公开(公告)号：JPH0524551A

公开(公告)日：1993-02-02

申请号：JP33170391

申请日：1991-12-16

Applicant: TOYOTA MOTOR CORP

Inventor： KOMODA NORIO

IPC: B62D6/00 ,  B62D7/14 ,  B62D101/00 ,  B62D103/00

Abstract: PURPOSE:To prevent the sharp variation of the rear wheel steering angle, when the car speed sharply varies in turn, by regulating the car speed variation rate at most to the max. accelerating speed of a vehicle, as for a rear wheel steering device which sets the steering angle for the rear wheels to the front wheels on the basis of the car speed. CONSTITUTION:A rear wheel steering device is equipped with a front wheel steering mechanism for steering front wheels on the basis of the operation of a steering wheel. Further, the rear wheel steering device is equipped with a steering ratio setting means B for setting the ratio of the rear wheel steering angle to the front wheel steering angle to the relatively same phase side in the high speed traveling on the basis of the car speed signal outputted by a car speed detecting means A, and a rear wheel steering mechanism C which steers rear wheels on the basis of the set steering angle ratio, as the front wheels are steered by the operation of the steering wheel. In this case, a car speed variation rate restricting means D which regulates the car speed variation rate at most to the max. accelerating speed of a vehicle in the process where the car speed signal is outputted into the steering angle ratio setting means B is installed, and the sharp variation of the rear wheel steering angle in the case where the car speed sharply varies is prevented.

公开(公告)号：JPS63162378A

公开(公告)日：1988-07-05

申请号：JP31376086

申请日：1986-12-24

Applicant: TOYOTA MOTOR CORP

Inventor： SHIGEMATSU TAKASHI ,  KIDO AKIHIKO ,  KAWAKAMI SEIJI ,  KOMODA NORIO ,  KUSUNOKI HIDEKI

IPC: B62D6/00 ,  B62D7/14 ,  B62D7/15 ,  B62D101/00 ,  B62D113/00 ,  B62D137/00

Abstract: PURPOSE:To control steering and the limiting thereof by running a simple program with a normal micro computer when abnormality has been detected in either of a first or a second micro computer for controlling an actuator for steering rear wheels and a steering limiting device. CONSTITUTION:In the device wherein an actuator 2b steers rear wheels via a relay rod 2a and the displacement of the relay rod 2a is limited with a steering limiting device 2c for restricting rear wheel steering, a speed sensor 3a and front and rear wheel steering angle sensors 3b and 3c are provided. Also, a condition detecting switch 3 is fitted for detecting the operating condition of the steering limiting device 2c. According to output from said detecting means 3a to 3d, the actuator 2b and the steering limiting device 2c are controlled via micro computers 4a and 4b. The micro computers 4a and 4b have a built-in abnormality detecting means 4a and 5a and when any abnormality has been detected therein, steering and the limiting thereof are controlled with a simple program executed in a normal micro computer 4a or 4b.

公开(公告)号：JPS63101171A

公开(公告)日：1988-05-06

申请号：JP24423286

申请日：1986-10-16

Applicant: TOYODA MACHINE WORKS LTD ,  TOYOTA MOTOR CORP

Inventor： NAKAMURA KYOICHI ,  SUZUKI MIKIO ,  GOTO TOSHIHIRO ,  KOMODA NORIO ,  KAWAKAMI SEIJI

IPC: B62D6/02 ,  B62D7/14 ,  B62D7/15

Abstract: PURPOSE:To simplify a hydraulic system, by controlling the branch flow ratio of pressure oil being fed to the right/left chambers of a power cylinder for steering rear wheels by means of a solenoid throttle valve corresponding to a front wheel steering angle, vehicle speed and other drive conditions. CONSTITUTION:A flow divider 45 has an inlet port 60 for feeding a constant flow Q of pressure oil from a feed pump 39, two outlet ports 61, 62 for branching the pressure oil fed through the inlet port 60 and feeding to right and left chambers 29, 28 of a power cylinder 26 and a spool 66 for controlling branching of pressure oil flow. A flow path 63 for feeding a portion of pressure oil from the pump 39 is coupled to an operating port 64 and provided with a solenoid throttle valve 52 having a restriction area being controlled corresponding to front wheel steering angle, vehicle speed, etc.

