Reverse determination method of vehicle and vehicle control apparatus
AssigneeToyota Jidosha Kabushiki Kaisha
InventorsNobuyoshi Sugitani, Hiroshi Kawaguchi
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Abstract
The present invention permits the status of reverse running of a vehicle to be detected accurately, because whether the vehicle is in reverse running or not is determined based on a relation between a direction of lateral acceleration and a direction of yaw rate.
Claims5
A reverse determination method of a vehicle, comprising a step of detecting lateral acceleration and a yaw rate acting on the vehicle and a step of determining whether the vehicle is in reverse running, based on a direction of the lateral acceleration acting on the vehicle and a direction of the yaw rate action thereon, and a step of carrying out a predetermined reaction force control based on the lateral acceleration and yaw rate detected and based on a reverse running direction of the vehicle determined.
A vehicle control apparatus comprising:
- lateral acceleration detecting means for detecting a lateral acceleration acting on a vehicle;
- yaw rate detecting means for detecting a yaw rate acting on the vehicle;
- determination means for determining whether the vehicle is in reverse running, based on a direction of the lateral acceleration acting on the vehicle and a direction of the yaw rate acting thereon;
- and
- wherein a predetermined reaction force control is carried out based on the lateral acceleration and yaw rate detected and based on a reverse running direction of the vehicle determined.
Dependencies are inferred from the claim text.