公开(公告)号：JP2005313801A

公开(公告)日：2005-11-10

申请号：JP2004135373

申请日：2004-04-30

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 ,  B62D119/00 ,  B62D137/00

Abstract: PROBLEM TO BE SOLVED: To provide a device facilitating driving of a vehicle by steering the vehicle according to perception properties, wherein vehicle behavior estimated by a driver can be obtained as required. SOLUTION: In the steering device for a steering-by-wire method vehicle, a displacement-torque conversion part 51 converts a steering angle θ into steering torque Tdf, Tdr according to a turning operation or return operation of a steering wheel 11. At this time, a hysteresis term for constituting hysteresis characteristics between the turning operation and the return operation is applied to the steering torque Tdr to be calculated. A torque-lateral acceleration conversion part 52 converts the steering torque Td into a prospective lateral acceleration Gdf, Gdr which are under exponential relationship, and a human being may perceive, according to the turning operation or the return operation. A rolling steering angle conversion part 53 calculates a target steering angle δd required for the vehicle to move at the prospective lateral acceleration Gd. A steering control part 60 steers steered wheels to the target steering angle δd. COPYRIGHT: (C)2006,JPO&NCIPI

Abstract translation: 要解决的问题：提供一种通过根据感知特性来转向车辆而促进车辆行驶的装置，其中可以根据需要获得由驾驶员估计的车辆行为。 解决方案：在用于线控转向方法车辆的转向装置中，位移 - 转矩转换部分51根据方向盘11的转动操作或返回操作将转向角θ转换为转向转矩Tdf，Tdr 此时，将用于构成转向操作和返回操作之间的滞后特性的滞后项应用于要计算的转向转矩Tdr。 转矩 - 横向加速度转换部分52将转向转矩Td转换成指数关系下的预期横向加速度Gdf，Gdr，并且人可以根据转动操作或返回操作感知到。 滚动转向角转换部53计算车辆以预期横向加速度Gd移动所需的目标转向角δd。 转向控制部60将转向轮转向目标转向角δd。 版权所有（C）2006，JPO＆NCIPI

公开(公告)号：JP2005212689A

公开(公告)日：2005-08-11

申请号：JP2004024451

申请日：2004-01-30

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 ,  B62D119/00 ,  B62D137/00

Abstract: PROBLEM TO BE SOLVED: To provide a steering gear of a vehicle for certainly detecting a driving operation state of a driver and warning a state degradation with a simplified constitution. SOLUTION: An electronic control unit 35 calculates a variation ΔTs of a micro steering torque per micro time based on a steering torque T acquired from a steering torque sensor 38. The electronic control unit 35 determines the driving operation state of the driver by comparing the calculated variation ΔTs with an allowance acquired by multiplication of a predetermined constant (k), weber ratio Kt and steering torque T at the present time. Based on this determination, it is determined that failure of the driving operation state of the driver, degradation of the driving attitude, or reduction of the awakening degree occurs when the variation ΔTs is larger than the allowance. The electronic control unit 35, when detecting the failures of the driving operation state of the driver continuously over a predetermined times, vibrates a steering wheel 11 and informs the driver of the warning. COPYRIGHT: (C)2005,JPO&NCIPI

Abstract translation: 要解决的问题：提供车辆的舵机，用于确定地检测驾驶员的驾驶操作状态并以简化的结构警告状态退化。 解决方案：电子控制单元35基于从转向转矩传感器38获取的转向转矩T来计算每微时点的微转向转矩的变化ΔTs。电子控制单元35通过以下方式确定驾驶员的驾驶操作状态 将计算的变化ΔTs与通过乘以当前时间的预定常数（k），Weber比Kt和转向转矩T获得的余量进行比较。 基于该判断，判断为当变化ΔTs大于余量时，发生驾驶员的驾驶操作状态的失败，驾驶姿态的劣化或觉醒度的降低。 电子控制单元35在一段时间内连续检测驾驶员的驾驶操作状态的故障，使方向盘11振动并通知驾驶员警告。 版权所有（C）2005，JPO＆NCIPI

公开(公告)号：JP2005199957A

公开(公告)日：2005-07-28

申请号：JP2004010625

申请日：2004-01-19

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 vehicular steering gear capable of changing to have steering feeling suitable for a situation of a vehicular front side without impairment of perception properties and moving properties. SOLUTION: An electronic control unit 35 obtains road information obtained from a navigation device A, namely information indicating a curve radius R in a front side of a road and a slope S. The unit 35 determines a situation in the front side of the road on the basis of obtained information, and properly changes steering torque Td that has an index relation with a steering angle θ. Therefore, the driver can be given steering feeling that is suitable for a traveling environment. In this case, even if the steering feeling is changed, the perception properties of estimated lateral acceleration Gd is not changed before/after changing according to the Weber Fechner's law. COPYRIGHT: (C)2005,JPO&NCIPI

