JPH02287264A - Vehicle lateral acceleration calculation device - Google Patents
Vehicle lateral acceleration calculation deviceInfo
- Publication number
- JPH02287264A JPH02287264A JP11045989A JP11045989A JPH02287264A JP H02287264 A JPH02287264 A JP H02287264A JP 11045989 A JP11045989 A JP 11045989A JP 11045989 A JP11045989 A JP 11045989A JP H02287264 A JPH02287264 A JP H02287264A
- Authority
- JP
- Japan
- Prior art keywords
- lateral acceleration
- vehicle
- steering angle
- acceleration calculation
- detection means
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
Description
【発明の詳細な説明】
〈産業上の利用分野）
本発明は、車両の横加速度を迅速に算出するようにした
車両の横加速度算出装置に関する。DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a vehicle lateral acceleration calculation device that quickly calculates the lateral acceleration of a vehicle.
（従来の技術）
従来、車両の横加速度を求める装置としては、車体に横
加速度センサを取付け、横加速度センサから出力される
検出値から直接求めるものが知られている。(Prior Art) Conventionally, as a device for determining the lateral acceleration of a vehicle, a device is known in which a lateral acceleration sensor is attached to the vehicle body and the lateral acceleration is directly determined from the detected value output from the lateral acceleration sensor.
（発明が解決しようとする課題）
従来の技術で述べたものにおいては、車両の横加速度に
伴う挙動が生じてから横加速度センサによって横加速度
が検出される為、この方法で検出した横加速度の値によ
り車両の運動を積極的に制御する場合には、運転者の意
志に対して応答遅れが生じてしまうという問題点を有し
ていた。(Problem to be Solved by the Invention) In the conventional technology, since the lateral acceleration is detected by the lateral acceleration sensor after the behavior associated with the lateral acceleration of the vehicle occurs, the lateral acceleration detected by this method is When the movement of the vehicle is actively controlled by the value, there is a problem in that there is a delay in response to the driver's intention.
本発明は、従来の技術が有するこのような問題点に鑑み
てなされたものであり、その目的とするところは、運転
者の意志に応じ応答遅れのない車両の制御を可能にする
ための車両の横加速度を迅速に算出する車両の横加速度
算出装置を提供しようとするものである。The present invention has been made in view of the problems of the conventional technology, and its purpose is to provide a vehicle that enables control of the vehicle according to the driver's will without delay in response. The object of the present invention is to provide a lateral acceleration calculation device for a vehicle that quickly calculates the lateral acceleration of a vehicle.
（課題を解決するための手段）
上記課題を解決すべく本発明は、操舵力を検出する操舵
力検出手段と、操舵角を検出する操舵角検出手段と、車
速を検出する車速検出手段と、前記操舵力検出手段で検
出した値により第１横加速度を算出する第１横加速度算
出手段と、前記操舵角検出手段と車速検出手段とで検出
した値により第２横加速度を算出する第２横加速度算出
手段と、前記第１横加速度算出手段及び第２横加速度算
出手段で算出した値から車両の横加速度に対応する値を
算出する車両の横加速度算出手段とを設けた設けたもの
である。(Means for Solving the Problems) In order to solve the above problems, the present invention provides a steering force detection means for detecting a steering force, a steering angle detection means for detecting a steering angle, a vehicle speed detection means for detecting a vehicle speed, a first lateral acceleration calculation means for calculating a first lateral acceleration based on the value detected by the steering force detection means; and a second lateral acceleration calculation means for calculating a second lateral acceleration from the values detected by the steering angle detection means and the vehicle speed detection means. The vehicle is provided with an acceleration calculation means and a vehicle lateral acceleration calculation means for calculating a value corresponding to the lateral acceleration of the vehicle from the values calculated by the first lateral acceleration calculation means and the second lateral acceleration calculation means. .
（作用）
上記のように構成された本発明は、操舵力から算出した
第１横加速度と車速及び操舵角から算出した第２横加速
度とで所定の演算を行い車両の横加速度に対応する値を
算出する。(Function) The present invention configured as described above performs a predetermined calculation using the first lateral acceleration calculated from the steering force and the second lateral acceleration calculated from the vehicle speed and steering angle, and obtains a value corresponding to the lateral acceleration of the vehicle. Calculate.
（実施例） 以下に本発明の実施例を添付図面に基づいて説明する。(Example) Embodiments of the present invention will be described below based on the accompanying drawings.
第１図は本発明に係る車両の横加速度算出装置の概念構
成図である。FIG. 1 is a conceptual diagram of a vehicle lateral acceleration calculation device according to the present invention.
車両の横加速度算出装置１は、操舵力を検出する操舵力
検出手段２と車速を検出する車速検出手段３と操舵角を
検出する操舵角検出手段４を設け、更に操舵力から第１
横加速度を算出する第１横加速度算出手段５と車速と操
舵角とから第２横加速度を算出する第２横加速度算出手
段６を設け、そして第１横加速度と第２横加速度とから
車両の横加速度に対応する値を算出する車両の横加速度
算出手段７を設けて構成されている。The vehicle lateral acceleration calculation device 1 includes a steering force detection means 2 for detecting a steering force, a vehicle speed detection means 3 for detecting a vehicle speed, and a steering angle detection means 4 for detecting a steering angle.
