EP0282041A2
Expired / Lapsed
EP
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A yaw motion control device for a vehicle
Assignee: Honda Motor Co Ltd
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Filing: 1988-03-09
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Granted: —
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Expires: 2008-03-09
Abstract
Abstract A yaw motion control device for a vehicle comprises a yaw rate detecting means 1a for detecting a yaw rate of said vehicle, a reference yaw rate generating means 2a for generating a reference yaw rate in response to at least one driving parameter of the vehicle, a yaw motion correcting means 6 for controlling a yaw motion of said vehicle in response to an output from said reference yaw rate generating means 2a and an output from said yaw rate detecting means 1a. To improve the performance of this control device, the referece yaw rate generating means 2a is designed for generating a reference yaw rate in response to history of at least one of said driving parameters of the vehicle.
Inventors
- 👤 Shuji Shiraishi
- 👤 Hironobu Kiryu
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-23 18:48
CPC Classifications
B; B62; B62D; B62D7/00; B62D7/06; B62D7/14; B62D7/15; B62D7/159; B60; B60K; B60K28/00; B60K28/10; B60K28/16; B62D6/00; B62D6/04; B60W; B60W2520/00; B60W2520/14
Claims Analysis
Total Claims: 32
Claim 1
Independent Claim
160 words
A yaw motion control device for a vehicle comprising - a yaw rate detecting means (1a;2) for detecting a yaw rate of said vehicle; - a reference yaw rate generating means (2a;5;5ʹ) for generating a reference yaw rate (yb) in response to at least one driving parameter (δ;δ n-1 , δ n-2 ;v; yn; y n-1 ,y n-2 ; y bn-1 ,y bn ) of the vehicle; - a yaw motion correction means (6) for controlling a yaw motion of said vehicle in response to an output from said reference yaw rate generating means (2a;5;5ʹ) and an output from said yaw rate detecting means (1a;2), characterized in that said reference yaw rate generating means (2a;5;5ʹ) is designed for generating a reference yaw rate (y b ) in response to a history of at least of one of said driving parameters (δ;δ n-1 ,δ n-2 ; v; yn; y n-1 ,y n-2 ; y bn-1 ,y bn ) of the vehicle.
Claim 2
Dependent Claim
160 words
A yaw motion control device for a vehicle comprising - a yaw rate detecting means (1a;2) for detecting a yaw rate of said vehicle; - a reference yaw rate generating means (2a;5;5ʹ) for generating a reference yaw rate (yb) in response to at least one driving parameter (δ;δ n-1 , δ n-2 ;v; yn; y n-1 ,y n-2 ; y bn-1 ,y bn ) of the vehicle; - a yaw motion correction means (6) for controlling a yaw motion of said vehicle in response to an output from said reference yaw rate generating means (2a;5;5ʹ) and an output from said yaw rate detecting means (1a;2), characterized in that said reference yaw rate generating means (2a;5;5ʹ) is designed for generating a reference yaw rate (y b ) in response to a history of at least of one of said driving parameters (δ;δ n-1 ,δ n-2 ; v; yn; y n-1 ,y n-2 ; y bn-1 ,y bn ) of the vehicle.
Claim 3
Dependent Claim
51 words
A yaw motion control device according to claim 1, further comprising - a steering angle sensor (Ss;4) for detecting a steering angle (δ) of a steering wheel, said reference yaw rate generating means (2a;5,5ʹ) generating said reference yaw rate (yb) in response to an output from said steering angle sensor (Ss;4).
Claim 4
Dependent Claim
40 words
A yaw motion control device according to claim 2, wherein said reference yaw rate generating means (2a;5;5ʹ) is designed to generate said reference yaw rate (yb) in response to a history of an output from said steering angle sensor (Ss;4).
Claim 5
Dependent Claim
50 words
A yaw motion control device according to at least one of claims 1 to 3 or the preamble of claim 1, wherein said reference yaw rate generating means (2a;5) is designed for generating said reference yaw rate (yb) in response to said output from said yaw rate detecting means (1a;2).
Claim 6
Dependent Claim
28 words
A yaw motion control device according to at least one of claims 1 to 4, further comprising - a vehicle speed detector (3) for detecting the vehicle speed.
Claim 7
Dependent Claim
37 words
A yaw motion control device according to claim 5, wherein said reference yaw rate generating means (5;5ʹ) is designed for generating said reference yaw rate (yb) in response to an output from said vehicle speed detector (3).
