公开(公告)号：JP2001063606A

公开(公告)日：2001-03-13

申请号：JP24123299

申请日：1999-08-27

Applicant: TOYOTA MOTOR CORP

Inventor： KOSHIRO TAKAHIRO ,  KAWAMURO JIYUNJI ,  MATSUDA MORIHIRO ,  NAKATSU CHIKATOSHI

IPC: B62D6/02 ,  B62D5/22

Abstract: PROBLEM TO BE SOLVED: To reduce uncomfortable steering by suppressing overshoot generated in an actuator with a variable transmissibility mechanism due to motor inertia at the time of abrupt turning operation. SOLUTION: When judging that control deviation between a target operating angle θ mm and an operating angle θ m is decreasing (time t O2) in a condition that tracking lag has been caused, this control device sets the value of the operating angle θ m at that time as the target operating angle θ mm. Before a steering wheel is actually turned, the control deviation is cancelled forcedly, and thereby motor inertial force is suppressed at the time of actual turning.

公开(公告)号：JP2000203441A

公开(公告)日：2000-07-25

申请号：JP671799

申请日：1999-01-13

Applicant: TOYOTA MOTOR CORP

Inventor： SHINTO MASAHIKO ,  KOSHIRO TAKAHIRO ,  MATSUDA MORIHIRO ,  KAWAMURO JIYUNJI

IPC: B62D6/00 ,  B62D101/00 ,  B62D113/00 ,  B62D117/00

Abstract: PROBLEM TO BE SOLVED: To prevent an abrupt change in the turn angle during stationary steering after quick steering by setting the turn angle control quantity with the first control quantity corresponding to the steering angle and the second control quantity corresponding to the steering speed so that the changing state of the turn angle control quantity is made lower when the steering speed decreases when the steering speed increases. SOLUTION: During the operation of a vehicle, the steering speed dθh/dt is set based on the input angle θh detected by an input angle sensor 21, the gain coefficient Ts regulating the gain of the steering speed dθh/dt it set, and (dθh/dt).Ts is calculated to obtain the differential angle Θ. Whether the differential angle |Θ| is larger than a threshold value |α| or not is judged. If the judgment is NO, the output angle target value θpm is set as the turn angle control quantity, the deviation (e) from the output angle θp detected by an output angle sensor 41 is obtained to control a motor 31, and a turn is controlled. If |Θ|>|α|, the value of the differential angle Θ is substituted with the threshold value α, and a guard process is made so that the differential angle Θ is not increased beyond the threshold value α.

公开(公告)号：JP2000006829A

公开(公告)日：2000-01-11

申请号：JP17584598

申请日：1998-06-23

Applicant: TOYOTA MOTOR CORP

Inventor： KAWAMURO JIYUNJI ,  MATSUDA MORIHIRO ,  SHINTO MASAHIKO ,  KOSHIRO TAKAHIRO

IPC: B62D6/00 ,  B62D5/04 ,  B62D119/00 ,  B62D137/00

Abstract: PROBLEM TO BE SOLVED: To reduce transmission loss of steering quantity by driving and steering dirigible road wheels in such a way as to compensate the torsion quantity of a steering shaft according to the detected torsion quantity. SOLUTION: An output shaft 22 can be optionally rotated by rotatory-driving a ring gear 25 by an actuator 27. In driving control of the actuator 27, a control signal for driving the actuator 27 is determined on the basis of torsion quantity detected by a potentiometer 51, so as to compensate this torsion quantity, and the control signal is outputted to drive the actuator 27. A worm gear 26 is therefore rotatory-driven to rotatory-drive the output shaft 22. Since the output shaft 22 is thus rotatory-driven in such a way as to compensate the torsion quantity generated by the inclusion of a torsion bar 12, the relation between a steering angle and a turning angle becomes linear, and the apparent rigidity of a steering system can be enhanced. Transmission loss of steering quantity caused by the torsion of the torsion bar 12 can therefore be compensated.