A first lateral acceleration calculation means 5 for calculating lateral acceleration and a second lateral acceleration calculation means 6 for calculating a second lateral acceleration from the vehicle speed and the steering angle are provided. The vehicle is configured to include a vehicle lateral acceleration calculation means 7 that calculates a value corresponding to lateral acceleration.
以上のように構成した車両の横加速度算出装置の作用に
ついて以下に説明する。The operation of the vehicle lateral acceleration calculation device configured as above will be explained below.
第２図は路面の摩擦係数μをパラメータとして操舵力と
横加速度との関係を示す図である。即ち、摩擦係数がμ
が高、中、低の場合を示すものであり、路面の摩擦係数
μが変化するとそれに応じて操舵力に対する横加速度も
変化してしまう。FIG. 2 is a diagram showing the relationship between steering force and lateral acceleration using the friction coefficient μ of the road surface as a parameter. That is, the coefficient of friction is μ
is high, medium, and low, and when the coefficient of friction μ of the road surface changes, the lateral acceleration relative to the steering force also changes accordingly.
従って、路面の摩擦係数μは検出不可であるため、例え
ば高い摩擦係数μにおける操舵力と横加速度の関数Ｙを
予め第１横加速度算出手段５に設定しておいて横加速度
を算出すると、実際の路面が低い摩擦係数μの場合には
、第２図に示すように操舵力がＡで算出される横加速度
Ｂは真の横加速度Ｃよりも小さくなってしまう。Therefore, since the friction coefficient μ of the road surface cannot be detected, for example, if the function Y of steering force and lateral acceleration at a high friction coefficient μ is set in advance in the first lateral acceleration calculation means 5 and the lateral acceleration is calculated, the actual If the road surface has a low coefficient of friction μ, the lateral acceleration B calculated from the steering force A will be smaller than the true lateral acceleration C, as shown in FIG.
また、第３図は路面の摩擦係数μをパラメータとして所
定の車速における操舵角と横加速度との関係を示す図で
ある。即ち、第２図と同様に摩擦係数μが高、中、低の
場合を示すものであり、路面の摩擦係数μが変化すると
それに応じて操舵角に対する横加速度も変化するが、路
面の摩擦係数μに関し、操舵力の場合とは逆に路面の摩
擦係数μが低くなると操舵角に対する横加速度も小さく
なってしまう。Further, FIG. 3 is a diagram showing the relationship between the steering angle and the lateral acceleration at a predetermined vehicle speed using the friction coefficient μ of the road surface as a parameter. In other words, similar to Figure 2, this shows cases where the friction coefficient μ is high, medium, and low.When the friction coefficient μ of the road surface changes, the lateral acceleration relative to the steering angle changes accordingly, but the friction coefficient μ of the road surface changes accordingly. Concerning μ, contrary to the steering force, when the road surface friction coefficient μ decreases, the lateral acceleration relative to the steering angle also decreases.
従って、第２図と同様に高い摩擦係数μにおける操舵角
と横加速度の関数Ｚを予め第２横加速度算出手段６に設
定しておいて横加速度を算出すると、実際の路面が低い
摩擦係数μの場合には第３図に示すように操舵角がＤで
算出される横加速度Ｅは真の横加速度Ｆよりも大きくな
ってしまう。Therefore, if the function Z of the steering angle and lateral acceleration at a high friction coefficient μ is set in advance in the second lateral acceleration calculating means 6 and the lateral acceleration is calculated as in FIG. 2, then if the actual road surface has a low friction coefficient μ In this case, as shown in FIG. 3, the lateral acceleration E calculated from the steering angle D becomes larger than the true lateral acceleration F.
そこで、例えば高い路面の摩擦係数μにおける操舵力と
横加速度の関数Ｙを予め設定しておいた第１横加速度算
出手段５で算出された第１横加速度と同じく操舵角と横
加速度の関数Ｚを予め設定しておいた第２横加速度算出
手段６で算出された第２横加速度とを車両の横加速度算
出手段７で第１横加速度と第２横加速度が含む真の横加
速度との異極性の誤差を相殺するように所定の演算を行
うことにより路面の摩擦係数μに影響を受けず常に車両
の真の横加速度を算出することが出来る。Therefore, for example, the function Z of the steering angle and lateral acceleration is the same as the first lateral acceleration calculated by the first lateral acceleration calculation means 5 in which the function Y of the steering force and the lateral acceleration at a high friction coefficient μ of the road surface is set in advance. The vehicle lateral acceleration calculation means 7 calculates the difference between the second lateral acceleration calculated by the second lateral acceleration calculation means 6 which has been set in advance and the true lateral acceleration included in the first lateral acceleration and the second lateral acceleration. By performing a predetermined calculation to cancel out the polarity error, the true lateral acceleration of the vehicle can always be calculated without being affected by the friction coefficient μ of the road surface.
尚、低又は中程度の路面の摩擦係数μにおける関数を用
いても同様である。Note that the same effect can be obtained by using a function with a low or medium friction coefficient μ of a road surface.
