公开(公告)号：JPH08189532A

公开(公告)日：1996-07-23

申请号：JP317195

申请日：1995-01-12

Applicant: TOYOTA MOTOR CORP

Inventor： KOSHIRO TAKAHIRO ,  OGAWA OSAMU

IPC: B62D1/20 ,  F16D3/12

Abstract: PURPOSE: To reconcile vibration absorptivity and maneuvering stability by providing a plurality of elastic members arranged in series between first and second shafts and an elastic member connecting means to connect the plurality of elastic members in series to each other according to torsional torque generated between both shafts. CONSTITUTION: When torque T acting on an elastic shaft coupling 10 at ordinary travel time or the like is small, only an elastic body 30 is compressed, and transmits the torque T. Since the elastic body 30 is set as a spring constant capable of obtaining stability in rectilineary advancing at high speed, the stability can be secured. When the elastic body 30 is pressed by force exceeding preliminary compressive force of a coil spring 28 at large torque time such as stationary steering time, a metallic plate 26 separates from a bottom plate 20, and the coil spring 28 is also compressed together with the elastic body 30. Since the elastic body 30 and the coil spring 28 are connected in series to each other in this condition, the spring constant is reduced. Therefore, at large torque time, a torque change is reduced to a change in an angle of torsion, and transmission of vibration is restrained.

公开(公告)号：JP2013193467A

公开(公告)日：2013-09-30

申请号：JP2012059155

申请日：2012-03-15

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

Inventor： TAKASHIMA TORU ,  KOSHIRO TAKAHIRO ,  LIMPIBUNTERNG THEERAWAT ,  KUNIHIRO YOJI

IPC: B60W30/12 ,  B60R21/00 ,  B62D6/00 ,  B62D7/14 ,  B62D101/00 ,  B62D111/00 ,  B62D113/00 ,  B62D117/00 ,  B62D137/00

Abstract: PROBLEM TO BE SOLVED: To continue vehicular track control when detection precision of driving lane information in front of a vehicle decreases.SOLUTION: A vehicular track controller (electronic controller 1) which detects own vehicle driving lane information ahead of a vehicle 10 and controls the vehicle 10 based upon the driving lane information, increases control response or damping of at least one of a vehicle body yaw rate, a vehicle body acceleration, and a vehicle body slip angle being under vehicular track control as compared with a case when driving lane information of reference detection precision is detected when detection precision of the driving lane information decreases below the reference detection precision or when the detection of the driving lane information is intermitted.

Abstract translation: 要解决的问题：当车辆前方行驶车道信息的检测精度降低时，继续进行车辆轨道控制。解决方案：车辆轨道控制器（电子控制器1），其检测车辆前方的车辆行驶车道信息， 基于驾驶车道信息的车辆10与驾驶车道信息的情况相比，增加车辆横摆角速度，车身加速度和车辆滑行角度中的至少一个的控制响应或阻尼 当驾驶车道信息的检测精度降低到基准检测精度以下或当行驶车道信息的检测被中断时，检测基准检测精度。

公开(公告)号：JP2013147194A

公开(公告)日：2013-08-01

申请号：JP2012010371

申请日：2012-01-20

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

Inventor： KUNIHIRO YOJI ,  KOSHIRO TAKAHIRO ,  NAKAMURA KOICHI

IPC: B62D6/00 ,  B60R1/00 ,  B62D5/04 ,  B62D101/00 ,  B62D111/00 ,  B62D113/00 ,  B62D119/00 ,  B62D137/00

Abstract: PROBLEM TO BE SOLVED: To provide a system preventing travel trajectory control from being suddenly stopped by the execution of provisional travel trajectory control even when an abnormality occurs in a means for executing the travel trajectory control.SOLUTION: A travel trajectory control device 10 includes: a CCD camera 68 for acquiring information about the front of a vehicle; and control devices 22, 30 and 40 for specifying a traveling lane on the basis of the information about the front of the vehicle and performing travel trajectory control to control steering angles of steering wheels so that the vehicle travels along a target trajectory on the basis of the traveling lane. When the information about the front of the vehicle cannot be normally obtained from the CCD camera 68, the traveling lane specified just before is determined as a provisional traveling lane, a real positional relation of the vehicle in relation to the provisional traveling lane is estimated on the basis of state amount of the vehicle and the provisional traveling lane, and the provisional travel trajectory control is performed to control the steering angles of the steering wheels so that the vehicle travels along the provisional target trajectory on the basis of the provisional traveling lane.

