公开(公告)号：JP2010280313A

公开(公告)日：2010-12-16

申请号：JP2009135969

申请日：2009-06-05

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

Inventor： TAKASHIMA KYO ,  NAKATSU CHIKATOSHI ,  LIMPIBUNTERNG THEERAWAT ,  NISHIKAWA TOMOHISA ,  FUJITA YOSHITAKA

IPC: B62D6/00 ,  B62D5/04 ,  B62D7/14 ,  B62D101/00 ,  B62D113/00 ,  B62D119/00

Abstract: PROBLEM TO BE SOLVED: To reduce driver's discomfort feeling at the time of steering operation caused by a certain offset left in a steering device after a steering transmission ratio is changed by a steering transmission ratio variable type steering device. SOLUTION: In the case that an offset state occurs under a specified control for changing a steering transmission ratio by the steering transmission ratio variable type steering device 14 (S180 to 200), a steering position of a steering wheel 20 where the specified control is terminated is defined as a reference steering position, one of the two steering regions at both sides of the reference steering position that is the same side as that of the offset in respect to a vehicle straight forwarding position of the steering wheel 20 is defined as a first steering region and a steering transmission ratio under a zero offset is defined as a standard steering transmission ratio. In the case when a driver performs a steering operation at the first steering region after completion of the specified control (S160), a desired steering gear ratio Rst is made smaller than its standard value (S210) to cause the steering transmission ratio to be larger than the standard steering transmission ratio. COPYRIGHT: (C)2011,JPO&INPIT

Abstract translation: 要解决的问题：在转向传动比可变型转向装置改变转向传动比之后，减少在转向装置中留下的一定偏差引起的转向操作时驾驶员的不适感。 解决方案：在通过转向传动比可变型转向装置14（S180至200）改变转向传动比的指定控制下发生偏移状态的情况下，指定的方向盘20的转向位置 控制终止被定义为参考转向位置，在基准转向位置的两侧的与转向盘20的车辆直行进位置的偏移量相同侧的两个转向区域中的一个被定义 作为第一转向区域和零偏移处的转向传动比被定义为标准转向传动比。 在驾驶员在规定的控制完成后在第一转向区域进行转向操作的情况下（S160），使期望的转向齿轮比Rst小于其标准值（S210），使转向传动比变大 比标准转向传动比。 版权所有（C）2011，JPO＆INPIT

公开(公告)号：JP2008068828A

公开(公告)日：2008-03-27

申请号：JP2006251639

申请日：2006-09-15

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

Inventor： FUJITA YOSHITAKA

IPC: B62D6/00 ,  B60R1/00 ,  B60R21/00

Abstract: PROBLEM TO BE SOLVED: To enhance the operability of drive of a vehicle into a parking section by automatically changing a steering gear ratio of a steering device according to a relative position of the vehicle relative to the parking section when the vehicle is driven into the parking section by backward traveling.
SOLUTION: The parking section spreading to a rear side of the vehicle is visually recognized by a video camera provided on a rear part of the vehicle, lateral deviation of the center of a rear part of the vehicle relative to a central line between both side edges of the parking section is calculated by stereo-graphic image processing based on the visually recognized image, and a steering gear ratio is increased accompanying with reduction of the lateral deviation. Further, a deflection angle of the video camera relative to both side edges and vertical deviation of the video camera relative to a rear wheel stop are also calculated, and the steering gear ratio is increased accompanying with reduction of those values.
COPYRIGHT: (C)2008,JPO&INPIT

Abstract translation: 要解决的问题：为了通过在车辆被驱动时根据车辆相对于停车部分的相对位置自动改变转向装置的转向齿轮比来增强车辆驶入停车部分的可操作性 通过后退行驶进入停车场。 解决方案：通过设置在车辆后部的摄像机，视觉识别车辆后方的驻车部分，车辆后部的中心相对于车辆后方的中心线的横向偏离 通过基于视觉识别图像的立体图像处理来计算停车部分的两侧边缘，随着横向偏离的减小，舵机比率增加。 此外，还计算摄像机相对于两侧边缘的偏转角和摄像机相对于后轮挡块的垂直偏差，并且随着这些值的减小，舵机传动比增加。 版权所有（C）2008，JPO＆INPIT

