公开(公告)号：JPS62152910A

公开(公告)日：1987-07-07

申请号：JP29594385

申请日：1985-12-26

Applicant: TOYOTA MOTOR CORP

Inventor： KUROSAWA RYUICHI

IPC: B60G17/00 ,  B60G17/015 ,  B60G17/016 ,  B60G17/018

Abstract: PURPOSE:To prevent rolling of a car body and to maintain steer characteristics at optimum, by a method wherein acceleration in the direction of the width of a car and a roll angle acceleration of a car body are respectively detected to effect given computation, and according to the computing result, the magnitude of a force exerted between a wheel and a car body is controlled. CONSTITUTION:When a vehicle is turned, for example, to the left, since signals alphaand gamma outputted from sensors 19 and 20, respectively, are both positive, only alphak1 amplified by an amplifier 22 passes through a change-over switch 24, and is inputted to distributors 25 and 26. An output signal Falpha from the distributor 25 is increased Nf-fold, and is sent through an adder 47 to a servo actuator 1fr for right front wheel. According to an increase amount of a load exerted between a right front wheel and a car body 3, the differential pressure of the actuator 1fr for a right front wheel is increased over a specified value. An output signal from the distributor 25 is sent to a code inverter 27, and the differential pressure of the actuator 1fr for a left front wheel is decreased over a specified value.

公开(公告)号：JPS61181713A

公开(公告)日：1986-08-14

申请号：JP2152385

申请日：1985-02-06

Applicant: TOYOTA MOTOR CORP

Inventor： KUROSAWA RYUICHI

IPC: B60G17/00 ,  B60G17/015

Abstract: PURPOSE:To enhance the comfortability and control stability of a vehicle during turning, by calculating variations in load between wheels and a vehicle body from vehicle-widthwise accelerations to drive actuators so that the forces between the vehicle body and the wheels are amplified. CONSTITUTION:Signals alpha, gamma from a vehicle-widthwise acceleration sensor 19 and a roll angle acceleration sensor 20 are amplified and then delivered to a change-over switch 24, and are further amplified by amplifiers 22, 23 and determined as to their accelerating directions. Distributors 25, 26 compute variations in load between wheels and a vehicle body, and deliver control amounts alphak1Nf, alphak1Nr for driving front and rear wheel servo-actuators. These signals drive the front and rear right wheel servo-actuators 1fr, 1rr and are reversed in their signs to control left servo-actuators 1fl, 1rl. With this arrangement, it is possible to enhance the comfortability and control stability of the vehicle upon turning.

公开(公告)号：JP2007076582A

公开(公告)日：2007-03-29

申请号：JP2005269793

申请日：2005-09-16

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： GOTO TAKESHI ,  ONUMA YUTAKA ,  KUROSAWA RYUICHI

IPC: B62D6/00 ,  B62D5/04 ,  B62D101/00 ,  B62D111/00 ,  B62D113/00 ,  B62D119/00

CPC classification number: B62D6/008 ,  B62D6/003

Abstract: PROBLEM TO BE SOLVED: To provide a vehicular steering device for guiding the turning direction of a turning wheel for stabilizing the behavior when a vehicle makes a turn to a driver considering the side slip angle of a vehicle body applying during the turning state of the vehicle. SOLUTION: An electronic control unit 36 inputs the side slip angle β of a vehicle body in Step S11. Next, in Step S13, the dynamic zero point δ0 for reducing the lateral force generated on a vehicle attributable to the side slip angle β of the vehicle body is calculated by using the side slip angle β of the vehicle body. Next, in Step S14, the turning angle δa expressed by the difference between the turning angle δ detected by a turning angle sensor 33 and the dynamic zero point δ0 is calculated. Next, in Step S15, the reaction torque Tz in a predetermined relationship to the turning angle δa is calculated. In Step S16, an electric motor 23 is drive-controlled so that the calculated reaction torque Tz is generated. Thus, the adequate turning direction of a steering wheel 11 is guided to a driver. COPYRIGHT: (C)2007,JPO&INPIT