公开(公告)号：JPS62182669A

公开(公告)日：1987-08-11

申请号：JP2457486

申请日：1986-02-06

Applicant: TOYOTA MOTOR CORP

Inventor： KOMODA NORIO

IPC: B60T8/58 ,  B60T8/1761 ,  B60T8/24 ,  B60T8/66 ,  G01P3/42 ,  G01P3/50

Abstract: PURPOSE:To accurately determine a car speed even during the revolving running of a vehicle, by determining the car speed on the basis of the average value of the rotational speeds of wheels positioned on a diagonal line. CONSTITUTION:Rotation sensors 60, 62 for front wheels are provided in the vicinities of the front wheels of a vehicle and rotation sensors 64, 66 for rear wheels are provided in the vicinities of the rear wheels of the vehicle. Rotation informations PV1-PV4 detected by all of the sensors are supplied to the I/O port 36 of an operation apparatus 34. The operation apparatus 34 constituted of a microcomputer calculates the speed of the vehicle in the next step when the vehicle runs while revolves. That is, the average value of the rotational speeds of the wheels positioned on a diagonal ling among front and rear left and right wheels is calculated and the car speed of the vehicle is determined on the basis of said average value. Generally, because the rotational speed of each wheel during revolution becomes high in the order of the inner peripheral side rear and front wheels and the outer peripheral side rear and front wheels, the car speed determined by the above mentioned method becomes the one nearest to an actual car speed.

公开(公告)号：JPH08273098A

公开(公告)日：1996-10-18

申请号：JP7433795

申请日：1995-03-31

Applicant: TOYOTA MOTOR CORP

Inventor： NISHIMOTO YASUYUKI ,  ISHIZAKI AKIRA ,  ISHIMARU YASUHIKO ,  IWATA YASUNARI ,  HASHIMOTO TAKAHIRO ,  KOMODA NORIO ,  OGURI KANJI

IPC: G08G1/01 ,  G08G1/16

Abstract: PURPOSE: To issue different alarms corresponding to the presence/absence of passersby, moving direction and position. CONSTITUTION: On a sidewalk 32 near the crossing of roadways 30 and 31, passersby detection areas arranged in the shape of matrix with plural pyroelectric sensors are provided as zones A, B and C in the order closer to a crosswalk 33. The zone A is an area for mainly detecting the existence of passersby and the zones B and C are areas for mainly detecting the moving direction and speed of passersby. After it is judged corresponding to data detected in the respective zones whether the passerby is absent is each zone, stops, approaches the crosswalk 33, gets away or returns, it is judged whether the passerby is a walker or a runner. Corresponding to that result, warning is performed while changing the display of a warning device 27 corresponding to the combination of ON or OFF of indication lamps and when the passerby exists in the zone A or approaches the crosswalk 33 in the zones B and C, warning with the highest degree of alarm is performed.

公开(公告)号：JPH08263787A

公开(公告)日：1996-10-11

申请号：JP6944995

申请日：1995-03-28

Applicant: TOYOTA MOTOR CORP

Inventor： ISHIMARU YASUHIKO ,  NISHIMOTO YASUYUKI ,  ISHIZAKI AKIRA ,  KOMODA NORIO ,  OGURI KANJI

IPC: G01B11/00 ,  G08G1/01 ,  G08G1/04

Abstract: PURPOSE: To grasp the position of a passerby on a pedstrian crossing near an intersection. CONSTITUTION: A pyroelectric sensor group obtained by vertically connecting five pyroelectric sensors in the vicinity of a pedestrain crossing 13 on a crossing where two roadways 10, 11 intersect with each other is arranged on the passerby side and its sensing area is arranged like a matrix. Since a passerby detecting area is constituted of arranging the sensing area of the sensor group like a materix, the position of a passerby is obtained as matrix detection data. Consequently the moving locus of the passerby can be grasped.

公开(公告)号：JPS63112274A

公开(公告)日：1988-05-17

申请号：JP25877786

申请日：1986-10-30

Applicant: TOYOTA MOTOR CORP

Inventor： KUSUNOKI HIDEKI ,  KAWAKAMI SEIJI ,  KIDO AKIHIKO ,  SHIGEMATSU TAKASHI ,  KOMODA NORIO

IPC: B62D7/14 ,  B62D6/00 ,  B62D7/15 ,  B62D101/00 ,  B62D113/00

Abstract: PURPOSE:To enable accurate steering of rear wheels to be attained, by calculating a car speed on the basis of a rotary speed of plural wheels while determining steering angle ratio on the basis of the calculated car speed and controlling a rear wheel steering device so that the accurate car speed can be always detected in no relation to racing of one single wheel. CONSTITUTION:A front and rear wheel steered vehicle steers rear wheels RW by controlling a rear wheel steering device 1 in accordance with a steering condition of front wheels FW and a car speed. Here a rotary speed detecting sensors 2a, 2b, which respectively detect rotary speeds of plural wheels FW, are provided, and on the basis of output signals of these sensors, the car speed is calculated by a car speed arithmetic means 3. And on the basis of the calculated car speed, a steering angle ratio determining means 4 calculates ratio (steering angle ratio) of the rear wheels RW for a steering angle of the front wheels FW. While a moderating means 5, which relaxes a change of the steering angle ratio due to a change of the calculated car speed, is provided, thus a control means 6, which outputs a control signal corresponding to the relaxed steering angle ratio to the rear wheel steering device 1, steers the rear wheels RW in accordance with the steering angle ratio.