Abstract translation: 要解决的问题：提供一种能够改变以具有适合于车辆前侧的情况的转向感觉而不损害感知特性和移动性能的车辆舵机。 解决方案：电子控制单元35获取从导航装置A获得的道路信息，即指示道路前侧和坡度S的曲线半径R的信息。单元35确定前方的情况 基于获得的信息的道路，并且适当地改变与转向角θ具有指数关系的转向转矩Td。 因此，驾驶员可以获得适合于旅行环境的转向感。 在这种情况下，即使转向感觉发生变化，估计的横向加速度Gd的感知特性根据韦伯Fechner定律改变之前/之后不改变。 版权所有（C）2005，JPO＆NCIPI

公开(公告)号：JP2005199955A

公开(公告)日：2005-07-28

申请号：JP2004010614

申请日：2004-01-19

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 vehicular steering gear capable of certainly reporting a generated abnormal condition without impairment of perception properties and moving properties even when an abnormal condition occurs. SOLUTION: When an abnormal condition (failure) occurs in steering, an electronic control unit 35 changes steering torque Td by adopting a map N2 increasing(namely, weighting) the steering torque Td on the basis of a converting table of the steering torque Td to a steering angle θ. The steering torque Td to a steering wheel 11 operation by a driver is made to be large as compared with that under a normal condition. At that time, even if the steering torque Td is increased, the perception properties of an estimated lateral acceleration Gd is not changed before/after the generation of the failure according to the Weber Fechner's law. COPYRIGHT: (C)2005,JPO&NCIPI

Abstract translation: 要解决的问题：即使发生异常情况，也可以提供能够肯定地报告产生的异常状况而不损害感知特性和移动性的车辆用舵机。 解决方案：当转向中发生异常状态（故障）时，电子控制单元35通过采用基于转向转换表的转向转矩Td来增加（即加权）转向转矩Td的图N来改变转向转矩Td 转矩Td为转向角θ。 与正常情况相比，使驾驶员对方向盘11的操作转矩Td大。 此时，即使转向转矩Td增加，根据韦伯Fechner定律，估计的横向加速度Gd的感知特性在故障生成之前/之后不改变。 版权所有（C）2005，JPO＆NCIPI

公开(公告)号：JP2006347281A

公开(公告)日：2006-12-28

申请号：JP2005174013

申请日：2005-06-14

Applicant: TOYOTA MOTOR CORP

Inventor： GOTO TAKESHI ,  KUROSAWA RYUICHI

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

Abstract: PROBLEM TO BE SOLVED: To provide a vehicular steering device positively reducing the influence of lateral force of a lateral slip angle amount of a vehicle body acting on a vehicle during the vehicle turns, and stabilizing a behavior at the time of turning of the vehicle. SOLUTION: An electronic control unit 45 inputs a lateral slip angle β of the vehicle body in a step S11. Next, the electronic control unit 45 inputs correction amount N inputted by a driver in a step 12. Then, the electronic control unit 45 calculates a target steering angle δa by subtracting a correction item (N×β) from the rotating amount (K1×θ) of a steering output shaft 13 in a predetermine relationship with the rotating amount of a steering input shaft 12, in order to reduce lateral force generated in the vehicle due to the lateral slip angle β of the vehicle body, in a step S15. The electronic control unit 45 drive-controls an electric motor 21 of a variable gear ratio actuator 20 until the rotating amount of the steering output shaft 13 becomes the target steering angle δa, in steps S16, 17. COPYRIGHT: (C)2007,JPO&INPIT

公开(公告)号：JP2000030187A

公开(公告)日：2000-01-28

申请号：JP19410298

申请日：1998-07-09

Applicant: TOYOTA MOTOR CORP

Inventor： IWATA YASUNARI ,  KUROSAWA RYUICHI ,  UEHARA YASUO ,  FURUTA YASUYUKI

IPC: B60R16/02 ,  G08G1/09

Abstract: PROBLEM TO BE SOLVED: To efficiently provide necessary information to a user. SOLUTION: Information obtained by a communication equipment such as a portable telephone set 12, an FM multi-receiver 14 and a beacon communication equipment 16 is supplied to an information processor 10. The information processor 10 is provided with an individual vehicle information storage part for storing individual vehicle information such as the size and weight of the vehicle inside, extracts information to be adapted to one's own vehicle by referring to individual vehicle information out of information which is supplied from the communication equipment and displays it in a display device 20. Thus, unnecessary information is removed. For example, information concerning a parking lot which can be utilized only by small vehicles is prevented from being given to the users of large vehicles.