Abstract translation: 要解决的问题：提供一种用于引导转向车轮的转向方向的车辆转向装置，用于在车辆在转弯状态期间施加的车体的侧滑角向驾驶员转弯时稳定行为 的车辆。 解决方案：电子控制单元36在步骤S11中输入车体的侧滑角β。 接下来，在步骤S13中，通过使用车体的侧滑角β来计算用于减少由车身的侧滑角β归因于车辆的车辆产生的横向力的动态零点δ0。 接下来，在步骤S14中，计算由转向角传感器33检测出的转弯角δ与动态零点δ0之间的差所表示的转角δa。 接下来，在步骤S15中，计算与转向角δa成预定关系的反作用转矩Tz。 在步骤S16中，驱动控制电动机23，从而产生计算出的反作用转矩Tz。 因此，方向盘11的适当转动方向被引导到驾驶员。 版权所有（C）2007，JPO＆INPIT

公开(公告)号：JP2005263081A

公开(公告)日：2005-09-29

申请号：JP2004080299

申请日：2004-03-19

Applicant: Aisin Seiki Co Ltd ,  Toyota Motor Corp ,  アイシン精機株式会社 ,  トヨタ自動車株式会社

Inventor： GOTO TAKESHI ,  KUROSAWA RYUICHI ,  TOUTSU KENJI ,  YAMADA DAISUKE

IPC: B62D6/00 ,  B62D5/04 ,  B62D101/00 ,  B62D111/00 ,  B62D113/00 ,  B62D137/00

Abstract: PROBLEM TO BE SOLVED: To provide a steering device of a vehicle to facilitate driving of the vehicle and stabilize the behavior of the vehicle in returning operation of the steering wheel. SOLUTION: A displacement-torque conversion part 41 converts a steering angle θ to a steering torque having exponential relationship to each other. A torque-lateral acceleration conversion part 42 converts a steering torque Td to a prospective lateral acceleration Gd having a power relationship. A turning angle conversion part 43 calculates a target turning angle δd requiring for the movement of the vehicle at the prospective lateral acceleration Gd. A turning control part 50 controls to turn a steered wheel to the target turning angle δd. On the other hand, the displacement-torque conversion part 61 converts the steering angle θ to a reaction torque Tz having exponential relationship. A return viscosity force calculation part 63 calculates a torque coefficient Tr to return the steering wheel 11 at a constant angular velocity. And a reaction force control part 60 turns the steering wheel 11 to the direction of a neutral position with a returning reaction force torque Tm obtained by multiplying the reaction torque Tz and the torque coefficient Tr. COPYRIGHT: (C)2005,JPO&NCIPI

Abstract translation: 要解决的问题：提供一种车辆的转向装置，以便于驾驶车辆并且在返回方向盘操作时稳定车辆的行为。 解决方案：位移 - 转矩转换部41将转向角θ转换为具有指数关系的转向转矩。 转矩 - 横向加速度转换部42将转向转矩Td转换为具有功率关系的预期横向加速度Gd。 转向角转换部43计算要求车辆在预期横向加速度Gd下移动的目标转向角δd。 转向控制部50控制将转向轮转动到目标转向角δd。 另一方面，位移 - 转矩转换部61将转向角θ转换成具有指数关系的反作用转矩Tz。 返回粘度力计算部63计算以恒定角速度返回方向盘11的转矩系数Tr。 反作用力控制部60通过将反作用转矩Tz和转矩系数Tr相乘得到的返回反力力矩Tm将方向盘11转动到中立位置的方向。 版权所有（C）2005，JPO＆NCIPI

公开(公告)号：JP2005225365A

公开(公告)日：2005-08-25

申请号：JP2004035991

申请日：2004-02-13

Applicant: Aisin Seiki Co Ltd ,  Toyota Motor Corp ,  アイシン精機株式会社 ,  トヨタ自動車株式会社

Inventor： GOTO TAKESHI ,  KUROSAWA RYUICHI ,  TOUTSU KENJI

IPC: B62D6/00 ,  B62D5/04 ,  B62D101/00 ,  B62D111/00 ,  B62D113/00 ,  B62D119/00 ,  B62D137/00

Abstract: PROBLEM TO BE SOLVED: To provide a vehicular steering device capable of performing simple driving by realizing the vehicular steering characteristic in a very low speed zone having excellent responsiveness. SOLUTION: An electronic control unit 35 calculates the turning angle δ of right and left front wheels FW1 and FW2 with respect to the steering angle θ input in a steering wheel 11 based on the proportional map to indicate the predetermined linear relationship if the vehicle speed V is equal to or lower than the predetermined value. The proportional map has a linear relationship between the maximum steering angle θmax capable of turning the steering wheel 11 and the maximum turning angle δmax capable of turning the right and left front wheels FW1 and FW2, and a driver can drive a vehicle at a very low speed. Further, the operation quantity of the steering wheel 11 by the driver is reduced, the right and left front wheels FW1 and FW2 can be turned with excellent responsiveness, and the vehicle can be easily driven at a very low speed. COPYRIGHT: (C)2005,JPO&NCIPI

