and Figure 11 The accompanying drawings illustrate Embodiment 2 of the vehicle turning control device of the present invention.

[0134] Figure 10 It is a control block diagram of the vehicle turning control device according to the second embodiment. In the vehicle turning control device according to Embodiment 1 described above, the control amount (FB control amount) is obtained in the direction of eliminating the deviation between the limit standard yaw rate ω_TAR and the actual yaw rate (namely, the limit yaw rate deviation Δωfb). , only using the FB control amount to control the brake pressure. On the other hand, in the turning control device according to Embodiment 2, the feedforward control amount (hereinafter, simply referred to as FF control amount) is calculated based on the steering angle and the vehicle speed, and the FB control amount and the FF control amount are added together. The value is used as the total control amount, ...

Embodiment approach 3

[0166] Next, refer to Figure 12 to Figure 15 The accompanying drawings illustrate Embodiment 3 of the vehicle turning control device of the present invention.

[0167] In Embodiment 1 above, the steady-state standard yaw rate ω_high is calculated by multiplying the steering angle standard yaw rate by the gain set according to the vehicle speed (steady-state standard yaw rate gain Kv), and the steady-state standard yaw rate The angular velocity ω_high is input to the correction unit 15 , and the lateral acceleration standard yaw rate ω_low is corrected in association with the steady state standard yaw rate ω_high according to the steering state and motion state of the vehicle.

[0168] However, in vehicles, it is well known that there is a time delay in the yaw response relative to the steering input. However, no time delay is taken into account in the steering angle specification yaw rate. Therefore, in the third embodiment, the steering angle standard yaw rate taking the t...

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Abstract

A turning control device for a vehicle includes: a first standard yaw rate calculation unit that calculates a first standard yaw rate on the basis of detection signals of the lateral acceleration detection unit and the vehicle speed detection unit, a correction unit that corrects the first standard yaw rate, in an increasing direction on the basis of detection signals of a steering amount detection unit and the vehicle speed detection unit, and calculates a second standard yaw rate, a braking force control amount calculation unit that calculates a yaw rate deviation that is a deviation between the second standard yaw rate and an actual yaw rate, which is detected by the yaw rate detection unit, and determines a braking force control amount so as to cancel out the yaw rate deviation, and a braking control unit that controls the braking force on the basis of the braking force control amount determined by the braking force control amount calculation unit.

Description

technical field [0001] The present invention relates to a turning control device for a vehicle that controls the turning of the vehicle using braking. [0002] This application claims priority based on Japanese Patent Application No. 2010-047833 for which it applied to Japan on March 4, 2010, and Japanese Patent Application No. 2010-274950 for which it applied to Japan on December 9, 2010, and uses the content here. Background technique [0003] As an example of such a turning control device, it is known to perform braking control on specific wheels in such a direction that the deviation between the lateral acceleration standard yaw rate and the vehicle's actual yaw rate approaches zero, thereby stabilizing the behavior of the vehicle. The turning control device of the present invention, wherein the lateral acceleration standard yaw rate is calculated based on the acceleration in the lateral direction of the vehicle (hereinafter referred to as lateral acceleration) and the v...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60T8/1755
CPCB60T8/1755
Inventor 二村知幸小岛武志大村一刚
Owner HONDA MOTOR CO LTD
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