従って、本発明を適用することにより運転者の意志に応
じた応答遅れのない車両の制御が可能となる。Therefore, by applying the present invention, it becomes possible to control the vehicle without response delay according to the driver's intention.
更に、本発明の特性を応用し、制御対象の特性に合せて
低い摩擦係数の路面になるほど真の横加速度に対し、算
出した横加速度め値を増加させたい場合には、操舵角に
よる算出横加速度の加え合せ率を増加させればよい。逆
に低い摩擦係数の路面はど横加速度を減少させたい場合
には加え合せ率を減少させればよい。Furthermore, by applying the characteristics of the present invention, if you want to increase the calculated lateral acceleration value with respect to the true lateral acceleration as the road surface has a lower friction coefficient in accordance with the characteristics of the controlled object, you can use the calculated lateral acceleration value based on the steering angle. What is necessary is to increase the acceleration addition rate. Conversely, if it is desired to reduce the lateral acceleration on a road surface with a low coefficient of friction, the addition rate may be reduced.
（発明の効果）
以上説明したように本発明によれば、路面の摩擦係数に
影響を受けずに車両の横加速度を迅速に算出することが
出来る。(Effects of the Invention) As described above, according to the present invention, the lateral acceleration of the vehicle can be quickly calculated without being affected by the coefficient of friction of the road surface.
第１図は本発明に係る車両の横加速度算出装置の概念構
成図、第２図は操舵力と横加速度との関係を示す図、第
３図は所定車速における操舵角と横加速度との関係を示
す図である。
尚、図面中、１は車両の横加速度算出装置、２は操舵力
検出手段、３は車速検出手段、４は操舵角検出手段、５
は第１横加速度算出手段、６は第２横加速度算出手段、
７は車両の横加速度算出手段である。FIG. 1 is a conceptual configuration diagram of a vehicle lateral acceleration calculation device according to the present invention, FIG. 2 is a diagram showing the relationship between steering force and lateral acceleration, and FIG. 3 is a diagram showing the relationship between steering angle and lateral acceleration at a predetermined vehicle speed. FIG. In the drawings, 1 is a vehicle lateral acceleration calculation device, 2 is a steering force detection means, 3 is a vehicle speed detection means, 4 is a steering angle detection means, and 5 is a vehicle lateral acceleration calculation device.
6 is a first lateral acceleration calculation means, 6 is a second lateral acceleration calculation means,
7 is a vehicle lateral acceleration calculation means.
Claims (1)
る操舵角検出手段と、車速を検出する車速検出手段と、
前記操舵力検出手段で検出した値により第１横加速度を
算出する第１横加速度算出手段と、前記操舵角検出手段
と車速検出手段とで検出した値により第２横加速度を算
出する第２横加速度算出手段と、前記第１横加速度算出
手段及び第２横加速度算出手段で算出した値から車両の
横加速度に対応する値を算出する車両の横加速度算出手
段とを設けたことを特徴とする車両の横加速度算出装置
。A steering force detection means for detecting a steering force, a steering angle detection means for detecting a steering angle, a vehicle speed detection means for detecting a vehicle speed,
a first lateral acceleration calculation means for calculating a first lateral acceleration based on the value detected by the steering force detection means; and a second lateral acceleration calculation means for calculating a second lateral acceleration from the values detected by the steering angle detection means and the vehicle speed detection means. The present invention is characterized by comprising an acceleration calculation means and a vehicle lateral acceleration calculation means for calculating a value corresponding to the lateral acceleration of the vehicle from the values calculated by the first lateral acceleration calculation means and the second lateral acceleration calculation means. Vehicle lateral acceleration calculation device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11045989A JPH0654326B2 (en) | 1989-04-28 | 1989-04-28 | Vehicle lateral acceleration calculator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11045989A JPH0654326B2 (en) | 1989-04-28 | 1989-04-28 | Vehicle lateral acceleration calculator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH02287264A true JPH02287264A (en) | 1990-11-27 |
| JPH0654326B2 JPH0654326B2 (en) | 1994-07-20 |
Family
ID=14536248
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP11045989A Expired - Fee Related JPH0654326B2 (en) | 1989-04-28 | 1989-04-28 | Vehicle lateral acceleration calculator |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0654326B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03172768A (en) * | 1989-11-16 | 1991-07-26 | Vdo Adolf Schindling Ag | Method of detecting lateral acceleration of automobile |
| CN117864153A (en) * | 2024-02-27 | 2024-04-12 | 大陆软件系统开发中心(重庆)有限公司 | Compensation method, radar, device and storage medium for lateral acceleration of vehicle |
-
1989
- 1989-04-28 JP JP11045989A patent/JPH0654326B2/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03172768A (en) * | 1989-11-16 | 1991-07-26 | Vdo Adolf Schindling Ag | Method of detecting lateral acceleration of automobile |
| CN117864153A (en) * | 2024-02-27 | 2024-04-12 | 大陆软件系统开发中心(重庆)有限公司 | Compensation method, radar, device and storage medium for lateral acceleration of vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0654326B2 (en) | 1994-07-20 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |