A vehicle attitude control device includes a vehicle speed detection device, a traveling road surface state estimation device, an actual yaw rate detection device, a front wheel steering angle detection device, a standard yaw rate calculation device, and a yaw moment calculation device. The vehicle speed detection device detects the vehicle speed of the vehicle. A traveling road surface state estimation device estimates a road surface friction coefficient. The actual yaw rate detection device detects the actual yaw rate of the vehicle. The front wheel steering angle detection device detects a front wheel steering angle of a vehicle. A standard yaw rate calculation device sets a rear wheel slip angle limit value of a vehicle, calculates a front wheel steering angle limit value from a vehicle speed, a road surface friction coefficient, and the rear wheel slip angle limit value, and calculates a standard yaw rate based on a front wheel steering angle limited by the front wheel steering angle limit value and the vehicle speed. The yaw moment calculation means generates a yaw moment on the basis of a deviation between the actual yaw rate and the standard yaw rate.
本发明提供一种车辆姿态控制装置,其包括车速检测装置、行驶路面状态估计装置、实际横摆率检测装置、前轮转向角检测装置、规范横摆率计算装置以及横摆力矩计算装置。车速检测装置检测车辆的车速。行驶路面状态估计装置估计路面摩擦系数。实际横摆率检测装置检测车辆的实际横摆率。前轮转向角检测装置检测车辆的前轮转向角。规范横摆率计算装置设定车辆的后轮侧偏角限制值,根据车速、路面摩擦系数和后轮侧偏角限制值,计算前轮转向角限制值,并基于由前轮转向角限制值限制的前轮转向角及车速,计算规范横摆率。横摆力矩计算装置基于实际横摆率和规范横摆率之间的偏差产生横摆力矩。
Vehicle attitude control device
车辆姿态控制装置
2024-08-16
Patent
Electronic Resource
Chinese
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 |
VEHICLE ATTITUDE CONTROL METHOD AND VEHICLE ATTITUDE CONTROL DEVICE
European Patent Office | 2025
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