JP2006168506A - Vehicle behavior control device - Google Patents

Abstract

A vehicle behavior control device for preventing inappropriate behavior control due to zero correction deviation of a yaw rate sensor is provided.
A vehicle behavior control device that controls the behavior of a vehicle using a yaw rate sensor, calculates a zero point output of the yaw rate sensor while the vehicle is stopped (S20), and performs a yaw rate sensor while the vehicle is traveling. 5 (S14), and when the difference between the zero point output during stoppage and the zero point output during travel exceeds a predetermined value, the zero point output during stoppage and the zero point output during travel The behavior control start threshold value is set higher than in the case where the difference does not exceed the predetermined value (S28). As a result, when there is a possibility that the zero point correction of the yaw rate sensor 5 is not properly performed, the behavior control start threshold is set high so that it becomes difficult to enter behavior control, and behavior control is performed improperly. Can be prevented.
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Description

  The present invention relates to a vehicle behavior control device that controls the behavior of a vehicle using a yaw rate sensor.

Conventionally, as a device for controlling vehicle behavior using a yaw rate sensor, as described in Japanese Patent Laid-Open No. 11-148828, zero point correction of a yaw rate sensor is performed, and the vehicle is in a stopped state. It is known that the output of the yaw rate sensor is differentiated, the vehicle rotation is detected based on the differential value, and the zero point correction of the yaw rate is not performed during the vehicle rotation period.
Japanese Patent Laid-Open No. 11-148828

  In such an apparatus, there is a problem that proper behavior control may not be performed. For example, in the above-described apparatus, since the zero point correction of the yaw rate sensor can be performed only while the vehicle is stopped, the correction frequency is low. For this reason, when the vehicle is continuously running, the yaw rate sensor cannot be corrected, and when the zero point of the yaw rate sensor drifts during running, appropriate behavior control cannot be performed.

  On the other hand, if the zero point correction of the yaw rate sensor is performed while the vehicle is traveling, the correction frequency is increased, but the correction accuracy is deteriorated due to the traveling state or the road surface state, and there is a possibility of erroneous correction. For this reason, there is a possibility that appropriate behavior control cannot be performed.

  Therefore, an object of the present invention is to provide a vehicle behavior control device that prevents inappropriate behavior control due to zero correction deviation of a yaw rate sensor.

  That is, the vehicle behavior control device according to the present invention is a vehicle behavior control device that performs vehicle behavior control using at least a yaw rate sensor, and a zero point during stop that calculates a zero point output of the yaw rate sensor while the vehicle is stopped. The difference between the output calculation means, the running zero point output calculation means for calculating the zero point output of the yaw rate sensor while the vehicle is running, and the difference between the zero point output during stoppage and the zero point output during running is a predetermined value. If it exceeds, the behavior control start threshold value is set higher than the case where the difference between the zero point output during stopping and the zero point output during traveling does not exceed the predetermined value, and behavior control is made difficult to enter the behavior control. And a start threshold value setting means.

  According to the present invention, when the difference between the zero point output during stoppage and the zero point output during travel exceeds a predetermined value, the zero point correction of the yaw rate sensor may not be properly performed. By setting the control start threshold value high to make it difficult to enter behavior control, it is possible to prevent inappropriate behavior control.

  The vehicle behavior control device according to the present invention is a vehicle behavior control device that performs vehicle behavior control using at least a yaw rate sensor. A zero point output during stop for calculating a zero point output of the yaw rate sensor while the vehicle is stopped The greater the difference between the computing means, the running zero point output computing means for computing the zero point output of the yaw rate sensor during traveling of the vehicle, and the zero point output during running and the running zero point output, And a behavior control start threshold value setting means for setting the behavior control start threshold value high.

  According to the present invention, the behavior control start threshold value is set higher as the difference between the zero point output during stoppage and the zero point output during travel increases. For this reason, the larger the zero point correction deviation of the yaw rate sensor, the more difficult it is to enter the behavior control. Therefore, inappropriate behavior control can be prevented.

  According to the present invention, it is possible to prevent inappropriate behavior control from being performed due to zero correction deviation of the yaw rate sensor.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted.