Claim 8
Dependent Claim
60 words
A yaw motion control device according to at least one of claims 1 to 6 or the preamble of claim 1, further comprising - a control characteristic correcting means (8) for changing a control characteristic of said yaw motion correcting means (6) in response to at least one driving parameter (δ;v; output of 7; output of 10ʹ) of the vehicle.
Claim 9
Dependent Claim
41 words
A yaw motion control device according to claim 7, wherein said control characteristic correcting means (8) is designed for changing said control characteristic of said yaw motion correcting means (6) in response to said output from said vehicle speed detector (3).
Claim 10
Dependent Claim
47 words
A yaw motion control device according to at least one of claims 7 and 8, wherein said control characteristic correcting means (8) is designed for changing said control characteristic of said yaw motion correcting means (6) in response to said output from said steering angle sensor (4).
Claim 11
Dependent Claim
92 words
A yaw motion control device according to at least one of claims 7 to 9 or the preamble of claim 1, further comprising - a steering characteristic determining means (7) for determining a steering characteristic of said vehicle according to an output from said reference yaw generating means (5;5ʹ) and an output from said yaw rate detecting means (2), wherein said control characteristic correcting means (8) is designed for changing a control characteristic of said yaw motion correcting means (6) in response to an output from said steering characteristic determining means (7).
Claim 12
Dependent Claim
79 words
A yaw motion control device according to at least one of claims 7 to 10 or the preamble of claim 1, further comprising - a driving force distribution ratio detecting means (10ʹ) for detecting the driving force distribution ratio between front and rear wheels, wherein said control characteristic correcting means (8) is designed for changing a control characteristic of said yaw motion correcting means (6) in response to an output from said driving force distribution ratio detecting means (10ʹ).
Claim 13
Dependent Claim
52 words
A yaw motion control device according to at least one of claims 1 to 11, wherein said reference yaw rate generating means (5) is designed for generating said reference yaw rate (yb) in response to a history (y n-1 ,y n-2 ) of an output of said yaw rate detecting means (2).
Claim 14
Dependent Claim
94 words
A yaw motion control device according to claim 12, wherein said reference yaw rate generating means (5) has an output signal (y b ) according to y b = -a₁*y n-1 - a₂*y n-2 + b₁*δ n-1 + b₂*δ n-2 where a₁, a₂, b₁, b₂ are parameters changing with vehicle speed; n-1 and n-2 stand for previous value and before-previous value in each cycle, where the calculation of y b is repeated; y is said output of said yaw rate detecting means (2) and δ is said output of said steering angle sensor (4).
Claim 15
Dependent Claim
61 words
A yaw motion control device according to at least one of claims 1 to 11 or the preamble of claim 1, wherein said reference yaw rate generating means (5ʹ) is designed for generating said reference yaw rate (y b ) in response to a history (yb n-1 ,yb n-2 ) of an output of said reference yaw rate generating means (5).
Claim 16
Dependent Claim
82 words
A yaw motion control device according to claim 14, wherein said reference yaw rate generating means (5ʹ) has an output signal y b according to y b = -a₁*y bn-1 - a₂*y bn-2 + b₁*δ n-1 + b₂*δ n-2 , where a₁, a₂, b₁, b₂ are parameters changing with vehicle speed; n-1 and n-2 stand for previous value and before-previous value in each cycle, where the calculation of y b is repeated; δ is said output of said steering angle sensor (4).
Claim 17
Dependent Claim
30 words
A yaw motion control device according to at least one of claims 1 to 15, wherein said yaw motion correcting means (6) comprises a driving wheel output torque control device.
Claim 18
Dependent Claim
24 words
A yaw motion control device according to claim 16, wherein said driving wheel output torque control device comprises an engine output control device (23).
Claim 19
Dependent Claim
49 words
A yaw motion control device according to at least one of claims 1 to 17, wherein said yaw rate detecting means (1a;2) is designed for generating a reference yaw rate (y b ) according to a difference in rotating speeds (Vr,Vl) between right and left free rotating wheels (Wr,Wl).
Claim 20
Dependent Claim
32 words
A yaw motion control device according to at least one of claims 1 to 18, wherein said yaw motion correcting means comprises a device for control of steering angle of steered wheels.
