PROBLEM TO BE SOLVED: To obtain the proper limit vehicle speed considering the load movement at the turning travel.SOLUTION: A curve extraction unit 11 acquires travel planned route information indicating the travel planned route of a vehicle 1 and extracts the turning radius of a curve existing in the travel planned route from the acquired travel planned route information. A load estimation unit 12 estimates each vertical load acting on each wheel during stop for each of the right and left wheels of the vehicle 1. A limit lateral acceleration arithmetic unit 17 calculates the limit lateral acceleration in the state where the vertical load acting on each wheel is increased/decreased due to the load movement in the vehicle width direction with the lateral acceleration for each of the right and left wheels by using the height from the road surface to the gravity center of the entire vehicle 1, the inter-wheel distance of the right and left wheels, the friction coefficient between each wheel and the road surface, and the estimated vertical load of each wheel. A limit vehicle speed arithmetic unit 13 calculates and outputs the limit vehicle speed by using the minimum limit lateral acceleration out of the calculated limit lateral acceleration of each of the right and left wheels and the extracted turning radius.SELECTED DRAWING: Figure 1

    【課題】旋回走行時の荷重移動を考慮した適正な限界車速を得る。【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、走行予定経路に存在するカーブの旋回半径を、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の左右の車輪の各々について、停車中に各車輪に作用する垂直荷重をそれぞれ推定する。限界横加速度演算部17は、左右の車輪の各々について、横加速度による車幅方向の荷重移動により各車輪に作用する垂直荷重が増減した状態での限界横加速度を、路面から車両1の全体の重心までの高さと、左右の車輪の車輪間距離と、各車輪と路面との間の摩擦係数と、各車輪の上記推定した垂直荷重とを用いて算出する。限界車速演算部13は、上記算出した左右の各車輪の限界横加速度のうち最小の限界横加速度と上記抽出した旋回半径とを用いて限界車速を算出して出力する。【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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