Vehicle behavior control apparatus

A vehicle behavior control having target yaw rate establishing means for establishing a target yaw rate as a control target of said vehicle behavior control apparatus, said target yaw rate establishing means comprising:

• road friction coefficient estimating means for estimating a road friction coefficient;
• target yaw rate calculating means for calculating said target yaw rate by estimating a lag of said target yaw rate with respect to steering at least according to said estimated road friction coefficient;
• and
• warning means for providing a warning based on said estimated road friction coefficient,
• wherein said road friction coefficient estimating means estimates said road friction coefficient according to said target yaw rate correction factor.

The vehicle behavior control apparatus having target yaw rate establishing means for establishing a target yaw rate as a control target of said vehicle behavior control apparatus, said target yaw rate establishing means comprising:

• reference yaw rate calculating means for calculating a reference yaw rate which is a target yaw rate calculated by estimating a lag with respect to steering;
• and
• reference yaw rate correcting means for correcting said reference yaw rate by multiplying said reference yaw rate by a target yaw rate correction factor to obtain a final target yaw rate,
• wherein said final target yaw rate is outputted to a differential limiting control means for controlling a differentiation between one shaft and another shaft.

A method for establishing a target yaw rate as a control target of a vehicle behavior control apparatus comprising the steps of:

• calculating a first stability factor on steering left based on at least one of vehicle mass, vehicle mass distribution, distances between front and rear axles and center of gravity and steering angle of a front wheel;
• calculating a second stability factor on steering right based on at least one of the vehicle mass, the vehicle mass distribution, the distances between front and rear axles and center of gravity and steering angle of the front wheel;
• and
• calculating a target yaw rate based on said first stability factor when turning left and calculating a target yaw rate based on said second stability factor when turning right.

A method for establishing the target yaw rate as a control target of a vehicle behavior control apparatus comprising the steps of:

• varying a steering gear ratio according to a steering wheel rotation angle;
• calculating a target yaw rate based on said steering gear ratio;
• establishing said target yaw rate calculated by estimating a lag of yaw rate with respect to steering to a reference yaw rate;
• and
• correcting said reference yaw rate by multiplying said reference yaw rate by a target yaw rate correction factor to obtain a final target yaw rate.

A method for establishing a target yaw rate as a control target of a vehicle behavior control apparatus of a vehicle, said method comprising the steps of:

• calculating a reference yaw rate;
• calculating a target yaw rate correction factor based on the reference yaw rate, an actual yaw rate and a first order lag time constant;
• calculating the target yaw rate based on the target yaw rate correction factor and the reference yaw rate;
• calculating a road friction coefficient estimating value based on the target yaw rate correction factor;
• and
• outputting the target yaw rate to center and rear differential limiting control sections of the vehicle.

A vehicle behavior control apparatus having target yaw rate establishing means for establishing a target yaw rate as a control target of said vehicle behavior control apparatus, said target yaw rate establishing means comprising:

• reference yaw rate calculating means for calculating a reference yaw rate which is a target yaw rate calculated by estimating a lag with respect to steering;
• and
• reference yaw rate correcting means for correcting said reference yaw rate by multiplying said reference yaw rate by a target yaw rate correction factor to obtain a final target yaw rate,
• wherein said target yaw rate correction factor is calculated based on at least one of a target yaw rate correction factor previously calculated, a target yaw rate previously calculated, a reference yaw rate presently calculated and an actual yaw rate presently detected.

A vehicle behavior control apparatus having target yaw rate establishing means for calculating a target yaw rate as a control target of said vehicle behavior control apparatus, said target yaw rate establishing means comprising:

• steering gear ratio varying means for varying a steering gear ratio according to a steering wheel rotation angle;
• and
• target yaw rate calculating means for calculating a target yaw rate based on said steering gear ratio,
• wherein said target yaw rate establishing means has reference yaw rate calculating means for establishing the target yaw rate calculated by estimating a lag of yaw rate with respect to steering to a reference yaw rate and said reference yaw rate is corrected by multiplying said reference yaw rate by a target yaw rate correction factor to obtain a final target yaw rate, and
• wherein said target yaw rate correction factor is calculated based on at least one of a target yaw rate correction factor previously calculated, a target yaw rate previously calculated, a reference yaw rate presently calculated and an actual yaw rate presently detected.

A vehicle behavior control apparatus having target yaw rate establishing means for establishing a target yaw rate as a control target of said vehicle behavior control apparatus, said target yaw rate establishing means comprising:

• reference yaw rate calculating means for calculating a reference yaw rate which is a target yaw rate calculated by estimating a lag with respect to steering;
• and
• reference yaw rate correcting means for correcting said reference yaw rate by multiplying said reference yaw rate by a target yaw rate correction factor to obtain a final target yaw rate,
• wherein said target yaw rate correction factor corrects said reference yaw rate at a response speed substantially smaller than a changing speed caused by disturbance.

A vehicle behavior control apparatus having target yaw rate establishing means for calculating a target yaw rate as a control target of said vehicle behavior control apparatus, said target yaw rate establishing means comprising:

• steering gear ratio varying means for varying a steering gear ratio according to a steering wheel rotation angle;
• and
• target yaw rate calculating means for calculating a target yaw rate based on said steering gear ratio,
• wherein said target yaw rate establishing means has reference yaw rate calculating means for establishing the target yaw rate calculated by estimating a lag of yaw rate with respect to steering to a reference yaw rate and said reference yaw rate is corrected by multiplying said reference yaw rate by a target yaw rate correction factor to obtain a final target yaw rate, and
• wherein said target yaw rate correction factor corrects said reference yaw rate at a response speed substantially smaller than a changing speed caused by disturbance.