Abstract translation: 要解决的问题：即使即使在执行行驶轨迹控制的装置发生异常，也可以通过执行临时行驶轨迹控制来提供防止行驶轨迹控制突然停止的系统。解决方案：行驶轨迹控制装置10包括： 用于获取关于车辆前方的信息的CCD照相机68; 以及用于基于关于车辆前部的信息来指定行驶车道的控制装置22,30和40，并且执行行驶轨迹控制以控制方向盘的转向角，使得车辆基于目标轨迹行进 行车道。 当从CCD摄像机68不能正常获得关于车辆前方的信息时，将刚刚指定的行驶车道确定为临时行车道，车辆相对于临时行车道的实际位置关系被估计为 执行车辆和临时行车道的状态量的基础以及临时行驶轨迹控制，以控制方向盘的转向角，使得车辆基于临时行驶车道沿着临时目标轨迹行驶。

公开(公告)号：JP2012166720A

公开(公告)日：2012-09-06

申请号：JP2011030049

申请日：2011-02-15

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

Inventor： KAMIYAMA MAO ,  KOSHIRO TAKAHIRO

IPC: B62D6/00 ,  B62D5/04 ,  B62D101/00 ,  B62D117/00 ,  B62D119/00

Abstract: PROBLEM TO BE SOLVED: To secure proper trajectory followability even when a function of detecting steering input information in a device has a failure, while releasing an odd feeling caused by interference with a driver's steering operation.SOLUTION: A vehicle traveling control apparatus includes: a trajectory control device for controlling a variable steering angle device so that a trajectory of a vehicle comes near a target path; an obtaining device for obtaining the steering input information on a steering input applied to a steering input shaft via a steering wheel by the driver of the vehicle; and a response change device for changing a response of trajectory control by the trajectory control device according to the obtained steering input information and for improving the response of the trajectory control when the steering input cannot be obtained.

Abstract translation: 要解决的问题：即使当检测到装置中的转向输入信息的检测功能发生故障时，也能够确保适当的轨迹跟随性，同时解除由驾驶员转向操作的干扰引起的奇怪的感觉。 解决方案：车辆行驶控制装置包括：轨迹控制装置，用于控制可变转向角装置，使得车辆的轨迹靠近目标路径; 获取装置，用于通过车辆的驾驶员经由方向盘获得对转向输入轴施加的转向输入的转向输入信息; 以及响应改变装置，用于根据获得的转向输入信息改变轨迹控制装置的轨迹控制的响应，并且用于当不能获得转向输入时改善轨迹控制的响应。 版权所有（C）2012，JPO＆INPIT

公开(公告)号：JP2012068961A

公开(公告)日：2012-04-05

申请号：JP2010214025

申请日：2010-09-24

Applicant: Toyota Central R&D Labs Inc ,  Toyota Motor Corp ,  トヨタ自動車株式会社 ,  株式会社豊田中央研究所

Inventor： WATANABE AKIHIRO ,  KOSHIRO TAKAHIRO ,  LIMPIBUNTERNG THEERAWAT ,  TSUCHIYA YOSHIAKI

IPC: G08G1/16

CPC classification number: G06K9/3241 ,  G06K9/00798 ,  G06T7/73 ,  G06T7/77 ,  G06T2207/10016 ,  G06T2207/30244 ,  G06T2207/30256

Abstract: PROBLEM TO BE SOLVED: To stably estimate a runway parameter.SOLUTION: A feature point extracting part 30 obtains a picked-up image picked up by an imaging device 12 and extracts a feature point from the picked-up image. A traffic lane boundary point selecting part 32 selects a traffic lane boundary point indicating a traffic lane from the extracted feature point. A distribution determining part 34 determines the distribution of the traffic lane boundary point. A system noise setting part 36 sets each of system noises based on the distribution of the traffic lane boundary point. A runway parameter estimating part 38 estimates a runway parameter based on the traffic lane boundary point, past estimation results and the set system noises.