  FIG. 1 is a schematic configuration diagram of a vehicle behavior control apparatus according to an embodiment of the present invention. As shown in FIG. 1, the vehicle behavior control device according to the present embodiment is a device that is installed in a vehicle, detects the behavior state of the vehicle, and controls the vehicle behavior.

  An ECU (Electronic Control Unit) 1 is provided in the vehicle behavior control device. The ECU 1 is an electronic control unit that controls the entire apparatus, and includes, for example, a CPU, a ROM, a RAM, an input signal circuit, an output signal circuit, and a power supply circuit.

  Further, the vehicle behavior control device is provided with a master cylinder pressure sensor 2, a throttle opening sensor 3, and a wheel speed sensor 4. The master cylinder pressure sensor 2, the throttle opening sensor 3, and the wheel speed sensor 4 are connected to the ECU 1 and input detection signals to the ECU 1, respectively. The master cylinder pressure sensor 2 is a sensor that detects the pressure of the master cylinder. The throttle opening sensor 3 is a sensor that detects the throttle opening of the throttle valve. The wheel speed sensor 4 is a sensor that detects the wheel speed of the vehicle, and detects the wheel speed of each wheel.

  Further, the vehicle behavior control device is provided with a yaw rate sensor 5, a lateral acceleration sensor 6, a longitudinal acceleration sensor 7, and a steering angle sensor 8. The yaw rate sensor 5, lateral acceleration sensor 6, longitudinal acceleration sensor 7, and steering angle sensor 8 are connected to the ECU 1 and input detection signals to the ECU 1. The yaw rate sensor 5 is a sensor that detects the yaw rate of the vehicle. The lateral acceleration sensor 6 is a sensor that detects lateral acceleration of the vehicle. The longitudinal acceleration sensor 7 is a sensor that detects the longitudinal acceleration of the vehicle. The steering angle sensor 6 is a sensor that detects the steering angle of the steering wheel.

  Further, the vehicle behavior control device is provided with a brake actuator 10 and a throttle actuator 20. The brake actuator 10 and the throttle actuator 20 are connected to the ECU 1 and operate based on a control signal output from the ECU 1. The brake actuator 10 is an actuator that adjusts the brake hydraulic pressure, and is installed in the middle of the hydraulic piping connecting the master cylinder and the wheel cylinder.

  The brake actuator 10 includes, for example, a solenoid valve that switches connection of a hydraulic circuit, a pump that increases hydraulic pressure, and the like, and adjusts the brake hydraulic pressure applied to the wheel cylinder of each wheel to adjust the braking force applied to each wheel. Make it possible. The brake actuator 10 may have any configuration and structure as long as the brake hydraulic pressure of the wheel cylinder can be controlled. The slot actuator 20 is an actuator that opens and closes a throttle valve.

  In this vehicle behavior control device, the throttle opening sensor 3 and the throttle actuator 20 may be omitted.

  Next, the operation of the vehicle behavior control device of this embodiment will be described.

  The vehicle behavior control device according to the present embodiment detects the vehicle state, determines whether or not the behavior control start condition is satisfied based on the vehicle state, and determines that the behavior control start condition is satisfied. Start behavior control. For example, information on steering angle, vehicle speed, vehicle yaw rate, and vehicle lateral acceleration is acquired based on detection signals from various sensors, and the vehicle state is detected based on the steering angle, vehicle speed, vehicle yaw rate, and vehicle lateral acceleration. To do. When it is determined that the vehicle state has become a predetermined skidding state, behavior control is performed to reduce the driving force of the vehicle and to apply a predetermined braking force to the vehicle to suppress the skidding of the vehicle.

  In this vehicle behavior control device, the zero point correction process of the yaw rate sensor 5 is executed. The output of the yaw rate sensor 5 drifts due to changes in ambient temperature, changes over time, and the like. Thereby, the zero point output value of the yaw rate sensor 5 when the yaw rate of the vehicle is zero varies. The zero point correction process is a process in which the output value of the yaw rate sensor 5 when the vehicle is not turning is set as the zero point output value and updated as needed.

