Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication
Reexamination Certificate
1999-12-02
2001-03-20
Cuchlinski, Jr., William A. (Department: 3661)
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
C701S071000, C701S091000, C701S038000, C303S140000, C303S146000, C280S005507
Reexamination Certificate
active
06205375
ABSTRACT:
BACKGROUND OF THE INVENTION
The invention relates to a vehicle stability control apparatus, which calculates the desired yaw rate from the exerted force on the vehicle or the generating physical quantity on the vehicle and executes feedback control so as to have the actual yaw rate correspond to the desired yaw rate. Particularly, this invention is applicable to an apparatus that can execute the feedback control such as a four wheel steer apparatus which steers individually both of the front wheels and the rear wheels, a limited slip differential control apparatus which controls the engagement power between front wheels and rear wheels or between right and left wheels, a braking force control apparatus, a stabilizer control apparatus or an active control suspension apparatus which is capable of adjusting the rolling rigidity.
As one example, Japanese Patent Kokai No. 9-2316 discloses a vehicle stability control apparatus that calculates a desired yaw rate from the angle of the steering wheel and the vehicle's velocity, and always executes control so as to have the actual yaw rate correspond to the desired yaw rate. With such conventional apparatus, when the vehicle is quickly turned so as to change lanes for emergency evasion on a low friction road such as an icy road, the feedback control is executed so as to make the actual yaw rate correspond to the desired yaw rate. However, the actual yaw rate cannot be accurately corresponded to the desired yawing moment without delay because the tires can not generate lateral force, braking force and traction force transmitted on a road. Accordingly, a delay of phase of the vehicle's yaw rate becomes large in comparison to a driver's steering operation when the vehicle is converging on straight-ahead driving, and driver tends to over-correct the vehicle's behavior.
BRIEF SUMMARY OF THE INVENTION
It is an object of the present invention to provide a vehicle stability control apparatus, which can executes stability control well even if a delay of phase of the vehicle's yaw rate becomes large when the driver operates rapidly a steering wheel during the emergency evasion condition.
According to one aspect of the present invention, there is provided a vehicle stability control apparatus, comprising: a yaw rate sensor to detect a yaw rate of a vehicle; a physical amount detector to detect a physical amount input in the vehicle; a yaw momentum control apparatus to control yaw momentum of the vehicle in response to a control signal; and a control unit operatively coupled with the yaw rate sensor, the physical amount detector, and a yaw momentum control apparatus; wherein the control unit calculates a first desired yaw rate for the vehicle from the physical amount; the control unit sets the first desired yaw rate as a desired yaw rate; the control unit judges that the vehicle is in an emergency evasion condition when the difference between the yaw rate and the first yaw rate is larger than a first value; the control unit sets 0 or nearly 0 as a desired yaw rate when the control unit judges that the vehicle is in the emergency evasion condition; and the control unit applies the control signal to the yaw momentum control apparatus to reduce the difference between the yaw rate and the desired yaw rate.
There is also provided a vehicle stability control apparatus, comprising: a yaw rate sensor to detect a yaw rate of a vehicle; a physical amount detector to detect a physical amount input in the vehicle; a yaw momentum control apparatus to control yaw momentum of the vehicle in response to a control signal; and a control unit operatively coupled with the yaw rate sensor, the physical amount detector, and a yaw momentum control apparatus; wherein the control unit calculates a first desired yaw rate for the vehicle from the physical amount; the control unit judges whether the vehicle is in a normal condition or an emergency evasion condition, the control unit judging that the vehicle changes from the normal condition to the emergency evasion condition when the difference between the yaw rate and the first yaw rate is larger than a first value; the control unit sets the first desired yaw rate as a desired yaw rate; the control unit sets 0 or nearly 0 as the desired yaw rate when the control unit judges that the vehicle is in the emergency evasion condition; the control unit applies the control signal to the yaw momentum control apparatus to reduce the difference between the yaw rate and the desired yaw rate.
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patent: 5710705 (1998-01-01), Eckert
patent: 5720533 (1998-02-01), Pastor et al.
patent: 5732379 (1998-03-01), Eckert et al.
patent: 5774821 (1998-06-01), Eckert
patent: 5862503 (1999-01-01), Eckert et al.
patent: 5863105 (1999-01-01), Sano
patent: 6035251 (2000-03-01), Hac et al.
patent: 6122584 (2000-09-01), Lin et al.
Cuchlinski Jr. William A.
Foley & Lardner
Hernandez Ogla
Nissan Motor Co. Ltd
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