Vehicle turning control device
Disclosed is a vehicle turning control device, which includes an operation state detection device, a vehicle speed detection device, and a target yaw moment calculation device. In the target yaw moment calculation device, the yaw moment of inertia calculation means calculates the yaw moment of inertia based on the vehicle speed when the vehicle turns. The yaw damping calculation means calculates yaw damping based on the vehicle speed when the vehicle turns. The lateral deviation angular velocity calculation means calculates the lateral deviation angular velocity based on the yaw moment of inertia and yaw damping. The target yaw moment calculation means calculates a target yaw moment of the vehicle based on the lateral deviation angular velocity. The yaw moment of inertia calculation means calculates the yaw moment of inertia based on the first correction amount. The yaw damping calculation means calculates yaw damping based on the second correction amount.
1 . A vehicle turning control device, comprising:
a steering sensor which detects a steering angle of a driver's vehicle in response to a steering wheel of the driver's vehicle having the steering angle;
a vehicle speed sensor which detects a vehicle speed of the vehicle; and
a processor coupled to the steering sensor and the steering angle and configured to:
calculate a yaw moment of inertia based on a first correction amount of the vehicle speed detected by the vehicle speed sensor when the vehicle turns;
calculate yaw damping based on a second correction amount of the vehicle speed detected by the vehicle speed sensor when the vehicle turns;
calculate a lateral deviation angular velocity based on the yaw moment of inertia and the yaw damping and the vehicle speed;
calculate the target yaw moment of the vehicle based on the lateral deviation angular velocity, the first correction amount of the vehicle speed detected by the vehicle speed sensor, and the second correction amount of the vehicle speed detected by the vehicle speed sensor; and
control the vehicle while the vehicle is turning based on the target yaw moment having been calculated.
2 . The vehicle turning control device according to claim 1 , wherein the first correction amount is set to be a first predetermined value when the vehicle speed is less than a first threshold value, and the first correction amount is set to be a second predetermined value less than the first predetermined value when the vehicle speed is greater than the first threshold value.
3 . The vehicle turning control device according to claim 2 , wherein the second correction amount is set to be a third predetermined value when the vehicle speed is less than a second threshold value, and the second correction amount is set to be a fourth predetermined value greater than the third predetermined value when the vehicle speed is greater than the second threshold value.
4 . The vehicle turning control device according to claim 3 , wherein the processor is configured to calculate the lateral deviation angular velocity using a vehicle body model whose elements are the steering angle, the vehicle speed, the yaw moment of inertia, and the yaw damping,
the vehicle body model is configured to calculate a yaw angular acceleration based on the steering angle and the vehicle speed, and
the processor is configured to calculate the target yaw moment based on the lateral deviation angular velocity and the yaw angular acceleration.
5 . The vehicle turning control device according to claim 2 , wherein the processor is configured to calculate the lateral deviation angular velocity using a vehicle body model whose elements are the steering angle, the vehicle speed, the yaw moment of inertia, and the yaw damping,
the vehicle body model is configured to calculate a yaw angular acceleration based on the steering angle and the vehicle speed, and
the processor is configured to calculate the target yaw moment based on the lateral deviation angular velocity and the yaw angular acceleration.
6 . The vehicle turning control device according to claim 1 , wherein the processor is configured to calculate the lateral deviation angular velocity using a vehicle body model whose elements are the steering angle, the vehicle speed, the yaw moment of inertia, and the yaw damping,
the vehicle body model is configured to calculate a yaw angular acceleration based on the steering angle and the vehicle speed, and
the processor is configured to calculate the target yaw moment based on the lateral deviation angular velocity and the yaw angular acceleration.