PROBLEM TO BE SOLVED: To surely prevent the occurrence of side slip of a vehicle turning and traveling a curve.SOLUTION: A curve extraction unit 11 acquires travel planned route information indicating a travel planned route of a vehicle 1, and extracts the turning start point where the vehicle 1 enters a curve and starts turning and the turning radius of the curve from the acquired travel planned route information. A load estimation unit 12 estimates each vertical load acting on each wheel for each of all wheels of the vehicle 1. A limit vehicle speed arithmetic unit 13 calculates and outputs the limit vehicle speed being the upper limit value of the vehicle speed that prevents the occurrence of side slip of the vehicle 1 at the time of turning and traveling the curve by using the estimated vertical load and the extracted turning radius before the vehicle 1 is over the turning start point. A deceleration command unit 15 instructs the start of forcible brake control to a brake control device 5 controlling the brake of the vehicle 1 before the vehicle 1 is over the turning start point so that the travel speed of the vehicle 1 does not exceed the limit vehicle speed at the time when the vehicle 1 is over the turning start point.SELECTED DRAWING: Figure 1

    【課題】カーブを旋回走行する車両の横滑りの発生を確実に防止する。【解決手段】カーブ抽出部11は、車両1の走行予定経路を示す走行予定経路情報を取得し、車両1がカーブに進入して旋回を開始する旋回開始地点とカーブの旋回半径とを、取得した走行予定経路情報から抽出する。荷重推定部12は、車両1の全車輪の各々について、各車輪に作用する垂直荷重をそれぞれ推定する。限界車速演算部13は、カーブを旋回走行したときに車両1に横滑りを発生させない車速の上限値である限界車速を、車両1が旋回開始地点を超える前に、上記推定した垂直荷重と上記抽出した旋回半径とを用いて算出して出力する。減速指令部15は、車両1が旋回開始地点を超える際の車両1の走行速度が限界車速を超えないように、車両1が旋回開始地点を超える前に、車両1の制動を制御するブレーキ制御装置5に対して強制的な制動制御の開始を指示する。【選択図】図1


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    Title :

    SIDE SLIP LIMIT VEHICLE SPEED ESTIMATION DEVICE OF VEHICLE AND SIDE SLIP PREVENTION DEVICE


    Additional title:

    車両の横滑り限界車速推定装置及び横滑り防止装置


    Contributors:

    Publication date :

    2018-05-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / 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




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