Patent Application
20110172872
This application claims the foreign priority benefit under 35 U.S.C. §119 of Japanese Patent Application No. 2010-003809 filed on Jan. 12, 2010, the disclosure of which is incorporated herein by reference.
The present invention relates to a technology to determine the condition of a vehicle that is turning.
Japanese Unexamined Patent Application No. 2008-001144 discloses a suspension control apparatus that determines that a vehicle is in the counter steer state if vehicle body's moving direction is not in agreement with the steering direction of a steering unit of the vehicle.
In this application, a direction of a lateral acceleration or a yaw rate is used for vehicle body's movement direction.
When the steering unit is steered in an opposite direction to the vehicle turning direction to decrease the yaw rate of the turning vehicle, the steering angle is still determined to be in the same direction as the vehicle moving direction, that is, vehicle turning direction (for instance, the vehicle is turning left while the steering angle is on the left turning side), just after starting to steer the steering unit. In Japanese Unexamined Patent Application No. 2008-001144, the vehicle is not regarded as being in the counter steer state at this moment. Only if the vehicle moving direction is not in agreement with the steering angle (for instance, the vehicle is turning left while the steering angle is on the right turning side), the vehicle is determined to be in the counter steer state.
However as is described above, there ought to be a case in which the vehicle is to be regarded as being in the counter steer state even if the vehicle moving direction is in agreement with the steering angle. In the case of Japanese Unexamined Patent Application No. 2008-001144, the vehicle is determined to be in the counter steer state later than it ought to be and occupants on the vehicle might feel odd about vehicle's steering state.
Taking into the account the above mentioned, the present invention is intended to provide the apparatus for determining turning vehicle condition that determine more accurately and quickly a vehicle being in the counter steer state.
In order to achieve the objective above mentioned, the apparatus of the present invention determines that the vehicle is in the counter steer state if a steering angle based yaw rate is smaller than a lateral acceleration based yaw rate after the vehicle is determined to becomes in an oversteer state while the vehicle is turning.
According to the present invention, it is quickly and accurately determined whether a vehicle is in the counter steer state.
Hereinafter is explained an embodiment to practice the present invention with reference to appropriate drawings attached to this specification when needed.
<<Structure>>
A sign 1 in
A vertical acceleration sensor (vertical G sensor) 6, which measures an acceleration (sprung mass acceleration) a corresponding to movement of the vehicle 1 in the vertical direction in the absolute coordinate system, is secured onto the vehicle body 1.
Roll applied to the vehicle 1 is detected based on the sprung mass accelerations a measured with the vertical acceleration sensors 6 in this embodiment.
If there are two vertical acceleration sensors, one of which is attached in the vicinity of a front or rear wheel on vehicle's right side and the other of which is attached in the vicinity of a front or rear wheel on vehicle's left side, it is possible to detect roll on the vehicle body.
Therefore, in this embodiment, there are three vertical acceleration sensors 6 attached on the vehicle body, a couple of them disposed on a diagonal line of the vehicle body, one in the vicinity of the front-right wheel and the other in the vicinity of the rear-left wheel, and the other added to constitute a triangle of the three vertical acceleration sensors 6, so that not only roll but also bouncing and pitching are detected.
Then the sign 7 indicates a suspension control unit (referred to as “SUS_ECU” hereinafter in which ECU stands for Electrical Control Unit) to control the variable damping force damper. This SUS_ECU is mainly constituted by a microcomputer inclusive of CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory) and such nonvolatile memory means as EEPROM (Electrically Erasable Programmable ROM), all of which are commonly used.
With the input terminal of this SUS_ECU 7 are connected a yaw rate sensor 5 to measure the yaw rate Y applied to the vehicle (indicating an actual yaw rate if a yaw rate is described simply as “Y”, and hereinafter referred to as yaw rate), vertical acceleration sensors 6 above mentioned (only one vertical acceleration sensor 6 is shown in
In the present embodiment, the lateral acceleration Gy and the steering angle δ, both of which are measured while a vehicle is turning left, are described as positive (+) values. Then, the lateral acceleration Gy and the steering angle δ, both of which are measured while a vehicle is turning right, are described as negative (−) values.
Moreover, an actuator 12 (for example, linear solenoid) to drive the above mentioned shock-absorber 4 is connected with an output terminal of this SUS_ECU 7 through a driver circuit 11.
The SUS_ECU 7 controls the damping force property of the shock-absorber 4 according to a control method that approximates the sky-hook-damper theory based control method that is well-known.
