# US 10,246,085 B2 · Vehicle behavior control device to control a vehicle based on steering characteristics > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,246,085 B2 - Document ID: US10246085B2 - Status: Granted - Kind: B2 - Application number: 15/710,459 - 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/US10246085B2 ## CPC - B60W 30/025: {related to comfort of drivers or passengers} - B60K 1/00: Arrangement or mounting of electrical propulsion units (B60K7/00 takes precedence; arrangement or mounting of plural diverse prime-movers for mutual or common propulsion B60K6/00) - B60W 10/06: including control of combustion engines - 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} - 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 - 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 - 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) ## Abstract The 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 of reducing a driving force for a vehicle (1) 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 based on the steering speed in accordance with a sum of an output of the first steering angle sensor (14) and an output of the second steering angle sensor (19). ## Claims ### Claim 1 A vehicle behavior control device configured to control a behavior of a vehicle having steerable front road wheels, 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 controller configured to, when a steering speed in the steering apparatus becomes greater than a given threshold greater than 0, perform a driving force reduction control in order to reduce a vehicle driving force according to the steering speed, 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 the controller is configured to calculate the steering speed from an output of the first steering angle sensor and an output of the second steering angle sensor in order to perform the driving force reduction control based on the steering speed, and wherein the controller is configured to perform a determination whether a steering generated in the vehicle corresponds to a steering operation purposefully performed by a driver or a turning of the front road wheels by a disturbance force, based on the output of the first steering angle sensor and the output of the second steering angle sensor, and is configured to change a method for calculating the steering speed in accordance with a result of the determination. ### Claim 2 (depends on 1) The vehicle behavior control device as recited in claim 1, wherein the controller is configured to calculate the steering speed by performing weighted addition of the output of the first steering angle sensor and the output of the second steering angle sensor, and to perform the determination whether the steering generated in the vehicle corresponds to the steering operation or the turning of the front road wheels by the disturbance force based on a frequency of phase-change of the steering speed in the steering apparatus, in order to change a weighting factor for the weighted addition. ### Claim 3 (depends on 1) The vehicle behavior control device as recited in claim 1, wherein, when the output of the first steering angle sensor indicates that operation of rotating the steering wheel is performed, and the output of the second steering angle sensor indicates that the front road wheels are turned in a direction opposite to a direction of the rotation of the steering wheel, the controller is configured to perform the driving force reduction control based on the steering speed in accordance with only the output of the first steering angle sensor. ### Claim 4 (depends on 1) The vehicle behavior control device as recited in claim 1, wherein the controller is configured to reduce the driving force by a larger amount 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.