# US 10,246,084 B2 · Vehicle behavior control device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,246,084 B2 - Document ID: US10246084B2 - Status: Granted - Kind: B2 - Application number: 15/710,332 - Filed: 2017-09-20 - Published: 2018-03-22 - Granted: 2019-04-02 - Earliest claimed: 2016-09-21 - Assignees: Mazda Motor Corporation - Applicants: Mazda Motor Corporation - Inventors: Tomoji Izumi; Yasunori Takahara; Daisuke Umetsu; Osamu Sunahara; Masaki Chiba - Web page: https://patentgrep.com/patent/US10246084B2 ## CPC - B60W 30/025: {related to comfort of drivers or passengers} - B60W 10/06: including control of combustion engines - B60W 10/20: including control of steering systems - B60W 30/045: Improving turning performance - B62D 6/003: {in order to control vehicle yaw movement, i.e. around a vertical axis (B62D6/007 takes precedence)} - B62D 15/022: {on or near the connection between the steering wheel and steering column} - B62D 15/0225: {by measuring on a steering gear element, e.g. on a rack bar} - B60K 17/30: the ultimate propulsive elements, e.g. ground wheels, being steerable - B60W 2510/205: Steering speed - B60W 2520/14: Yaw - B60W 2710/0666: Engine torque - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES ## Abstract A vehicle behavior control device comprises: a steer-by-wire type steering apparatus (6) having a steering wheel-side mechanism and a road wheel-side mechanism which are mechanically separated from each other; and a controller (8) performs a driving force reduction control when a steering speed in the steering apparatus (6) becomes equal to or greater than a given threshold. The steering apparatus (6) comprises a first steering angle sensor (14) provided in the steering wheel-side mechanism and a second steering angle sensor (19) provided in the road wheel-side mechanism. The controller (8) performs the driving force reduction control using the first steering angle sensor (14) when a yaw rate or a steering speed is equal to or greater than a given value, and performs the driving force reduction control using the second steering angle sensor (19) when the yaw rate or the steering speed is less than the given value. ## Claims ### Claim 1 A vehicle behavior control device configured to control a behavior of a vehicle having steerable front road wheels, the vehicle behavior control device comprising: a steering apparatus configured to transmit rotation of a steering wheel toward the front road wheels, the steering apparatus having: a steering wheel-side mechanism which is coupled to the steering wheel and configured to transmit rotation of the steering wheel; and a road wheel-side mechanism which is coupled to the steering wheel-side mechanism via a low rigidity portion having a relatively low torsional rigidity or is mechanically separated from the steering wheel-side mechanism, and configured to turn the front road wheels according to the rotation of the steering wheel; and a processor configured to perform a driving force reduction control in order to reduce a vehicle driving force, wherein the steering apparatus comprises: a first steering angle sensor provided in the steering wheel-side mechanism and configured to detect a steering angle corresponding to rotation of the steering wheel; and a second steering angle sensor provided in the road wheel-side mechanism and configured to detect a steering angle corresponding to turning of the front road wheels, wherein, when a yaw rate of the vehicle or a steering speed of the steering wheel is equal to or greater than a given value, the processor is configured, when a steering speed corresponding to the steering angle detected by the first steering angle sensor becomes greater than a given threshold greater than 0, to perform the driving force reduction control in order to reduce the vehicle driving force based on the steering speed corresponding to the steering angle detected by the first steering angle sensor, and wherein, when a yaw rate of the vehicle or the steering speed of the steering wheel is less than the given value, the processor is configured, when a steering speed corresponding to the steering angle detected by the second steering angle sensor becomes greater than the given threshold, to perform the driving force reduction control in order to reduce the vehicle driving force based on the steering speed corresponding to the steering angle detected by the second steering angle sensor. ### Claim 2 (depends on 1) The vehicle behavior control device as recited in claim 1, wherein the processor is configured to reduce the driving force more largely as the steering speed becomes larger, to an extent that a deceleration caused in the vehicle by the reduction in the driving force becomes equal to or less than 0.05 g. ### Claim 3 A vehicle behavior control device configured to control a behavior of a vehicle having steerable front road wheels, the vehicle behavior control device comprising: an engine or an electric motor configured to generate a driving force for the vehicle so as to drive road wheels; a steering apparatus configured to transmit rotation of a steering wheel toward the front road wheels, the steering apparatus having: a steering wheel-side mechanism configured to transmit rotation of the steering wheel; and a road wheel-side mechanism mechanically separated from the steering wheel-side mechanism and configured to turn the front road wheels according to the rotation of the steering wheel; and a processor configured to perform a driving force reduction control in order to reduce the driving force of the engine or the electric motor, wherein the steering apparatus comprises: a first steering angle sensor provided in the steering wheel-side mechanism and configured to detect a steering angle corresponding to rotation of the steering wheel; and a second steering angle sensor provided in the road wheel-side mechanism and configured to detect a steering angle corresponding to turning of the front road wheels, and wherein, when a steering speed corresponding to a steering angle detected by one of the first steering angle sensor and the second steering angle sensor becomes greater than a given threshold greater than 0, the processor is configured to: select the one of the first steering angle sensor and the second steering angle sensor; and perform the driving force reduction control in order to reduce the driving force based on the steering speed corresponding to the steering angle detected by the selected steering angle sensor. ### Claim 4 (depends on 3) The vehicle behavior control device as recited in claim 3, wherein the processor is configured to reduce the driving force more largely as the steering speed becomes larger, to an extent that a deceleration caused in the vehicle by the reduction in the driving force becomes equal to or less than 0.05 g.