This shock-absorber control is performed in the following way. For instance, when the shock-absorber 4 has a low damping force property (soft) in its compressed state, the damping force property of the shock-abosorber 4 in its extended state is regulated between a high damping force property (hard) and the low damping force property (soft). When the shock-absorber 4 has the low damping force property in its extended state, the damping force property of the shock-absorber 4 in the compressed state is regulated between the low damping force property (soft) and the high damping force property (hard). There is a case of both of the damping force properties in the compressed and extended states of the shock-absorber 4 being set to the low damping force. Thus the damping force property of the shock-absorber 4 in the compressed state can be made opposite to that of the shock-absorber 4 in the extended state.
As is shown in the system block diagram of the apparatus for determining turning vehicle condition of the present invention in
Moreover, when SUS_ECU 7 determines that the vehicle is in the counter steer state, SUS_ECU 7 performs suspension control according to the features of the present invention, and there is a case, for instance, in which the current suspension control is maintained without any change.
A detailed explanation on SUS_ECU 7 is given below. SUS_ECU 7 is provided with functional units inclusive of a turning direction obtaining unit 70, an oversteer state determination unit 71, a steering angle based yaw rate obtaining unit 72, a lateral acceleration based yaw rate obtaining unit 73, a counter steer state determination unit 74, a base value setting unit 75 and a correction value setting unit 76.
The turning direction obtaining unit 70 obtains a vehicle turning direction in which a vehicle is turning and determines whether the vehicle is turning left or right. In order to obtain the turning direction, the turning direction obtaining unit 70 uses a yaw rate Y measured
The oversteer state determination unit 71 determines whether the vehicle is in the oversteer state or not and performs this determination, for instance, by making use of a determination result in accordance with a determination equation of the yaw rate Y and the steering angle based yaw rate Ydr that is to be explained later (Details are given in Japanese Unexamined Patent Application 2008-044555).
The steering angle based yaw rate obtaining unit 72 obtains the steering angle based yaw rate Ydr that is determined based on the steering angle δ measured by the steering angle sensor 10 and the vehicle velocity V measured by the vehicle velocity sensor 9. The steering angle based yaw rate Ydr can be obtained, for instance, with reference to a map that indicates a correlation between the steering angle δ and the steering angle based yaw rate Ydr and is stored in a storage device In this specification, there are cases in which the steering angle based yaw rate is referred to as a driver requested yaw rate, for the purpose of easy understanding.
The lateral acceleration based yaw rate obtaining unit 73 obtains the lateral acceleration based yaw rate Ygl that is determined based on the lateral acceleration Gy measured by the lateral acceleration sensor 8 and the vehicle velocity V measured by the vehicle velocity sensor 9. The lateral acceleration based yaw rate Ygl can be obtained, for instance, by dividing the lateral acceleration Gy measured by the lateral acceleration sensor 8 by the vehicle velocity V measured by the vehicle velocity sensor 9. The lateral acceleration based yaw rate Ygl can be obtained with reference to a map that indicates a correlation between the lateral acceleration Gy and the lateral acceleration based yaw rate Ygl and is stored in the storage device. In this specification, there are cases in which the lateral acceleration based yaw rate is referred to as a locus angle rate, for the purpose of easy understanding.
The counter steer state determination unit 74 makes use of the vehicle turning direction obtained by the turning direction obtaining unit 70, the oversteer state obtained by the oversteer state determination unit 71, the steering angle based yaw rate Ydr obtained by the steering angle based yaw rate obtaining unit 72 and the lateral acceleration based yaw rate Ygl obtained by the lateral acceleration based yaw rate obtaining unit 73, and determines whether the vehicle is in the counter steer state or not. The details on how this is determined is explained later.
The base value setting unit 75 sets a target damping force base value (standard value) for the variable damping force damper according to vehicle's moving condition (running condition). The target damping force base value can be set, for instance, with reference to a map that indicates a correlation between the steering angle δ, at least one of the yaw rate Y corresponding to vehicle's moving condition and the lateral acceleration Gy, and the target damping force base value and is stored in the storage device.
The correction value setting unit 76 sets a damping force correction value that is taken into account as well as the target damping force base value for the target damping force, on the basis of at least the counter steer state determined by the counter steer state determination unit 74. This damping force correction value is utilized with the target damping force base value and may be added to or subtracted from the target damping force base value. Calculation with the damping force correction value may be performed after it is multiplied or divided by a predetermined weighted coefficient SUS_ECU 7 calculates a target damping force by correcting the target damping force base value set by the base value setting unit 75 with the damping force correction value set by the correction value setting unit 76, and performs control of the variable damping force damper.