A vehicle behavior control apparatus having target yaw rate establishing means for establishing a target yaw rate as a control target of said vehicle behavior control apparatus, said target yaw rate establishing means comprising:

• reference yaw rate calculating means for calculating a reference yaw rate which is a target yaw rate calculated by estimating a lag with respect to steering;
• and
• reference yaw rate correcting means for correcting said reference yaw rate by multiplying said reference yaw rate by a target yaw rate correction factor to obtain a final target yaw rate,
• wherein said target yaw rate correction factor retards a correction speed of said reference yaw rate when an absolute value of said actually detected yaw rate is larger than that of said target yaw rate.

A vehicle behavior control apparatus having target yaw rate establishing means for calculating a target yaw rate as a control target of said vehicle behavior control apparatus, said target yaw rate establishing means comprising:

• steering gear ratio varying means for varying a steering gear ratio according to a steering wheel rotation angle;
• and
• target yaw rate calculating means for calculating a target yaw rate based on said steering gear ratio,
• wherein said target yaw rate establishing means has reference yaw rate calculating means for establishing the target yaw rate calculated by estimating a lag of yaw rate with respect to steering to a reference yaw rate and said reference yaw rate is corrected by multiplying said reference yaw rate by a target yaw rate correction factor to obtain a final target yaw rate, and
• wherein said target yaw rate correction factor retards a correction speed of said reference yaw rate when an absolute value of said actually detected yaw rate is larger than that of said target yaw rate.

A vehicle behavior control apparatus having target yaw rate establishing means for establishing a target yaw rate as a control target of said vehicle behavior control apparatus, said target yaw rate establishing means comprising:

• reference yaw rate calculating means for calculating a reference yaw rate which is a target yaw rate calculated by estimating a lag with respect to steering;
• and
• reference yaw rate correcting means for correcting said reference yaw rate by multiplying said reference yaw rate by a target yaw rate correction factor to obtain a final target yaw rate,
• wherein said target yaw rate correction factor varies a value to retard a correction speed of said reference yaw rate according to a lateral acceleration calculated from said actually detected yaw rate and an actually detected lateral acceleration.

A vehicle behavior control apparatus having target yaw rate establishing means for establishing a target yaw rate as a control target of said vehicle behavior control apparatus, said target yaw rate establishing means comprising:

• reference yaw rate calculating means for calculating a reference yaw rate which is a target yaw rate calculated by estimating a lag with respect to steering;
• and
• reference yaw rate correcting means for correcting said reference yaw rate by multiplying said reference yaw rate by a target yaw rate correction factor to obtain a final target yaw rate,
• wherein said final target yaw rate is limited by a yaw rate calculated based on a lateral acceleration actually detected.

A vehicle behavior control apparatus having target yaw rate establishing means for calculating a target yaw rate as a control target of said vehicle behavior control apparatus, said target yaw rate establishing means comprising:

• steering gear ratio varying means for varying a steering gear ratio according to a steering wheel rotation angle;
• and
• target yaw rate calculating means for calculating a target yaw rate based on said steering gear ratio;
• wherein said target yaw rate establishing means has reference yaw rate calculating means for establishing the target yaw rate calculated by estimating a lag of yaw rate with respect to steering to a reference yaw rate and said reference yaw rate is corrected by multiplying said reference yaw rate by a target yaw rate correction factor to obtain a final target yaw rate, and
• wherein said target yaw rate correction factor varies a value to retard a correction speed of said reference yaw rate according to a lateral acceleration calculated from said actually detected yaw rate and an actually detected lateral acceleration.

A vehicle behavior control apparatus having target yaw rate establishing means for calculating a target yaw rate as a control target of said vehicle behavior control apparatus, said target yaw rate establishing means comprising:

• steering gear ratio varying means for varying a steering gear ratio according to a steering wheel rotation angle;
• and
• target yaw rate calculating means for calculating a target yaw rate based on said steering gear ratio,
• wherein said target yaw rate establishing means includes road friction coefficient estimating means for estimating a road friction coefficient and calculating said target yaw rate by estimating a lag of said yaw rate with respect to steering according to at least said estimated road friction coefficient, and
• wherein said road friction coefficient estimating means estimates said road friction coefficient according to a target yaw rate correction factor.

A vehicle behavior control apparatus having target yaw rate establishing means for calculating a target yaw rate as a control target of said vehicle behavior control apparatus, said target yaw rate establishing means comprising:

• steering gear ratio varying means for varing a steering gear ratio according to a steering wheel rotation angle;
• and
• target yaw rate calculating means for calculating a target yaw rate based on said steering gear ratio,
• wherein said target yaw rate establishing means includes road friction coefficient estimating means for estimating a road friction coefficient and warning means for providing a warning based on said road friction coefficient and calculating said target yaw rate by estimating a lag of said target yaw rate with respect to steering according to at least said estimated road friction coefficient, and
• wherein said road friction coefficient estimating means estimates said road friction coefficient according to a target yaw rate correction factor.