PROBLEM TO BE SOLVED: To acquire proper behavior information including an understeer state of a vehicle, even when the vehicle traveling on a dry road falls in the understeer state.SOLUTION: A vehicle behavior information acquisition device 15 includes: a neutral characteristic setting section 31 that preliminarily sets a vehicle speed-neutral yaw rate characteristic under which behavior of an own vehicle is estimated to be in a neutral state, on the basis of a vehicle speed and steering angle of the vehicle; and a behavior information acquisition section 33 that acquires behavior information including an understeer state of the own vehicle, on the basis of an actual yaw rate Yr, vehicle speed, steering angle θ, and the vehicle speed-neutral yaw rate characteristic preliminarily set by the neutral characteristic setting section 31. When a deviation Yd of the actual yaw rate Yr from a neutral yaw rate Yn based on the vehicle speed, steering angle, and vehicle speed-neutral yaw rate characteristic exceeds a predetermined deviation threshold Yth, the behavior information acquisition section 33 acquires behavior information to the effect that the own vehicle is in the understeer state.SELECTED DRAWING: Figure 1
【課題】ドライ路面を走行している車両がアンダーステア状態に陥った場合であっても、車両のアンダーステア状態を含む適正な挙動情報を取得する。【解決手段】車両挙動情報取得装置15は、車両の車速及び操舵角に基づいて、自車両の挙動が中立状態にあると推定される車速−中立ヨーレート特性が予め設定される中立特性設定部31と、実ヨーレートYr、車速、操舵角θ、及び、中立特性設定部31により予め設定された車速−中立ヨーレート特性に基づいて、自車両のアンダーステア状態を含む挙動情報を取得する挙動情報取得部33と、を備える。挙動情報取得部33は、実ヨーレートYrと、車速・操舵角及び車速−中立ヨーレート特性に基づく中立ヨーレートYnとの偏差Ydが予め定められる偏差閾値Ythを超える場合に、自車両がアンダーステア状態にある旨の挙動情報を取得する。【選択図】図1
VEHICLE BEHAVIOR INFORMATION ACQUISITION DEVICE AND VEHICLE TRAVELING CONTROL DEVICE
車両挙動情報取得装置及び車両走行制御装置
2016-08-08
Patent
Electronic Resource
Japanese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF |
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