  FIG. 2 is a flowchart of behavior control start threshold setting processing in the vehicle behavior control device according to the present embodiment. The control process in FIG. 2 is repeatedly executed at predetermined time intervals by the ECU 1 from when the ignition is turned on, for example.

  First, as shown in S10 of FIG. 2, it is determined whether or not the vehicle is stopped. For example, it is determined that the vehicle is stopped when the MAX value in the wheel speed sensor 4 of each wheel is zero. Alternatively, it may be determined that the vehicle is stopped by detecting that the shift lever of the transmission is in the P (parking) range.

  When it is determined in S10 that the vehicle is not stopped, it is determined whether or not a calculation condition for the running zero output value YR0M is satisfied (S12). The running zero output value YR0M is a zero output value of the yaw rate sensor 5 while the vehicle is running. For example, when the output of the yaw rate sensor 5 is not larger than a predetermined output value and the steering angle is not larger than a predetermined steering angle value, it is determined that the calculation condition for the running zero output value YR0M is satisfied. Moreover, it is good also as a part of calculation conditions that lateral acceleration is larger than a predetermined lateral acceleration value, and the difference between the left and right wheel speeds is not larger than a predetermined value.

  When it is determined in S12 that the calculation condition for the running zero output value YR0M is satisfied, the running zero output value YR0M is calculated (S14). This calculation process of the zero output value YR0M during travel is a process of setting the output value of the yaw rate sensor 5 during travel of the vehicle as the zero output value YR0M. For example, the output value of the yaw rate sensor 5 is read a plurality of times at predetermined time intervals, and the average value of the output values is calculated and set as the zero output value YR0M.

  On the other hand, when it is determined in S12 that the calculation condition for the running zero output value YR0M is not satisfied, the previous value holding process for the running zero output value YR0M is performed (S16). The previous value holding process of the running zero output value YR0M is a process of holding the previously calculated zero output value YR0M without updating it. Then, the process proceeds to S24.

  By the way, when it is determined in S10 that the vehicle is stopped, it is determined whether the calculation condition of the stopped zero output value YR0S is satisfied (S18). The stop zero output value YR0S is a zero output value of the yaw rate sensor 5 when the vehicle is stopped. For example, it is set as a calculation condition that the yaw rate sensor 5 is not broken and the output value of the yaw rate sensor 5 is not larger than a predetermined output value, and the yaw rate sensor 5 is not broken and the output value of the yaw rate sensor 5 Is not larger than the predetermined output value, it is determined that the calculation condition of the zero output value YR0S during stop is satisfied.

  When it is determined in S18 that the calculation condition for the stopped zero output value YR0S is satisfied, the calculation process for the stopped zero output value YR0S is performed (S20). The calculation process of the zero output value YR0S during stop is a process of setting the output value of the yaw rate sensor 5 while the vehicle is stopped as the zero output value YR0S. For example, the output value of the yaw rate sensor 5 is read a plurality of times at predetermined time intervals, and the average value of the output values is calculated and set as the zero output value YR0S.

  On the other hand, when it is determined in S18 that the calculation condition for the stopped zero output value YR0S is not satisfied, the previous value holding process for the stopped zero output value YR0S is performed (S22). This previous value holding process of the zero output value YR0S during stop is a process of holding the previously calculated zero output value YR0S without updating it.

  Then, the process proceeds to S24, in which it is determined whether or not the difference between the stopped zero output value YR0S and the running zero output value YR0M exceeds a predetermined value A. The predetermined value A is a set value set in advance in the ECU 1. When it is determined that the difference between the stopped zero output value YR0S and the running zero output value YR0M does not exceed the predetermined value A, the first threshold value Th1 is set as the behavior control start threshold value Th (S26). ). On the other hand, when it is determined that the difference between the stopped zero output value YR0S and the running zero output value YR0M exceeds the predetermined value A, the behavior control start threshold Th is set to the first threshold Th1. A value obtained by adding the threshold value Th2 (Th1 + Th2) is set.