公开(公告)号：JP2007145175A

公开(公告)日：2007-06-14

申请号：JP2005342328

申请日：2005-11-28

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

Inventor： FUJITA YOSHITAKA

IPC: B60G17/015 ,  B60G17/016 ,  B60G21/055 ,  B60T8/00

CPC classification number: B60T8/3275 ,  B60G17/0162 ,  B60G17/0195 ,  B60G21/0555 ,  B60G2800/24 ,  B60G2800/9122 ,  B60G2800/92 ,  B60G2800/96 ,  B60T8/1755 ,  B60T2201/03 ,  B60T2260/02 ,  B60W30/085

Abstract: PROBLEM TO BE SOLVED: To provide a travelling control device of a vehicle which turns the vehicle as desired by a driver as much as possible while satisfying a sudden braking demand of the driver even when sudden braking operation and steering operation are carried out by the driver. SOLUTION: An index value Ks of possibility of emergency avoiding steering by the driver is computed so as to be the higher the larger a rate of increase ΔPm of master cylinder pressure is (S270) when brake assist control is carried out (S220) and it is determined that there is a possibility of the emergency avoiding steering of the driver (S240), a target roll rigidity distribution rate Rsft of a front wheel is computed to be the smaller the higher the index value Ks is (S300), and a front and rear wheel distribution rate of roll rigidity is controlled to the rear wheel side more, higher the possibility of the emergency avoiding steering is, and a steering characteristic of the vehicle is changed to the over-steering side, since active stabilizer devices 16 and 18 are controlled in accordance with the target rigidity distribution rate Rsft of the front wheel (S310). COPYRIGHT: (C)2007,JPO&INPIT

Abstract translation: 要解决的问题：提供一种车辆的行驶控制装置，即使在执行急刹车操作和转向操作时，尽可能地满足驾驶员的急剧制动要求，驾驶员尽可能地转动车辆 由司机。

解决方案：当执行制动辅助控制时，计算由驾驶员紧急避免驾驶的可能性的指标值Ks，以使主缸压力的增加率ΔPm越大（S270）（S220 ），并且确定存在驾驶员的紧急避免驾驶的可能性（S240），则计算出前轮的目标侧倾刚度分布率Rsft小于指标值Ks越高（S300）越小， 而且，由于主动稳定装置，主动稳定装置，由于将后轮侧的前后轮分配率控制在后轮侧，所以紧急避免转向的可能性越高，车辆的转向特性越高， 16和18根据前轮的目标刚度分布率Rsft进行控制（S310）。 版权所有（C）2007，JPO＆INPIT

公开(公告)号：JP2014069777A

公开(公告)日：2014-04-21

申请号：JP2012219483

申请日：2012-10-01

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

Inventor： HARA MASAHIRO ,  FUJITA YOSHITAKA ,  KATO HIDEKI

IPC: B60T8/66

Abstract: PROBLEM TO BE SOLVED: To provide a braking force control system capable of suppressing a detection error of a vehicle velocity.SOLUTION: A control unit that controls a braking force on the basis of a vehicle velocity calculated from a wheel speed is included. When a wheel speed of a predetermined driving wheel that is a driving wheel whose wheel speed is the highest tends to increase and a wheel speed of three wheels other than the predetermined driving wheel tends to decrease (S10-Y), the vehicle velocity is calculated with the wheel speed of the predetermined driving wheel excluded (S40). When the vehicle velocity is calculated with the wheel speed of the predetermined wheel excluded (S10-Y and S20-Y), a maximum value of a wheel speed of a rolling wheel may be adopted as the vehicle velocity.