公开(公告)号：JPS63101170A

公开(公告)日：1988-05-06

申请号：JP24423186

申请日：1986-10-16

Applicant: TOYODA MACHINE WORKS LTD ,  TOYOTA MOTOR CORP

Inventor： NAKAMURA KYOICHI ,  SUZUKI MIKIO ,  KOMODA NORIO ,  KAWAKAMI SEIJI

IPC: B62D6/02 ,  B62D7/14 ,  B62D7/15

Abstract: PURPOSE:To simplify a hydraulic system, by controlling the pressure being fed to the right/left chambers of a power cylinder for steering rear wheels by means of a pressure control valve corresponding to the steering angle of front wheels, vehicle speed and other traveling conditions. CONSTITUTION:A flow divider 45 has an inlet port 60 for feeding a constant pressure oil flow Q equally from a feed pump 39, two outlet ports 61, 62 for branching the pressure oil fed through the inlet port 60 with equal proportion into right and left chambers 29, 28 of a power cylinder 26 and a spool 66 for branching the flow with equal proportion. Pressure control valves 46, 47 for controlling the pressure of pressure oil branched with equal proportion by means of a flow didiver 45 corresponding to the steering angle of front wheel, vehicle speed, etc., are arranged respectively in the pressure oil flow paths 48, 49. Pilot relief valves 52, 53 constituting the pressure control valve 46 are controlled by a computor 56 which receives signals from a position sensor, vehicle speed sensor, front wheel steering angle sensor, etc.

公开(公告)号：JPS62261576A

公开(公告)日：1987-11-13

申请号：JP10450586

申请日：1986-05-07

Applicant: TOYOTA MOTOR CORP

Inventor： KOMODA NORIO

IPC: B62D7/14 ,  B62D6/00 ,  B62D7/15 ,  B62D101/00 ,  B62D113/00 ,  B62D137/00 ,  G01B21/22

Abstract: PURPOSE:To enhance the accuracy of steering angle by accumulating dislocation of sampled, sensed front-wheel steering angle from the reference value during straight running, adding the accumulation to the reference value, and by correcting the sensed front-wheel steering angle in accordance with the result. CONSTITUTION:The front-wheel steering angle sensed by a front-wheel steering angle sensor 1 is sampled by a sampling means 2 and entered into an accumulating means 5. If straight running condition is sensed, said accumulating means 5 accumulates dislocation of the sampled steering angle 2 from the reference value read from a reference value memory means 3 at every sampling timing. Thereby the sensing error about zero point of the front-wheel steering angle is obtained, and this is added to the reference value 3 for updating 6 the same, and the sensed front-wheel steering angle 1 is corrected by a correcting means 7. This construction enhances the accuracy of the front-wheel steering angle.

公开(公告)号：JPS6261878A

公开(公告)日：1987-03-18

申请号：JP20113585

申请日：1985-09-10

Applicant: TOYOTA MOTOR CORP

Inventor： KOMODA NORIO

IPC: B62D6/02 ,  B62D7/14 ,  B62D7/15

Abstract: PURPOSE:To enable free control of the steering quantity of rear wheel based on the conditional quantity of vehicle by controlling the rear wheel steering quantity in proportion to the front wheel steering quantity while controlling the rear wheel steering quantity independently from the front wheel steering quantity. CONSTITUTION:A steering ratio converting mechanism 40 is provided with a rocking lever 41 interlocked with a front wheel steering mechanism 20 to drive a rear wheel steering mechanism 30 thus to perform proportional conversion of the front wheel steering quantity into the rear wheel steering quantity and a linear actuator 42 for controlling the conversion ratio of steering quantity of the lever 41. The rocking lever has a force point 41a, a functioning point 41b and a fulcrum 41c to rock around the fulcrum thus to perform proportional control of the rear wheel steering quantity against the front wheel steering quantity through function of the lever. The fulcrum 41c of the lever 41 will displace across the opposite sides of the functioning point 41b and when the fulcrum 41c is between the force point 41a and the functioning point 41b, the right and left rear wheels are steered in reverse phase with the front wheel while when the fulcrum 41c is at the opposite side from the force point 41a against the functioning point 41b, the right and left rear wheels are steered in phase with the front wheel.