To distinguish a case where a vehicle travels on a cant road and deviation occurs from another case where a vehicle receives a cross wind and deviation occurs, for detecting in an early stage, lateral force disturbance which interferes a steering operation of a driver.SOLUTION: A disturbance detection part 21 determines that disturbance occurs on a vehicle when a disturbance determination condition, where a relationship among a first standard yaw rate (YRstd1) calculated using vehicle speed, a steering angle, a lateral acceleration and a vehicle specification, a second standard yaw rate (YRstd2) calculated using the vehicle speed, the steering angle and the vehicle specification, and an actual yaw rate (YRsen) detected by a yaw rate sensor is set, is established. The disturbance determination condition contains a cant travel exclusion condition which is not established when the vehicle travels on a cant road and which is established when the vehicle receives a crosswind and deviation occurs.SELECTED DRAWING: Figure 1

    【課題】 車両がカント路を走行して偏向する場合と車両が横風を受けて偏向する場合とを区別して、ドライバーの操舵操作を妨げる横力外乱を早期に検出する。【解決手段】 外乱検出部21は、車速と操舵角と横加速度と車両諸元とを用いて演算される第1規範ヨーレート(YRstd1)と、車速と操舵角と車両諸元とを用いて演算される第2規範ヨーレート(YRstd2)と、ヨーレートセンサによって検出された実ヨーレート(YRsen)との関係が設定された外乱判定条件が成立する場合に外乱が車両に生じていると判定する。この外乱判定条件には、車両がカント路を走行して偏向する場合には成立せず、車両が横風を受けて偏向する場合には成立するカント走行除外条件が含まれている。【選択図】 図1


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    Title :

    VEHICLE DISTURBANCE DETECTOR


    Additional title:

    車両用外乱検出装置


    Contributors:

    Publication date :

    2020-06-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    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 / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / B62D MOTOR VEHICLES , Motorfahrzeuge



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