Abstract translation: 要解决的问题：提供一种能够抑制车速的检测误差的制动力控制系统。解决方案：包括基于从车轮速度计算的车速来控制制动力的控制单元。 当车轮速度最高的驱动轮的预定驱动轮的车轮速度趋于增加时，预定驱动轮以外的三个车轮的车轮速度趋于降低（S10-Y）时，计算车速 排除了预定驱动轮的车轮速度（S40）。 当以预定车轮的车轮速度（S10-Y和S20-Y）计算车速时，可以采用滚动轮的车轮速度的最大值作为车速。

公开(公告)号：JP2014040225A

公开(公告)日：2014-03-06

申请号：JP2012184554

申请日：2012-08-23

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

Inventor： SHIMIZU SATOSHI ,  FUJITA YOSHITAKA

IPC: B60W30/18 ,  B60T8/172 ,  B60W40/072 ,  B60W40/076 ,  G01C21/26 ,  G08G1/09

Abstract: PROBLEM TO BE SOLVED: To carry out accurate braking force control.SOLUTION: An electronic control device 1 includes: a braking force control portion for controlling the braking force of a vehicle on the basis of wheel speed; a wheel speed correcting portion for correcting the detected wheel speed of a wheel on the basis of the wheel speed and wheel speed of another wheel; a slope determining portion for determining whether a traveling path of an own vehicle is a slope or not by using the detected vehicle body acceleration/deceleration; and a correction prohibiting portion for prohibiting the correction of the wheel speed when the own vehicle travels on the slope. The slope determining portion determines whether the traveling path of the own vehicle is a slope or not, on the basis of traveling path information of the own vehicle possessed by the own vehicle or obtained by communicating with the outside, when the detection accuracy of the vehicle body acceleration/deceleration is deteriorated.

Abstract translation: 要解决的问题：进行精确的制动力控制。解决方案：电子控制装置1包括：制动力控制部分，用于根据车轮速度控制车辆的制动力; 车轮速度校正部分，用于根据另一车轮的车轮速度和车轮速度来校正车轮的检测车轮速度; 用于通过使用检测到的车体加速/减速来确定本车辆的行驶路径是否是斜坡的斜率确定部分; 以及修正禁止部，用于当本车在斜坡上行驶时禁止车轮速度的校正。 斜坡确定部分基于本车辆拥有的本车辆的行驶路径信息或通过与外部通信获得的本车辆的行驶路径是否为斜坡来确定本车辆的行驶路径是否为斜坡，当车辆的检测精度 车身加速/减速变差。

公开(公告)号：JP2013035510A

公开(公告)日：2013-02-21

申请号：JP2011175311

申请日：2011-08-10

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

Inventor： FUJITA YOSHITAKA ,  KOSHIRO TAKAHIRO

IPC: B62D6/00 ,  B60R16/02 ,  B62D5/04 ,  B62D5/30 ,  B62D101/00 ,  B62D109/00 ,  B62D111/00 ,  B62D113/00 ,  B62D137/00

Abstract: PROBLEM TO BE SOLVED: To provide a vehicle control system that can properly execute recovery from a failure state to a normal state in the vehicle control by a plurality of arithmetic control devices, and to provide a vehicle control method.SOLUTION: The vehicle control system includes a first arithmetic control device and a second arithmetic control device that are connected to each other to be in communication with each other through a communication means. The second arithmetic control device transmits a monitoring result indicating a normal communication state to the first arithmetic control device when a difference between a first target control amount calculated by the first arithmetic control device and a second target control amount calculated by the second arithmetic control device is equal to or lower than a first threshold. The first arithmetic control device allows the second arithmetic control device to execute steering control when determining that the monitoring result transmitted by the second arithmetic control device is normal and the first target control amount is equal to or lower than a second threshold.

Abstract translation: 要解决的问题：提供一种车辆控制系统，其能够通过多个算术控制装置适当地执行从故障状态到车辆控制中的正常状态的恢复，并且提供车辆控制方法。 解决方案：车辆控制系统包括通过通信装置彼此连接的第一运算控制装置和第二运算控制装置。 当第一算术控制装置计算的第一目标控制量与由第二算术控制装置计算出的第二目标控制量之间的差异是第二运算控制装置计算出的第一目标控制量之差与第二运算控制装置的差为 等于或低于第一阈值。 当确定第二运算控制装置发送的监视结果正常并且第一目标控制量等于或低于第二阈值时，第一运算控制装置允许第二运算控制装置执行转向控制。 版权所有（C）2013，JPO＆INPIT

