Yaw movement control method for vehicle

Abstract

Abstract PURPOSE:To avoid sudden correction control for yaw movement by estimating a steering angle and gradually correcting the output value of a steering angle sensor within a fixed time according to an error between the estimated steering angle and the detected steering angle of the steering angle sensor. CONSTITUTION:A steering angle detecting device 1 is a computer and includes yaw movement detecting means 3 for detecting a yaw rate as the yaw movement state of a vehicle according to both outputs of both speed sensors Sl, Sr, car velocity detecting means 13 for detecting a car velocity V from the average value of outputs of both speed sensors Sl, Sr, steering gain deciding means 14 for deciding means 14 for deciding the steering gain according to the output of the yaw movement detecting means 3 and the output of the car velocity detecting means 13, the steering angle estimating means 4 for estimating the steering angle of a vehicle according to the steering gain G, and steering angle correcting means 5. According to the steering angle correcting means 5 and the car velocity, the reference yaw rate is decided, and the absolute value of the difference between the reference yaw rate and the yaw rate R is calculated by a subtraction circuit 9. According to the absolute value, the yaw movement is corrected.

Inventors

• 👤 Shiyuuji Shiraishi
• 👤 修士 白石
• 👤 Osamu Yamamoto
• 👤 修 山本
• 👤 Hiromoto Kirio
• 👤 浩誠 霧生

Bibliographic Details