公开(公告)号：JPH11310145A

公开(公告)日：1999-11-09

申请号：JP11745898

申请日：1998-04-27

Applicant: TOYOTA MOTOR CORP

Inventor： KOSHIRO TAKAHIRO ,  SHINTO MASAHIKO ,  MATSUDA MORIHIRO ,  KAWAMURO JIYUNJI

IPC: B62D6/00 ,  B62D5/04 ,  B62D101/00 ,  B62D105/00 ,  B62D113/00 ,  B62D137/00

Abstract: PROBLEM TO BE SOLVED: To sufficiently secure drivability and stability of a vehicle by changing the transmission ratio set by a transmission ratio setting means on the basis of a compared result of a right wheel side frictional state and a left wheel side frictional state detected by a frictional state detecting means. SOLUTION: A speed difference ΔWLR between left/right wheels of front wheels being driving wheels is arithmetically operated as (ΔWLR=|WFL-WFR|) by using a wheel speed WFL of a left front wheel and a wheel speed WFR of a right front wheel. The basic transmission ratio Go according to a vehicle speed V is set by searching a map on the basis of the vehicle speed V by a basic transmission ratio map regulating the relationship between the vehicle speed V and the basic transmission ratio Go. Then, correction gain α1 according to a speed difference ΔWLR between left/right wheels is set by searching the map on the basis of a speed difference ΔWLR between left/right wheels by a correction gain map regulating the relationship between a speed difference ΔWLR between left/right wheels and the correction gain α1. The operation result is set as the transmission ratio G arithmetically operating Go*α1 by using the basic transmission ratio Go and the correction gain α1.

公开(公告)号：JPH11301506A

公开(公告)日：1999-11-02

申请号：JP11066098

申请日：1998-04-21

Applicant: TOYOTA MOTOR CORP

Inventor： KOSHIRO TAKAHIRO ,  SHINTO MASAHIKO ,  MATSUDA MORIHIRO ,  KAWAMURO JIYUNJI

IPC: B62D6/00 ,  B62D101/00 ,  B62D103/00 ,  B62D109/00 ,  B62D113/00 ,  B62D137/00

Abstract: PROBLEM TO BE SOLVED: To set preferable transmission ratio under the condition where antilock braking system(ABS) is operated by turning wheels according to steering, setting a transmission ratio between steering amount and turning amount in accordance with the running condition of the vehicle, and by prohibiting change of the transmission ratio while the wheels are controlled by ABS. SOLUTION: In this unit, an input shaft 20 and an output shaft 40 are connected via a transmission ratio variable mechanism 30. The input shaft 20 is connected to a steering wheel 10, and the output shaft 40 is connected to a rack shaft 51 via a rack and pinion-type gear unit 50. Wheels FW1, FW2 are connected to the both ends of the rack shaft 51. Driving of the transmission ratio variable mechanism 30 is controlled by a steering control unit 70. In addition to each of the detection signals, an input angle sensor 21, an output angle sensor 41, and a vehicle speed sensor 61, a signal indicating the operating condition of ABS is given to the steering control unit 70, from an ABS controller 62 for controlling braking fluid pressure so that the wheel will not lock while braking. Driving of the transmission ratio variable mechanism 30 is controlled with the transmission ratio as set with the above signals.

公开(公告)号：JPH11291930A

公开(公告)日：1999-10-26

申请号：JP9604998

申请日：1998-04-08

Applicant: TOYOTA MOTOR CORP

Inventor： SHINTO MASAHIKO ,  KOSHIRO TAKAHIRO ,  MATSUDA MORIHIRO ,  KAWAMURO JIYUNJI

IPC: B62D6/00 ,  B62D101/00 ,  B62D113/00 ,  B62D137/00

Abstract: PROBLEM TO BE SOLVED: To make restitution of a vehicle in the case of sideways slip by enhancing the steering responsiveness of the vehicle. SOLUTION: A steering control device according to the invention comprises a variable gear ratio unit 14 which is installed on the way of a steering transmission system coupling a steering wheel 10 to vehicle wheels in steering 24 (24FR and 24FL) and can change the transmission ratio of the steering amount of the steering wheel 10 to the steering amount of the vehicle wheels in steering 24, a sideways moving condition sensing means which senses the motion condition of the vehicle in the transverse direction, and a changing means which allows a ratio changing means to change the transmission ratio on the basis of the sideways moving condition of the vehicle.