公开(公告)号：JP2012158305A

公开(公告)日：2012-08-23

申请号：JP2011021126

申请日：2011-02-02

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

Inventor： TANIMOTO MITSUTAKA ,  TSUCHIYA YOSHIAKI ,  HIROSE TARO ,  KOSHIRO TAKAHIRO ,  FUJITA YOSHITAKA ,  NARITA TETSUHIRO

IPC: B62D6/00 ,  B62D5/04 ,  B62D7/14 ,  B62D101/00 ,  B62D111/00 ,  B62D113/00 ,  B62D117/00 ,  B62D119/00 ,  B62D137/00

Abstract: PROBLEM TO BE SOLVED: To effectively utilize various kinds of rear wheel steering angle control related to stabilization of vehicle behavior.SOLUTION: The vehicle steering control apparatus controls a vehicle that can vary a steering angle δr of a rear wheels via a variable rear wheels steering angle device. The vehicle steering control apparatus includes: a specification unit for specifying a slip angle βr of the rear wheels; a determination unit for determining reliability of the specified slip angle; and a control unit for restricting the change in the steering angle of the rear wheel in a direction where the slip angle increases based on the specified slip angle and the determined reliability.

Abstract translation: 要解决的问题：有效利用与车辆行为稳定有关的各种后轮转向角控制。 解决方案：车辆转向控制装置控制可以经由可变后轮转向角装置改变后轮的转向角δr的车辆。 车辆转向控制装置包括：用于指定后轮的滑移角βr的指定单元; 确定单元，用于确定所述滑移角的可靠性; 以及控制单元，用于基于指定的滑移角和所确定的可靠性来限制后轮的转向角度在滑移角度增加的方向上的变化。 版权所有（C）2012，JPO＆INPIT

公开(公告)号：JP2010254050A

公开(公告)日：2010-11-11

申请号：JP2009104395

申请日：2009-04-22

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

Inventor： FUJITA YOSHITAKA ,  KOSHIRO TAKAHIRO

IPC: B62D6/00 ,  B60Q1/40 ,  B62D5/04 ,  B62D101/00 ,  B62D113/00 ,  B62D119/00 ,  B62D137/00 ,  G08G1/16

Abstract: PROBLEM TO BE SOLVED: To terminate the direction indicating operation of a direction indicator with exact timing in a vehicle mounted with a steering mechanism having a variable relation between a steering angle and an actual steering angle. SOLUTION: The vehicle includes the steering mechanism, an EPS actuator, and a VGRS actuator, and variably controls the relation between the steering angle MA and the actual steering angle δst by the cooperative control of them. An ECU carries out winker-off control. In the control, when a winker lever is operated, an actual steering corresponding angle δ is calculated based on a steering gear ratio n, a wheelbase L, a stability factor KH, a yaw rate γ, and vehicle speed V. When the calculated actual steering corresponding angle δ exceeds a preset threshold to a decreasing side, the ECU carries out winker-off processing including returning to a neutral position by the release of the winker lever and the termination of the blinking control of a direction indicating light. COPYRIGHT: (C)2011,JPO&INPIT

Abstract translation: 要解决的问题：在安装有具有在转向角和实际转向角之间的可变关系的转向机构的车辆中，以精确的时间终止方向指示器的操作的方向。 解决方案：车辆包括转向机构，EPS致动器和VGRS致动器，并通过它们的协调控制来可变地控制转向角MA与实际转向角δst之间的关系。 ECU执行小灯灭控制。 在控制中，当操纵方向杆时，基于舵机比n，轴距L，稳定系数KH，偏航率γ和车速V来计算实际转向对应角度δ。当计算出的实际 转向对应的角度δ超过预设的阈值到减少侧，ECU执行包括通过释放方向指示杆返回到中立位置并终止指示光的方向的闪烁控制的方向盘关闭处理。 版权所有（C）2011，JPO＆INPIT