公开(公告)号：JPS6234808A

公开(公告)日：1987-02-14

申请号：JP17340085

申请日：1985-08-07

Applicant: TOYOTA MOTOR CORP

Inventor： KUROSAWA RYUICHI

IPC: B60G17/00 ,  B60G17/015

Abstract: PURPOSE:To reduce both the oscillation of a body and change in attitude at a time of cornering by configurating a device in such a way that a transverse acceleration of the body is detected in order to compute the amount of variations in loads for controlling the increase or decrease in forces acting on between each of wheels and the body. CONSTITUTION:Sensors such as a transverse acceleration sensor 19, a rolling angular acceleration sensor 20, a longitudinal acceleration sensor 21, and a vehicle speed sensor 26 are provided for a vehicle where each of four servo actuators 1 (1fr, 1fl, 1rr, and 1rl) which is provided for each of a front right, a front left, a rear right, and a rear left wheel respectively, is separately controlled so as to control the attitude of a body. Outputs from the acceleration sensor 19 and 20 are inputted into an automatic front/rear load distributor 25 through a change-over switch 24 together with the output from the vehicle sensor 26. Then the amount of variations for loads which act on between each of the front and rear wheels on one side and the body, is computed based on the output from the transverse acceleration sensor. And then the resultant of the said computation is operated based on a ratio corresponding to a vehicle speed so as to distribute it to the front and rear wheels for controlling each of the actuators 1.

公开(公告)号：JP2000020898A

公开(公告)日：2000-01-21

申请号：JP18529298

申请日：1998-06-30

Applicant: FUJITSU LTD ,  TOYOTA MOTOR CORP

Inventor： KANEKO JUNJI ,  KUROSAWA RYUICHI ,  UEHARA YASUO ,  SHIMAMURA AKIHIDE

IPC: B60K31/00 ,  B60W30/00 ,  B60W30/095 ,  B60W30/16 ,  B60W40/02 ,  F02D29/02 ,  G01S13/91 ,  G05D1/02 ,  G08G1/16

Abstract: PROBLEM TO BE SOLVED: To provide a traveling supporting system for the driving of an automobile applicable also for a general road. SOLUTION: A command signal inputted from an inputting device 10 is inputted to a traveling support signal generating part 12. The traveling support signal generating part 12 allows a motion preparing means stored in a driving operation generating means storing part 14 to process which driving operation should be selected based on the inputted command signal, and the model of the driving operation to be followed by the vehicle is called from a driving operation model storing part 13 based on the selection. The traveling support signal generating part 12 selects the proper driving operation model as necessary from the driving operation model storing part 13 by using data obtained by a sensing device 11 in a real time. Then, a traveling support signal (a) is outputted to an output device 16. Thus, the recommended operation can be displayed to a driver by the output device 16, and the control of the vehicle can be attained through a controller 17 and a driving part 18.

公开(公告)号：JPS6430816A

公开(公告)日：1989-02-01

申请号：JP18586287

申请日：1987-07-24

Applicant: TOYOTA MOTOR CORP

Inventor： KUROSAWA RYUICHI

IPC: B60G17/00 ,  B60G17/015 ,  B60G17/018 ,  B60G23/00

Abstract: PURPOSE:To improve the stability of attitude of a vehicle by operating amounts of bouncing, pitching and rolling of the vehicle body from detected signals of respective vehicle height sensors and by increasing or decreasing action forces between the vehicle body and wheels via actuators equipped or respective wheels so that the operated amounts are reduced. CONSTITUTION:When outputs of vehicle height sensors 18fr-18rl for detecting vehicle heights at right and left, front and rear wheels Hfr, Hfl, Hrr, Hrl are inputted to an electronic control circuit 20, operation is performed through adders 21-27, amplifiers 28, 31, 34, and A/D converters 29, 32, 35 according to the equation I (where Kb, Kp, Kr being positive factors and H being a mean value of standard vehicle heights at respective wheels) and amounts of bouncing B, pitching P, and rolling R are obtained and inputted to a microcomputers 30, 33, 36. The microcomputers 30, 33, 36 perform respective operations and output respective servo-actuator control signals Ffr-Frl to the corresponding servo-actuators so that the amounts of bouncing B, pitching P, and rolling R are reduced. With this constitution, the vehicle body can be brought to a stabilized attitude to make the vehicle body move in parallel to the ground surface.

公开(公告)号：JPS63145162A

公开(公告)日：1988-06-17

申请号：JP29128786

申请日：1986-12-06

Applicant: TOYOTA MOTOR CORP

Inventor： KUROSAWA RYUICHI

IPC: B60T8/72 ,  B60T8/1761 ,  B60T8/66

Abstract: PURPOSE:To suppress the discomfortable feeling due to the swing back in the case when a car stops, by installing a hydraulic brake system, car speed detection means, increased brake pedal stepping-in detecting means, decompression pattern changing means, and a decompression control means onto a brake device for vehicle. CONSTITUTION:A hydraulic brake system for controlling the revolution of wheels according to the stepping-in of a brake pedal is provided, and a decompression control means which lowers the hydraulic pressure in the hydraulic brake system in exponential function form according to the previously set decompression pattern and reduces the deceleration speed to zero simultaneously with the reduction of car speed to zero is provided. Further, in a brake device, the increased stepping-in is detected by an increased brake pedal stepping-in detecting means, when the brake pedal is stepped in furthermore during the control by a decompression control means. The decompression pattern is changed to the more sharp decompression pattern on the basis of the detection by the increased stepping-in detecting means.