<<Procedure>>
Next is explained on the procedure performed by SUS_ECU 7, especially on the procedure to determine the counter steer state.
Firstly calculation of the driver requested yaw rate Ydr is carried out at the step S01. For instance, the following equation is used for this calculation.
Ydr
=δ−k−(1/(1+A−V2))−(V/l)
Where k, A and l denote respectively a steering gear ratio of the vehicle, a stability factor, and a wheel base, and all of these parameters are determined according to vehicle's design. Alternatively the driver requested yaw rate Ydr may be obtained from the steering angle based yaw rate obtaining unit 72 by referring to the corresponding map stored in the storage device. The following step S02 is to be carried out after the driver requested yaw rate Ydr is calculated.
Secondly calculation of the locus angle rate Ygl is carried out at the step S02. As has been explained, use is made of the following equation for this calculation.
Ygl
=Gy/V
Subsequently the step S03 is to be carried out after the calculation of the locus angle rate Ygl is finished.
Calculation of threshold values for determining the counter steer state is carried out at the step S03. The threshold value for determining the counter steer state against turning left is denoted by YCSL and the threshold value for determining the counter steer state against turning right is denoted by YCSR. YCSL and YCSR are calculated according to the following equations.
YCSL=max{+Ymin, Ygl−α}
YCSR=min{−Ymin, Ygl+α}
where the signs indicated in the above equations are predefined in such a manner that the sign for the vehicle turning left is positive (+) while the sign for the vehicle turning right is negative (−). Ymin and α are arbitrarily determined positive values. Subsequently the step S04 is to be carried out after the calculation of the threshold values for determining the counter steer state is finished.
It is determined whether the yaw rate Y is larger than or equal to 0 or not. If the yaw rate Y is larger than or equal to 0 (that is, Yes at the step S04 corresponding to the vehicle turning left), the vehicle is turning left. This means that the vehicle is determined as turning left and that the step S05 is to be carried out. On the other hand, If he yaw rate Y is smaller than or equal to 0 (that is, No at the step S04 corresponding to the vehicle turning right), the vehicle is turning right. This means that the vehicle is determined as turning right and that the step S10 is to be carried out.
0 is substituted into a flag for counter steer against turning right at the step S05. The flag for counter steer against turning right indicates whether the counter steer state against the vehicle turning right is effected or not. If the flag for counter steer against turning right is “0”, it is determined that the counter steer state against the vehicle turning right is not effected. If the flag for counter steer against turning right is “1”, it is determined that the counter steer state against the vehicle turning right is effected. If the driver in the vehicle was performing counter steer against turning right before the step S05 is carried out, it is determined that the counter steer against turning right is over after the vehicle is beginning to turn left. Subsequently the step S06 is to be carried out after 0 is substituted into the flag for counter steer against turning right.
At the step S06, it is determined whether the driver requested yaw rate Ydr is smaller than the counter steer state against turning left YCSL or not. If Ydr is smaller than YCSL (Yes at the step S06), the step S07 is to be carried out. On the other hand, if Ydr is not smaller than YCSL (No at the step S06), the step S09 is to be carried out.
At the step S07, it is determined whether the vehicle is in the oversteer state for turning left or not, that is, whether the vehicle is in the oversteer state for turning left or not while the vehicle is turning left. If the vehicle is in the oversteer state for turning left (Yes at the step S07), the step S08 is to be carried out.
On the other hand, if the vehicle is not in the oversteer state (No at the step S07), it is determined that the driver has not yet performed the counter steer against turning left (for instance, the vehicle has just begun turning left and is not in the oversteer state) and the whole procedure is made to end.
At the step S08, 1 is substituted into a flag for counter steer against turning left. The flag for counter steer state against the vehicle turning left indicates whether the counter steer state against the vehicle turning left is effected or not.
If the flag for counter steer state against turning left is “0”, it is determined that the counter steer state against the vehicle turning left is not effected. On the other hand, if the flag for counter steer state against turning left is “1”, it is determined that the counter steer state against the vehicle turning left is effected. The whole procedure is made to end after 1 is substituted into the flag for counter steer against turning left.
At the step S09, 0 is substituted into the flag for counter steer state against turning left. That is, it is determined at this moment that the driver has not performed counter steer operation against turning left (for instance, the driver keeps the steering wheel turned left without returning it toward a neutral position to drive the vehicle continuously turning left.) The whole procedure is made to end after 0 is substituted into the flag for counter steer against turning left.
At the step S10, 0 is substituted into the flag for counter steer against turning left. That is, if the driver was performing counter steer against turning left before this moment, it is determined that the counter steer against turning left is over after the vehicle beginning to turn right. Subsequently the step S11 is to be carried after 0 is substituted into the flag for counter steer against turning left.
