公开(公告)号：JP2007076584A

公开(公告)日：2007-03-29

申请号：JP2005269798

申请日：2005-09-16

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

Inventor： SUGITANI TATSUO ,  KUROSAWA RYUICHI

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

Abstract: PROBLEM TO BE SOLVED: To provide a vehicular steering control device capable of correctly calculating the side slip angle of a vehicle body in a turning state of a vehicle irrespective of the traveling environment. SOLUTION: An electronic control unit 44 determines the target lateral acceleration Gd in Step S14 in a vehicle in a turning condition. Next, in Step S15, the roll angle ϕ generated in the vehicle as the vehicle is turned, and calculates the cornering powers Kf, Kr by using the determined target lateral acceleration Gd and the roll angle ϕ. Next, in Step S16, the yaw angular acceleration dγ/dt is calculated by using the turning angle δ detected by a turning angle sensor 33 and the calculated cornering powers Kf, Kf, and the side slip angle β of a vehicle body is calculated through the integration. Next, in Step S16, the target turning angle δa is calculated by using the calculated side slip angle β and cornering powers Kf, Kr. The side slip angle β can be correctly calculated, and the target turning angle δa for enhancing the behavior consistency can be calculated thereby. COPYRIGHT: (C)2007,JPO&INPIT

Abstract translation: 解决的问题：提供一种车辆转向控制装置，能够在车辆的转动状态下正确计算车体的侧滑角，而与行驶环境无关。 解决方案：电子控制单元44在转弯状态下确定车辆中的步骤S14中的目标横向加速度Gd。 接下来，在步骤S15中，作为车辆的车辆中产生的侧倾角φ被转动，并且通过使用所确定的目标横向加速度Gd和侧倾角φ来计算转弯力Kf，Kr。 接下来，在步骤S16中，通过使用由转向角传感器33检测出的转弯角度δ来计算偏航角加速度dγ/ dt，计算转弯功率Kf，Kf，车身的侧滑角β通过 整合。 接下来，在步骤S16中，通过使用计算出的侧滑角β和转弯力Kf，Kr来计算目标转轮角δa。 可以正确地计算侧滑角β，并且由此可以计算用于增强行为一致性的目标转向角δa。 版权所有（C）2007，JPO＆INPIT

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：JP2005335495A

公开(公告)日：2005-12-08

申请号：JP2004155667

申请日：2004-05-26

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： SUGITANI TATSUO ,  GOTO TAKESHI ,  KUROSAWA RYUICHI ,  KANDA TOSHIYUKI ,  TOUTSU KENJI

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

CPC classification number: B62D6/002

Abstract: PROBLEM TO BE SOLVED: To provide a vehicular steering device capable of easily driving a vehicle by steering the wheel to the human perception characteristic over the entire vehicle speed range to the operation of a steering wheel by a driver. SOLUTION: The vehicular steering device performs the turning control of front wheels by the computer programming. A displacement-torque conversion unit 51 converts the steering angle θ into the steering torque Td in the exponential relationship. A torque-lateral acceleration conversion unit 52, a torque-yaw rate conversion unit 53 and a torque-turning curvature conversion unit 54 convert the steering torque Td into the estimated lateral acceleration Gd, the estimated yaw rate γd, and the estimated turning curvature ρd. Turning angle conversion units 55, 56, 57 calculate the target turning angles δg, δγ, δρ. A turning angle determination unit 58 determines the target turning angle δd out of the target turning angles δg, δγ, δρ according to the detected vehicle speed V. A turning control unit 60 performs the turning control of the turning wheel at the target turning angle δd. A driver can easily drive the vehicle over the entire vehicle speed range. COPYRIGHT: (C)2006,JPO&NCIPI

Abstract translation: 要解决的问题：提供一种车辆转向装置，其能够通过在整个车速范围内通过驾驶员对方向盘的操作将车轮转向人感知特性而容易地驾驶车辆。

解决方案：车辆转向装置通过计算机编程执行前轮的转向控制。 位移 - 转矩转换单元51以指数关系将转向角θ转换为转向转矩Td。 转矩 - 横向加速度转换单元52，转矩 - 偏转率转换单元53和扭矩转弯曲率转换单元54将转向转矩Td转换成估计横向加速度Gd，估计横摆角速度γd和估计转弯曲率ρd 。 转角变换部55,56,57计算目标转向角δg，δγ，δρ。 转向角确定单元58根据检测到的车速V确定目标转向角δg，δγ，δρ之外的目标转向角δd。转向控制单元60以目标转向角δd执行转向轮的转弯控制 。 驾驶员可以轻松地在整个车辆速度范围内驾驶车辆。 版权所有（C）2006，JPO＆NCIPI

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.

公开(公告)号：JPS63130458A

公开(公告)日：1988-06-02

申请号：JP27717786

申请日：1986-11-20

Applicant: TOYOTA MOTOR CORP

Inventor： KUROSAWA RYUICHI

IPC: B60T7/12 ,  B60T8/1761 ,  B60T8/58 ,  B60T8/66

Abstract: PURPOSE:To enable both vehicle speed and deceleration to be smoothly lowered to zero and completely prevent shake back by providing a fluid pressure brake system, a vehicle speed detecting means, and a means of exponentially lowering fluid pressure after lowering a detected vehicle speed to a reference speed. CONSTITUTION:When the pressing force to a pedal 170 is large with respect to the friction coefficient of a road surface, the slip ratio of a front wheel 176 increases above a proper range, and a controller 252 which receives this from the detected signal of a sensor 246 feeds a current to the solenoid of an electromagnetic control valve 192 to shut off the valve 192 or to switch over it to a pressure drop allowable condition while starting a pump 216. And, in the case of the shut off condition, a wheel cylinder 180 is disconnected from a master cylinder 174 and a reservoir 210 to keep a hydraulic pressure constant, thereby, keeping the braking force to the front wheel 176 constant. In the case of the pressure drop allowable condition, on the other hand, the cylinder 180 is connected to the reservoir 210 and a brake fluid from the cylinder 180 is stored in the reservoir 210 and scooped up and returned to a passage 176 by means of the pump 216.

公开(公告)号：JPS62168704A

公开(公告)日：1987-07-25

申请号：JP25041986

申请日：1986-10-21

Applicant: TOYOTA MOTOR CORP

Inventor： KUROSAWA RYUICHI ,  YAMAMOTO YUKIO ,  TANAKA RYUJI ,  SHIRASU TAKASHI ,  ODA SUSUMU ,  IWASE HIROHIDE

IPC: F16F9/50 ,  B60G17/015 ,  B60G17/018 ,  B60G17/08

Abstract: PURPOSE:To shorten the time from the time point at which a vehicle body vertically oscillates to the time point at which the vehicle body returns to its neutral vehicle height level, by decreasing the damping force of a shock absorber until the midway of return of the vehicle body to its neutral vehicle height level, and by increasing the damping force after the midway of the return. CONSTITUTION:A means M1 detects the vertical motion of a vehicle body. Further a means M2 changes the damping force of a shock absorber disposed between the vehicle body and the wheel in accordance with an instruction fro the outside. During a predetermined time during which the vertical motion of the vehicle body detected by the means M1 changes in the direction toward the neutral vehicle height level, a means M3 delivers a signal for changing the damping force into a large value, to the means M3. With this arrangement the damping force of the shock absorber is held at a small value until the midway of return oscillation in which the vehicle body is moved from the neutral vehicle height level and is then moved back to the neutral vehicle height level so that the oscillation of the vehicle body is rapidly settled. Meanwhile after the midway of the return, the damping force is increased to restrain the oscillation of the vehicle body.