Abstract translation: 要解决的问题：提供一种能够通过在具有优异响应性的极低速区域中实现车辆转向特性来执行简单驾驶的车辆转向装置。 解决方案：电子控制单元35基于比例图来计算左右前轮FW1和FW2相对于方向盘11中输入的转向角θ的转角δ，以指示预定的线性关系，如果 车速V等于或低于预定值。 比例图具有能够转向方向盘11的最大转向角θmax与能够转动左右前轮FW1和FW2的最大转向角δmax之间的线性关系，并且驾驶员能够以非常低的速度驾驶车辆 速度。 此外，由于驾驶员的方向盘11的操作量减少，所以能够以良好的响应性转动左右的前轮FW1，FW2，能够以非常低的速度容易地驱动车辆。 版权所有（C）2005，JPO＆NCIPI

公开(公告)号：JPS641613A

公开(公告)日：1989-01-06

申请号：JP15626187

申请日：1987-06-23

Applicant: TOYOTA MOTOR CORP

Inventor： KUROSAWA RYUICHI

IPC: B60G17/00 ,  B60G17/015 ,  B60G17/016

Abstract: PURPOSE:To improve comfortability and manuevering stability by obtaining fluctuations of load functioning between body and wheels caused by turning and side wind respectively based on lateral acceleration and roll angle acceleration, then distributing the fluctuation to front and rear wheels and controlling respective actuators. CONSTITUTION:A lateral acceleration signal and a roll angle acceleration signal are fed respectively from a lateral acceleration sensor 19 and a roll angle acceleration sensor 20, then they are added in adders 24, 25 through amplifiers K1-K4, so as to operate fluctuations Fs, Fw of load functioning between wheel and body caused respectively by turning and side wind. Then outputs from the adders 24, 25 are distributed based on potential ratio between amplifiers 28, 29 and 30, 31 and fed to adders 32, 33 where they are added. Then servo actuators 1fl-1rr for front right and left wheels are controlled based on the results. With such arrangement, steering characteristic can be optimized upon exposure to side wind during turning.

公开(公告)号：JPS62166104A

公开(公告)日：1987-07-22

申请号：JP750986

申请日：1986-01-16

Applicant: TOYOTA MOTOR CORP

Inventor： KUROSAWA RYUICHI ,  IWASE HIROHIDE

IPC: B60G17/06 ,  B60G17/015 ,  B60G17/018

Abstract: PURPOSE:To change properly a damping force and improve riding quality in a variable damping force shock absorber by constitutionally increasing the damping force during a predetermined period in which detected car height exceeds a predetermined value and then reaches the neutral car height. CONSTITUTION:Car height detected by car height sensors H1L, H1R, H2C are sent to the input of an electronic controller ECH4 which obtains the average of input car height or the highest car height to determine car height A and compare it with a car height change set value A0. And when the car height A exceeds the set value A0 current is supplied to damping force actuators A1L, A1R, A2L and A2R after waiting by a predetermined Lime-lag tb to change largely the damping force. Then ECU4 detects the car height A, judges whether or not it returns to the neutral car height and changes the damping force smaller when it returns to the neutral one. Thus, th damping force can be changed every half cycle to improve riding quality.

公开(公告)号：JPS61181715A

公开(公告)日：1986-08-14

申请号：JP2152585

申请日：1985-02-06

Applicant: TOYOTA MOTOR CORP

Inventor： KUROSAWA RYUICHI

IPC: B60G17/00 ,  B60G17/015

Abstract: PURPOSE:To enhance the comfortability and control stability of a vehicle, by providing such an arrangement that servo-actuators are controlled in accordance with variations in load caused by vehicle-widthwise accelerations if the vehicle- widthwise accelerations and roll angle accelerations are in the same direction, but in accordance with variations caused by roll angle accelerations if the both kinds of accelerations are in different directions. CONSTITUTION:Variations in load between wheels and a vehicle body are computated in accordance with accelerations, that is, vehicle-widthwise ac celerations alpha, and roll angle accelerations gamma detected by sensors 19, 20 through amplifiers 22, 23 and distributors 25, 26, and are distributed to front and rear wheels to controls left servo-actuators 1fr, 1rr. Further, the computed variations are also delivered to left side servo-actuator 1fl, 1rl through sign reversers 27, 28 to control the latter. In this arrangement, control is made in accordance with a vehicle-widthwise acceleration signal alpha if both acceleration signals gamma, are in the same direction but in accordance with the roll angle acceleration signal alpha if both are in different directions. With this arrangement, it is possible to enhance the comfortability and control stability when the vehicle turns or is subjected to a side wind.