At the step S11, it is determined whether the driver requested yaw rate Ydr is larger than the counter steer state against turning right YCSR or not. If Ydr is larger than YCSR (Yes at the step S11), the step S12 is to be carried out. On the other hand, if Ydr is not larger than YCSR, the step S14 is to be carried out.
At the step S12, it is determined whether the vehicle is in the oversteer state for turning right, that is, whether the vehicle is in the oversteer state for turning right while the vehicle is turning right.
If the vehicle is in the oversteer state for turning right (Yes at the step S12), the step S13 is to be carried out. On the other hand, if the vehicle is not in the oversteer state for turning right (No at the step S12), it is determined that the driver has not performed counter steer operation against turning right (for instance, the vehicle has just begun turning right and is not in the oversteer state) and the whole procedure is made to end.
At the step S13, 1 is substituted into the flag for counter steer against turning right. Subsequently the whole procedure is made to end after 1 is substituted into the flag for counter steer against turning right.
At the step S14, 0 is substituted into the flag for counter steer against turning right. That is, it is determined at this moment that the driver has not performed counter steer operation against turning right (for instance, the driver keeps the steering while turned right without returning it toward the neutral position to drive the vehicle continuously turning right). Subsequently the whole procedure is made to end after 0 is substituted into the flag for counter steer against turning right.
The above mentioned is the explanation on how the counter steer state is determined is finished
It is assumed that the driver requested yaw rate Ydr, the yaw rate Y and the locus angle yaw rate Ygl change due to some sort of steering wheel operation being performed by the driver. Both the threshold values for determining counter steer YCSL, YCSR are indicated with dotted lines.
The conventional apparatus determines that the vehicle is in the counter steer state if the vehicle moving direction is not in agreement with the direction in which the steering unit is steered. That is, as indicated in
Moreover it is determined by the conventional apparatus that while the yaw rate Y is in the right direction (−), the counter steer state begins the moment the driver requested yaw rate Ydr, which corresponds to operation of the steering wheel, changes from the right direction (−) to the left direction (+).
As is explained in the flow chart of
“Left CS” starts earlier than the corresponding “Conventional CS”. Moreover this determination on the counter state is reasonable because it is determined whether the vehicle is in the oversteer state or not.
Therefore controlling the variable damping force damper in accordance with the counter steer state is performed quicker and more accurately according to the present invention. That is, when the driver operates the steering wheel for adjusting the vehicle moving direction, the counter state is determined earlier than the conventional apparatus for determining vehicle turning condition.
This is also the case with the counter steer state against turning right (indicated by “Right CS” in
With the present invention above mentioned, it is possible to determine the counter steer state that the conventional apparatus could not determine while the steering unit is still in the same direction as the vehicle moving direction.
The apparatus for determining vehicle turning condition of the present embodiment gives rise to the following effects.
Firstly it is determined earlier that the driver is about to perform the counter steer operation with the steering wheel if vehicle's oversteer state is determined, even if the steering angle direction is still in the same direction as the vehicle turning direction. Therefore it is possible to quickly obtain steering stability of the vehicle as is desired when controlling the steering stability of the vehicle on the basis of the determination on the counter steer state.
Secondly it is possible to accurately determine the vehicle turning condition because of using Ygl, which corresponds to vehicle's revolution velocity, for the threshold values for determining counter steer state YCSL, YCSR.
Lastly it is possible to apply a signal indicating the vehicle being in the counter steer state to setting the correction value for the target damping force of the variable damping force damper and early secure the steering stability, because the signal can be obtained at the earlier timing in the phase of each of various yaw rates.
<<Other Remark>>
Although the above described embodiment is desirable for practicing the present invention, the embodiments of the present invention should not be limited to this embodiment. Naturally it is possible to modify the embodiments of the present invention without deviating from the scope of the present invention.
For instance, the locus angle rate Ygl, which corresponds to a vehicle's revolving velocity, is used for the threshold values for determining counter steer state YCSL, YCSR. However the actual yaw rate corresponding to an angular rotation velocity may be used instead of the locus angle rate Ygl.
Moreover, SUS_ECU 7 in the present embodiment controls the damping force property of the shock-absorber 4 according to the control method that approximates the sky-hook-damper theory based control method. However, it is also possible to apply the determination of the counter steer state according to the present embodiment to the control method based other theory.
Furthermore, specific constituents of hardware or software included in the present embodiment can be replaced with compatible constituents without deviating the scope of the present invention.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2010-003809 | Jan 2010 | JP | national |
