Vehicle control device
AssigneeSubaru Corporation
InventorKoji Matsuno
Life of this patent
Estimating the term…
Abstract
A vehicle control device for a vehicle includes: one or more processors; and one or more memories coupled to the one or more processors. The one or more processors are configured to execute a process including: deriving a target yaw rate based on a steering angle obtained by a steering angle sensor of the vehicle; deriving a deviation of an actual yaw rate, obtained by a yaw rate sensor of the vehicle, relative to the target yaw rate; when the deviation is not a value representing overshoot where the actual yaw rate is substantially higher than the target yaw rate, preventing execution of differential limiting by a differential limiting device of the vehicle; and when the deviation is a value representing the overshoot, causing execution of differential limiting by the differential limiting device.
Claims4
A vehicle control device configured to be applied to a vehicle, the vehicle comprising:
- a steering angle sensor configured to detect a steering angle;
- a yaw rate sensor configured to detect an actual yaw rate;
- a differential device configured to allow differential action between a left wheel and a right wheel of the vehicle;
- and
- a differential limiting device configured to limit differential action of the left wheel and the right wheel through the differential device,
- the vehicle control device comprising:
- one or more processors;
- and
- one or more memories coupled to the one or more processors, the one or more processors being configured to:
- derive a target yaw rate based on the steering angle obtained by the steering angle sensor;
- derive a deviation between the actual yaw rate, obtained by the yaw rate sensor, and the target yaw rate;
- when the deviation is not a value representing overshoot, the overshoot being a state in which the actual yaw rate is substantially higher than the target yaw rate, prevent execution of differential limiting by the differential limiting device;
- when the deviation is a value representing the overshoot, cause execution of differential limiting by the differential limiting device;
- and
- derive a proportional derivative control value including a control value of proportional control of the deviation and a control value of derivative control of the deviation,
- wherein the deviation is not a value representing overshoot when the proportional derivative control value is less than or equal to zero;
- wherein the deviation is a value representing overshoot when the proportional derivative control value is greater than zero;
- and
- wherein the one or more processors is further configured to:
- prevent execution of differential limiting by the differential limiting device when the proportional derivative control value is less than or equal to zero;
- and
- cause execution of differential limiting by the differential limiting device when the proportional derivative control value is greater than zero.
Dependencies are inferred from the claim text.