Abstract translation: 要解决的问题：稳定估计跑道参数。 解决方案：特征点提取部分30获得由成像装置12拾取的拾取图像，并从拾取图像中提取特征点。 行车道边界点选择部32从提取的特征点中选择指示行车道的行车道边界点。 分配确定部分34确定行车道边界点的分布。 系统噪声设定部36根据行车道边界点的分布设定各系统噪声。 跑道参数估计部38基于行车道边界点，过去的估计结果和设定的系统噪声来估计跑道参数。 版权所有（C）2012，JPO＆INPIT

公开(公告)号：JP2011105274A

公开(公告)日：2011-06-02

申请号：JP2009265492

申请日：2009-11-20

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

Inventor： KOSHIRO TAKAHIRO ,  TSUCHIYA YOSHIAKI ,  IWASAKI NORITSUGU ,  MORINO TETSUYA

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

Abstract: PROBLEM TO BE SOLVED: To prevent a large load from being applied to a lock mechanism in a vehicle having a steering transmission ratio variable device.
SOLUTION: This vehicle includes the steering transmission ratio variable device 200 including a motor 202 capable of imparting driving force for urging relative rotation between a steering input shaft 12 and a steering output shaft to the steering output shaft 15 connected to a steered wheel and a lock means 203 capable of restraining the relative rotation by a pair of engaging members 203a and 203b. A control device 100 includes a specifying means for specifying a steering state of the vehicle associated with a steering angle and a control means for relatively easily rotating the motor in a predetermined steering angle end vicinal area regulated based on the specified steering state, in a lock control period when a state of the steering transmission ratio variable deice switches to a lock state of restraining the relative rotation from a non-lock state of not restraining the relative rotation.
COPYRIGHT: (C)2011,JPO&INPIT

Abstract translation: 要解决的问题：为了防止对具有转向传动比可变装置的车辆中的锁定机构施加大的载荷。 解决方案：该车辆包括转向传动比可变装置200，该转向传动比可变装置200包括能够将转向输入轴12和转向输出轴之间的相对旋转的驱动力传递给连接到转向轮的转向输出轴15的电动机202 以及能够通过一对接合构件203a和203b来抑制相对旋转的锁定装置203。 控制装置100包括指定装置，用于指定与转向角相关联的车辆的转向状态;以及控制装置，用于在基于指定的转向状态调节的预定转向角端点相对容易地旋转电动机的锁定 转向传动比可变根的状态切换到不抑制相对旋转的相对旋转的不控制相对旋转的非锁定状态的控制期间。 版权所有（C）2011，JPO＆INPIT

公开(公告)号：JP2010243244A

公开(公告)日：2010-10-28

申请号：JP2009090178

申请日：2009-04-02

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

Inventor： KOSHIRO TAKAHIRO

IPC: G01B21/22 ,  B62D5/04

Abstract: PROBLEM TO BE SOLVED: To achieve high-precision detection of a rotation angle with a comparatively simple configuration. SOLUTION: A rotation angle detection device 20 includes: a rotation means 23 which rotates within the range defined between one rotation, non-inclusive and two rotation, non-inclusive in accordance with the rotation of rotating bodies 4L and 4R; signal generation means 21 and 22 provided in the rotation means to generate signal pulses representing the rotation angles of the rotation means in accordance with the rotation of the rotation means; detection means 21 and 22 for detecting the rotation angles of the rotation means based on the signal pulses; and a computing means 10 for computing the rotation angles of the rotating bodies based on the rotation angles of the rotation means. COPYRIGHT: (C)2011,JPO&INPIT