Claim 21
Dependent Claim
28 words
A yaw motion control device according to claim 19, wherein said device for control of steering angle of steered wheels is part of a four-wheel steering control means.
Claim 22
Dependent Claim
51 words
A yaw motion control device according to at least one of claims 5 to 20, said reference yaw rate generating means (5;5ʹ) comprising - a constant selection device (16) selecting constants (a₁,a₂,b₁,b₂) used for generating a reference yaw rate (yb) in response to an output from said vehicle speed detector (3).
Claim 23
Dependent Claim
159 words
A yaw rate detecting device (1a;2) especially for use within a yaw control device for a vehicle according to at least one of claims 1 to 21 or the preamble of claim 1, comprising - speed sensors (Ss,Sr;1r,1l) respectively for individually detecting the ground speed of the right side of a vehicle and that of the left side of the vehicle, - speed difference calculating means (7a;11) for calculating the difference between the respective detection values of the speed sensors (Ss,Sr;1r,1l), - calculating means to determine a yaw rate (y) in response to an output of said speed difference calculating means (7a;11), characterized in a filter means (9) connected to the speed difference calculating means (7) to filter frequency components beyond a predetermined frequency from the output of the speed difference calculating means (7) to determine a yaw rate, wherein said predetermined frequency is lower than a resonance frequency of the vehicle suspension in moving direction or vertical direction.
Claim 24
Dependent Claim
18 words
A yaw rate detecting device according to claim 22, wherein said filter means (7) is a recursive filter.
Claim 25
Dependent Claim
92 words
A yaw rate detecting device according to claim 23, wherein the recursive filter has an output signal (y n ) according to y n = α₁*y n-1 + α₂*y n-2 + α₃*y n-3 + β₁*y n + β₁*yʹ n + β₂*yʹ n-1 + β₃*yʹ n-2 , where α₁, α₂, α₃, β₁, β₂, β₃ are constants; n, n-1, n-2, n-3 stand for present value and previous value, etc. in each cycle where the calculation in filtering is repeated; yʹ is the input signal and y is the output signal (4) of the filter.
Claim 26
Dependent Claim
48 words
A yaw rate detecting device according to at least one of claims 22 to 24, wherein said calculating means comprises - a multiplication means (12) for multiplying an output of said speed difference calculating means (7a;11) by a constant (d) depending on a tread width of the vehicle.
Claim 27
Dependent Claim
33 words
A yaw rate detecting device according to at least one of claims 22 to 25, wherein said speed sensor (Sl,Sr;1r,1l) is a sensor which detects speed of a free rotating wheel (trailing wheel).
Claim 28
Dependent Claim
99 words
A steering characteristics discriminating device, especially for use within a yaw control device for a vehicle according to at least one of claims 1 to 21 or the preamble of claim 1, comprising - a reference yaw rate generating means (5;5ʹ) for generating a reference yaw rate (y b ), - a yaw rate detecting means (1a;2) for detecting a yaw rate, - a steering characteristic determining means (7) for determining a steering characteristic of said vehicle according to an output from said reference yaw rate generating means (5;5ʹ) and an output from said yaw rate detecting means (2).
Claim 29
Dependent Claim
41 words
A steering characteristics discriminating device according to claim 27 further comprising a deviation calculation circuit (19) for providing a deviation signal (Dr) as a difference between said reference yaw rate (y b ) and a yaw rate (y) of said vehicle.
Claim 30
Dependent Claim
58 words
A steering characteristics discriminating device according to at least one of claims 27 and 28 further comprising a steering angle sensor (4) for detecting a steering angle (δ) of a steering wheel, said reference yaw rate generating means (5;5ʹ) generating said reference yaw rate (y b ) in response to an output from said steering angle sensor (4).
Claim 31
Dependent Claim
54 words
A steering characteristics discriminating device according to at least one of claims 27 to 29 further comprising a vehicle speed detector (3) for detecting the vehicle speed, wherein said reference yaw rate generating means (5;5ʹ) generates said reference yaw rate (y b ) in response to an output from said vehicle speed detector (3).
Claim 32
Dependent Claim
51 words
A steering characteristics discriminating device according to at least one of claims 27 to 30, wherein said steering characteristic determining means (7) provides a first output signal and a second output signal alternatively in dependence on the sign of the reference yaw rate (y b ) and the deviation signal (Dr).
References Cited (Backward Citations)
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