公开(公告)号：JPH11291929A

公开(公告)日：1999-10-26

申请号：JP9157098

申请日：1998-04-03

Applicant: TOYOTA MOTOR CORP

Inventor： KOSHIRO TAKAHIRO ,  SHINTO MASAHIKO ,  MATSUDA MORIHIRO ,  KAWAMURO JIYUNJI

IPC: B62D6/00 ,  B62D101/00 ,  B62D113/00

Abstract: PROBLEM TO BE SOLVED: To grasp the road surface state with a simple structure by estimating the load state of an actuator according to the traveling state of a vehicle, and judging the friction state between a wheel and the road surface on the basis of the estimated load state and the actual load state. SOLUTION: On the basis of a vehicle speed V detected by a vehicle speed sensor and an output angle θp detected by an output angle sensor, the load current Ib of an actuator is estimated (S122). The load current Ir which is the detection result of a current sensor provided on the actuator is read (S124), and the estimated load current Ib is compared with the actual load current Ir (S126). Consequently, when the actual load current Ir is smaller than the estimated Ib, it shows that the load state of the actuator is smaller than the estimated one, the friction state of the road surface in traveling is judged as a low μ road smaller than the estimated general μ road, and a map change flag MF is set to 1 (S128).

公开(公告)号：JPH11227623A

公开(公告)日：1999-08-24

申请号：JP3601198

申请日：1998-02-18

Applicant: TOYOTA MOTOR CORP

Inventor： MATSUDA MORIHIRO ,  KAWAMURO JIYUNJI ,  SHINTO MASAHIKO ,  KOSHIRO TAKAHIRO

IPC: B62D6/00 ,  B62D101/00 ,  B62D113/00 ,  B62D137/00

Abstract: PROBLEM TO BE SOLVED: To prevent turbulence of the behavior of vehicle when a hydroplaning phenomenon is generated. SOLUTION: This steering control device is structured so that a transmission ratio variable means 14 is interposed on the way of a steering transmitting system to couple a steering wheel 10 with each steering wheel 24 (24FL and 24FR) and is equipped with a control means 30 which controls the transmission ratio in accordance with the condition of the vehicle. The arrangement includes a detecting means 30 to detect that a hydroplaning phenomenon is generated in wheel (s) of the vehicle and a transmission ratio change prohibiting means 30 which prohibits change of the transmission ratio of the transmission ratio variable means by the control means when occurrence of such a phenomenon is judged.

公开(公告)号：JPH10104527A

公开(公告)日：1998-04-24

申请号：JP25816996

申请日：1996-09-30

Applicant: TOYOTA CENTRAL RES & DEV ,  TOYOTA MOTOR CORP

Inventor： TAKAHASHI NOBUAKI ,  MATSUDA MORIHIRO ,  ITO HIROSHI ,  TERADA SHIGEO ,  AOKI KEIJI ,  NAKAYAMA YOSHIYUKI

IPC: G01C3/06 ,  G02B23/02

Abstract: PROBLEM TO BE SOLVED: To prevent lowering of the resolving power of range finding by making the device low cost by composing an optical system without using a lens and forming left and right images in the vertical direction of CCD. SOLUTION: An optical path exists inside PMMA metha-crylic resin, an image on the left side passes through a windowshield 22L on the left side, is bent by 90 deg. by a plane mirror part 24L, thereafter, bent moreover by 90 deg. by a concave mirror part 26L and forms the image on CCD 32. An image on the right side passes through a windowshield 22R on the right side, is bent by 90 deg. by a plane mirror part 24R, thereafter, bent moreover by 90 deg. by a concave mirror part 26R and forms the image on the same CCD 32. Since a pair of concave mirrors is arranged in the orthogonal direction to the arranging direction of the plane mirror part, the image on the left side is formed on the upper part of CCD and the image on the right side is formed on the lower part of CCD and the resolving power is not decreased since a whole number of pixels in the lateral direction is used.

公开(公告)号：JPH0840289A

公开(公告)日：1996-02-13

申请号：JP18146894

申请日：1994-08-02

Applicant: TOYOTA MOTOR CORP

Inventor： MATSUDA MORIHIRO

IPC: B62D3/12

Abstract: PURPOSE:To restrain interference sound (tapping sound) between tooth surfaces without increasing the friction between the meshed parts of a rack and a pinion. CONSTITUTION:A rack 14 meshed with a pinion 13 is urged toward the pinion 13 by means of a first urging means (spring 15), and is also urged by a second urging means (rubber sheet 17) having a urging force smaller than that of the first urging means, overcoming the latter.