Abstract translation: 要解决的问题：以相对简单的结构实现旋转角的高精度检测。 旋转角度检测装置20包括：旋转装置23，其根据旋转体4L和4R的旋转而在限定在一个旋转，非包含和两个旋转之间的范围内旋转; 设置在旋转装置中的信号产生装置21和22根据旋转装置的旋转产生表示旋转装置的旋转角度的信号脉冲; 用于基于信号脉冲检测旋转装置的旋转角度的检测装置21和22; 以及用于基于旋转装置的旋转角度来计算旋转体的旋转角度的计算装置10。 版权所有（C）2011，JPO＆INPIT

公开(公告)号：JP2009248643A

公开(公告)日：2009-10-29

申请号：JP2008096370

申请日：2008-04-02

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

Inventor： LIMPIBUNTERNG THEERAWAT ,  KOSHIRO TAKAHIRO

IPC: B62D6/00 ,  B62D5/04 ,  B62D113/00 ,  B62D119/00 ,  H02P27/08

CPC classification number: B62D5/046 ,  B62D5/0481

Abstract: PROBLEM TO BE SOLVED: To suppress deterioration of steering property when an upper limit value exists in a drive voltage of a motor in an electric power steering device. SOLUTION: In a vehicle 10 provided with an EPS 200, an ECU 100 executes steering control. In the steering control, when a motor rotation speed ω, i.e., a rotation speed of an assist motor 206 is larger than an upper limit rotation speed ω1 determined according to a motor instruction voltage Vq, i.e., a drive voltage of the assist motor 206, the effect that the assist motor 206 is in the power generation state is determined. When the assist motor 206 is in the power generation state, the ECU 100 controls a relay part of a drive device 208 for driving the assist motor 206 into the release state to shut off energization to the assist motor 206 and makes an amount of power generation to zero. In resetting to the assistable state, the assist torque Tm is gradually varied from zero as an initial value so as to prevent rapid variation of assist torque Tm. COPYRIGHT: (C)2010,JPO&INPIT

Abstract translation: 解决的问题：为了抑制在电动助力转向装置的电动机的驱动电压中存在上限值时的转向特性的劣化。 解决方案：在具有EPS200的车辆10中，ECU100执行转向控制。 在转向控制中，当电动机转速ω即辅助电动机206的转速大于根据电动机指令电压Vq确定的上限转速ω1时，即辅助电动机206的驱动电压 确定辅助电动机206处于发电状态的效果。 当辅助电动机206处于发电状态时，ECU100控制用于驱动辅助电动机206的驱动装置208的中继部分到释放状态，以切断辅助电动机206的通电并产生发电量 到零。 在复位到辅助状态时，辅助扭矩Tm从零开始逐渐变化为初始值，以防止辅助转矩Tm的快速变化。 版权所有（C）2010，JPO＆INPIT

公开(公告)号：JP2009120162A

公开(公告)日：2009-06-04

申请号：JP2007299488

申请日：2007-11-19

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

Inventor： LIMPIBUNTERNG THEERAWAT ,  KOSHIRO TAKAHIRO

IPC: B60T8/1755 ,  B60W10/04 ,  B60W10/18 ,  B60W10/184 ,  B60W10/188 ,  B60W10/20 ,  B60W30/00 ,  B60W30/02 ,  B60W30/045 ,  B62D5/04 ,  B62D6/00 ,  B62D7/14 ,  B62D101/00 ,  B62D113/00 ,  B62D117/00 ,  B62D119/00 ,  B62D137/00

CPC classification number: B60T8/1755 ,  B60W10/18 ,  B60W10/20 ,  B60W30/045 ,  B60W40/11 ,  B60W40/112 ,  B60W40/114 ,  B60W50/12 ,  B62D5/0481 ,  B62D6/003