公开(公告)号：JPS61181714A

公开(公告)日：1986-08-14

申请号：JP2152485

申请日：1985-02-06

Applicant: TOYOTA MOTOR CORP

Inventor： KUROSAWA RYUICHI

IPC: B60G17/00 ,  B60G17/015

Abstract: PURPOSE:To enhance the comfortability and control stability of a vehicle during acceleration, by calculating variations in load between wheels and a vehicle body from vehicle-longitudinal accelerations to drive actuators so that the forces between the vehicle body and the wheels are controlled. CONSTITUTION:When a vehicle is accelerated, a longitudinal acceleration sensor 21 detects the acceleration to issue a detection signal beta. This detection signal betais amplified by an amplifier 29 and a negative signal Fbeta(betak3) is delivered to a front right wheel servo-actuator 1fr and a front left wheel servo-actuator 1fl. Further, the same signal is delivered to rear right and left wheel servo- actuators 1rr, 1rl through a sign reversers 30, 31, respectively. With this arrangement, the actuators 1fr, 1fl, 1rr, 1rl are controlled, corresponding to variations in load between the wheels and the vehicle body in association with the longitudinal accelerations. Upon deceleration the signal is reversed. With this arrangement, it is possible to enhance the comfortability and control stability of the vehicle.

公开(公告)号：JP2006007843A

公开(公告)日：2006-01-12

申请号：JP2004184448

申请日：2004-06-23

Applicant: Aisin Seiki Co Ltd ,  Toyota Motor Corp ,  アイシン精機株式会社 ,  トヨタ自動車株式会社

Inventor： GOTO TAKESHI ,  KUROSAWA RYUICHI ,  TOUTSU KENJI

IPC: B62D6/00 ,  B62D5/04 ,  B62D101/00 ,  B62D111/00 ,  B62D113/00 ,  B62D119/00 ,  B62D137/00

CPC classification number: B62D6/002 ,  B62D6/003

Abstract: PROBLEM TO BE SOLVED: To make a vehicle easy to drive by accurately producing the quantity of state of motion expected by the driver when the driver operates a steering wheel. SOLUTION: This vehicle steering device controls front wheels for turning through computer program processing. A displacement-torque converting part 51 converts a steering angle θ into steering torque Td that is in an exponential relation therewith. A torque-lateral acceleration converting part 52 achieves conversion into expected lateral acceleration Gd based on the steering torque Td. A turning angle converting part 55 calculates a target turning angle δd. A turning angle correcting part 61 obtains from a lateral slip angle computing part 62 the lateral slip angle β of a lateral slip occurring at the vehicle. The turning angle correcting part 61 then corrects the target turning angle δd based on the lateral slip angle β obtained and calculates a corrected target turning angle δda. A drive control part 63 controls turning wheels to the target turning angle δd for turning. Since this enables the driver to accurately perceive the expected lateral acceleration Gd that has occurred, the vehicle becomes easier to drive. COPYRIGHT: (C)2006,JPO&NCIPI

Abstract translation: 要解决的问题：当驾驶员操作方向盘时，通过精确地产生驾驶员期望的运动状态量，使车辆容易驾驶。 解决方案：该车辆转向装置控制用于转动计算机程序处理的前轮。 位移转矩转换部51将转向角θ转换为与其成指数关系的转向转矩Td。 转矩 - 横向加速度转换部分52基于转向转矩Td实现转换为期望的横向加速度Gd。 转向角转换部55计算目标转向角δd。 转向角校正部61从侧滑角计算部62获得在车辆侧发生的侧向滑动的侧滑角β。 然后，转弯角修正部61基于所获得的侧滑角β来校正目标转弯角δd，并计算修正后的目标转向角δda。 驱动控制部63将转向轮控制到目标转向角度δd以进行转弯。 由于这样能够使驾驶员准确地感知到已经发生的预期横向加速度Gd，所以车辆变得更容易驱动。 版权所有（C）2006，JPO＆NCIPI