초록 ▼

In a behavior control system of a vehicle by selective braking of individual wheels according to a target yaw moment and a target longitudinal force, it is judged if the vehicle is in an oversteered condition or an understeered condition, and an essential target of the behavior is changed over betwe

In a behavior control system of a vehicle by selective braking of individual wheels according to a target yaw moment and a target longitudinal force, it is judged if the vehicle is in an oversteered condition or an understeered condition, and an essential target of the behavior is changed over between the target yaw moment and the target longitudinal force according to whether the vehicle is in the oversteered condition or the understeered condition.

대표청구항 ▼

A behavior control system of a vehicle having wheels and a brake system for selectively braking each of said wheels, comprising: means for detecting a behavior of the vehicle, said behavior including a yaw moment and a longitudinal force of the vehicle; means for determining a target behavior of the

A behavior control system of a vehicle having wheels and a brake system for selectively braking each of said wheels, comprising: means for detecting a behavior of the vehicle, said behavior including a yaw moment and a longitudinal force of the vehicle; means for determining a target behavior of the vehicle, said target behavior including a target yaw moment and a target longitudinal force; means for controlling said brake system so as to approach the behavior of the vehicle to said target behavior including approaching the yaw moment of the vehicle to said target yaw moment and approaching the longitudinal force of the vehicle to the target longitudinal force; wherein said behavior control system further comprises: means for judging whether the behavior of the vehicle is in an oversteered condition or an understeered condition, and means for changing between the target yaw moment and the target longitudinal force as a controlling target behavior according to whether the behavior of the vehicle judged by said vehicle behavior judgment means is in the oversteered condition or the understeered condition. A behavior control system according to claim 1, wherein said vehicle behavior detecting means detects vehicle speed, lateral acceleration and yaw rate of the vehicle, and said controlling target behavior change means controls said target behavior determining means so as to determine the target yaw moment substantially based upon a slip angle of the vehicle deduced by calculating a change rate of the lateral acceleration as a difference between the lateral acceleration detected by said vehicle behavior detecting means and a product of the vehicle speed and the yaw rate both detected by said vehicle behavior detecting means, calculating a lateral slip velocity by integrating on time basis the lateral acceleration change rate, and calculating the slip angle as a ratio of the lateral slip velocity to the vehicle speed, when the behavior of the vehicle is judged as being in the oversteered condition. A behavior control system according to claim 1, wherein said vehicle behavior detecting means detects vehicle speed, steering angle and yaw rate of the vehicle, and said target behavior determining means determines the target longitudinal force substantially based upon a deviation of a yaw rate calculated by a time based integration of a parameter proportional to a product of the vehicle speed and the steering angle both detected by said behavior detecting means from the yaw rate detected by said behavior detecting means, when the behavior of the vehicle is judged as being in the understeered condition.