Abstract: PROBLEM TO BE SOLVED: To suppress deterioration of turn response of a vehicle when operation speed of a steering wheel steering device is restricted by compensating the deterioration of the turn response of the vehicle to steering operation of a driver by the restriction of the operation speed of the steering wheel steering device with a turn auxiliary yaw moment not depending on turn lateral force of a steering wheel.
SOLUTION: This travel controller for the vehicle has: the steering wheel steering device 24 capable of steering the steering wheel without depending on steering of the driver; and a braking device 52 as a turn auxiliary yaw moment generation means capable of generating the turn auxiliary yaw moment without depending on the turn lateral force of the steering wheel. When a prescribed control amount restriction condition is satisfied, so that a control amount of the steering wheel steering device is restricted, the restriction of the control amount of the steering wheel steering device reduces influence on a turn yaw moment necessary for the vehicle by changing braking force of each wheel to generate a yaw moment by a braking force difference between the right and left wheels.
COPYRIGHT: (C)2009,JPO&INPIT

Abstract translation: 要解决的问题：为了抑制方向盘转向装置的操作速度的限制，通过补偿车辆的转弯响应的劣化来限制驾驶员的转向操作，来抑制车辆的转弯响应的劣化 具有转向辅助横摆力矩的方向盘转向装置的操作速度不依赖于方向盘的转动横向力。 解决方案：该车辆行驶控制器具有：方向盘转向装置24，其能够不依赖于驾驶员的转向而转向方向盘; 以及作为转向辅助横摆力矩产生装置的制动装置52，其能够产生转向辅助横摆力矩而不依赖于方向盘的转向横向力。 当满足规定的控制量限制条件时，使得方向盘转向装置的控制量受到限制，则方向盘转向装置的控制量的限制通过改变制动而减小对车辆所需的转弯横摆力矩的影响 每个车轮的力由左右车轮之间的制动力差产生横摆力矩。 版权所有（C）2009，JPO＆INPIT

公开(公告)号：JP2007153100A

公开(公告)日：2007-06-21

申请号：JP2005350392

申请日：2005-12-05

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

Inventor： KOSHIRO TAKAHIRO

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 control device capable of adequately coping with any abnormality of a relative displacement detection means by correctly determining the abnormality of the relative displacement detection means of a transmission ratio variable device even when the target relative displacement of the transmission ratio variable device is small. SOLUTION: The relative rotational angle θre of a turning angle variable device 30 is controlled to be the target relative rotational angle θret (S20-S50, S100). When the relative rotational angle θre is determined to be substantially zero (S60), the rate of change of the self-aligning torque of a steering wheel is determined based on the rate of change of the turning state quantity of a vehicle. In a circumstance in which the rate of change of the self-aligning torque is large, it is determined whether or not any abnormality occurs in a rotational angle sensor 44 depending on whether or not the rate of change of the relative rotational angle θre to be detected by the rotational angle sensor 44 is small (S80, S90). When it is determined whether or not any abnormality occurs in the rotational angle sensor 44, the turning angle variable device 30 is locked by its lock device (S110). COPYRIGHT: (C)2007,JPO&INPIT

Abstract translation: 要解决的问题：为了提供一种能够通过正确地确定变速比可变装置的相对位移检测装置的异常来适当地应对相对位移检测装置的任何异常的车辆转向控制装置，即使当目标相对 传动比可变装置的位移小。 解决方案：将转向角可变装置30的相对旋转角θre控制为目标相对旋转角θret（S20-S50，S100）。 当相对旋转角θre被确定为基本为零（S60）时，根据车辆的转弯状态量的变化率来确定方向盘的自动对准转矩的变化率。 在自动调心扭矩的变化率大的情况下，根据相对旋转角度θre的变化率是否为旋转角度传感器44判断是否发生异常 由旋转角度传感器44检测到的差（S80，S90）。 当确定旋转角度传感器44是否发生异常时，转动角度可变装置30被锁定装置锁定（S110）。 版权所有（C）2007，JPO＆INPIT