公开(公告)号：JP2008126808A

公开(公告)日：2008-06-05

申请号：JP2006313270

申请日：2006-11-20

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

Inventor： FUJITA YOSHITAKA

IPC: B62D6/00 ,  B62D5/04 ,  B62D103/00 ,  B62D113/00 ,  B62D117/00 ,  B62D119/00

Abstract: PROBLEM TO BE SOLVED: To effectively curb operation of a steering wheel caused by torque-steering independently from a driver's steering condition.
SOLUTION: An ECU 100 executes torque-steering suppression processing in a vehicle 10 equipped with an EPS 200. In this processing, when the vehicle 10 is accelerating and the steering wheel 11 is in a hand-releasing state, assist torque ATRQ 1 at hand-releasing is output from a motor 17. When the steering wheel 11 is not in the hand-releasing state and predetermined permission conditions are satisfied, assist torque ATRQ 2 at steering is output from the motor 17 to compensate returning defects of the steering wheel 11 within the range of not inhibiting the steering operation by the driver. When steering is input while assist torque at the hand-releasing is output, switch processing is performed in accordance with each of turn and turn-back and the assist torque is gradually changed so as to suppress a sense of incongruity.
COPYRIGHT: (C)2008,JPO&INPIT

Abstract translation: 要解决的问题：独立于驾驶员的转向状况，有效地遏制由转向转向器引起的方向盘的操作。 解决方案：ECU100在配备有EPS200的车辆10中执行扭矩转向抑制处理。在该处理中，当车辆10正在加速并且方向盘11处于手动释放状态时，辅助转矩ATRQ 从电动机17输出1手动释放。当方向盘11不处于手动释放状态并且满足预定许可条件时，从电动机17输出转向时的辅助转矩ATRQ 2，以补偿电动机17的返回缺陷 方向盘11在不妨碍驾驶员转向操作的范围内。 在输出手动释放时的辅助扭矩的同时输入转向时，根据转向和回转各自进行切换处理，并且辅助转矩逐渐变化，以抑制不协调感。 版权所有（C）2008，JPO＆INPIT

公开(公告)号：JP2007137165A

公开(公告)日：2007-06-07

申请号：JP2005331406

申请日：2005-11-16

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

Inventor： FUJITA YOSHITAKA

IPC: B60G17/015 ,  B60C23/02 ,  B60G17/016 ,  B60G21/055 ,  B62D6/00 ,  B62D101/00 ,  B62D111/00 ,  B62D113/00 ,  B62D137/00

Abstract: PROBLEM TO BE SOLVED: To effectively reduce the deterioration of tires and further suppress a decrease in tire internal air pressure while preventing a variation in the steering characteristic of a vehicle.
SOLUTION: It is determined whether or not the tire internal air pressure Pwti is lower than a reference value Pwtei calculated based on a tire internal air pressure drop rate RPwti, so that it may be determined whether or not the tire air pressure is decreased (S20 to 40). When one of the tire internal air pressures of wheels is decreased, a reduction degree of the tire internal air pressure and a required travel distance L to reach a position where the vehicle can be safely stopped are calculated by a navigation system 60, and a control gain Kct is calculated corresponding to the required traveling distance L (S100). The control amount of steering gear ratio control for controlling a change in the steering characteristic of the vehicle caused by the ground contact load reduction control of the wheels in which the tire internal air pressure is decreased and the change of the ground contact load is increased and decreased corresponding to the control gain Kct (S200, 300).
COPYRIGHT: (C)2007,JPO&INPIT

Abstract translation: 要解决的问题：为了有效地减少轮胎的劣化，并且进一步抑制轮胎内部空气压力的降低，同时防止车辆的转向特性的变化。 解决方案：确定轮胎内部空气压力Pwti是否低于基于轮胎内部空气压降率RPwti计算的基准值Pwtei，从而可以确定轮胎气压是否为 减少（S20〜40）。 当车轮的轮胎内部空气压力之一降低时，通过导航系统60计算轮胎内部空气压力的减小程度和到达可以安全停止车辆位置的所需行进距离L，并且控制 根据所需行驶距离L计算增益Kct（S100）。 用于控制由轮胎内部空气压力降低的轮子的接地负载减小控制引起的用于控制车辆的转向特性的变化的控制量控制量和接地负载的变化增加的控制量，以及 对应于控制增益Kct减小（S200,300）。 版权所有（C）2007，JPO＆INPIT