  The first threshold value Th1 and the second threshold value Th2 are set values set in advance in the ECU 1, and are each set to a positive value, for example. Thus, when the difference between the zero point output value YR0S during stoppage and the zero point output value YR0M during travel exceeds a predetermined value A, the zero point output value YR0S during stoppage and the zero point output value YR0M during travel The behavior control start threshold value Th is set higher than when the difference between and does not exceed the predetermined value A, making it difficult to enter behavior control.

  And it transfers to S30 and a behavior control process is performed. The behavior control process is a process of controlling the behavior state of the vehicle when the behavior state of the vehicle exceeds the behavior control start threshold Th. For example, the braking / driving force of the vehicle is controlled when the difference between the estimated yaw rate of the vehicle estimated from the vehicle speed and the steering angle and the actual yaw rate detected by the yaw rate sensor 5 exceeds the behavior control start threshold Th. This stabilizes the vehicle behavior.

  As described above, according to the vehicle behavior control apparatus of the present embodiment, the difference between the zero point output value YR0S during stoppage and the zero point output value YR0M during travel exceeds the predetermined value A, and the yaw rate sensor 5 When there is a possibility that the zero point correction is not properly performed, the behavior control start threshold Th is set high to make it difficult to enter the behavior control. As a result, it is possible to prevent inappropriate behavior control.

  Even when the vehicle is running, if a predetermined calculation condition is satisfied, the zero output value of the yaw rate sensor 5 can be newly set and corrected. For this reason, the zero output value of the yaw rate sensor 5 can be frequently corrected, and even when the output of the yaw rate sensor 5 drifts abruptly, it is possible to cope with it, and appropriate behavior control can be ensured.

  In this embodiment, when the difference between the zero point output value YR0S during stoppage and the zero point output value YR0M during travel exceeds a predetermined value A, the behavior control start threshold value Th is set high and the behavior control is performed. The behavior control start threshold Th may be set according to the difference between the zero point output value YR0S during stoppage and the zero point output value YR0M during travel.

  For example, as shown in FIG. 3, the control map increases the second threshold Th2 as the difference (| YR0S−YR0M |) between the zero point output value YR0S during stoppage and the zero point output value YR0M during travel increases. Is set, the second threshold value Th2 is set using this control map, and the behavior control start threshold value Th is set. In this case, the greater the difference between the zero point output during stoppage and the zero point output during travel, the higher the behavior control start threshold is set, and the more difficult it is to enter behavior control. As a result, it is possible to prevent inappropriate behavior control.

1 is a schematic configuration diagram of a vehicle behavior control device according to an embodiment of the present invention. 3 is a flowchart of behavior control start threshold setting processing in the vehicle behavior control device of FIG. 1. It is explanatory drawing of the modification of the vehicle behavior control apparatus which concerns on embodiment of this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... ECU, 2 ... Master cylinder pressure sensor, 3 ... Throttle opening sensor, 4 ... Wheel speed sensor, 5 ... Yaw rate sensor, 6 ... Lateral acceleration sensor, 7 ... Longitudinal acceleration sensor, 8 ... Steering angle sensor, 10 ... Brake Actuator, 20 ... throttle actuator.

Claims (2)

In a vehicle behavior control apparatus that performs vehicle behavior control using at least a yaw rate sensor,
A stopping zero point output calculating means for calculating a zero point output of the yaw rate sensor while the vehicle is stopped;
A running zero point output calculating means for calculating a zero point output of the yaw rate sensor during traveling of the vehicle;
When the difference between the zero point output during stoppage and the zero point output during travel exceeds the predetermined value, the difference between the zero point output during stoppage and the zero point output during travel does not exceed the predetermined value. Behavior control start threshold setting means for setting the behavior control start threshold high and making it difficult to enter the behavior control;
A vehicle behavior control device comprising: In a vehicle behavior control apparatus that performs vehicle behavior control using at least a yaw rate sensor,
A stopping zero point output calculating means for calculating a zero point output of the yaw rate sensor while the vehicle is stopped;
A running zero point output calculating means for calculating a zero point output of the yaw rate sensor during traveling of the vehicle;
Behavior control start threshold setting means for setting the behavior control start threshold higher as the difference between the zero point output during stoppage and the zero point output during travel increases,
A vehicle behavior control device comprising:

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