公开(公告)号：JP2009143349A

公开(公告)日：2009-07-02

申请号：JP2007321971

申请日：2007-12-13

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： TAKASHIMA TORU ,  KOSHIRO TAKAHIRO ,  TANIMOTO MITSUTAKA ,  NAKATSU CHIKATOSHI ,  LIMPIBUNTERNG THEERAWAT ,  HATTORI YOSHIKAZU ,  ASAI SHOJI

IPC: B60R16/03 ,  B60R21/00 ,  B60T7/12 ,  B60T8/00 ,  B60W10/00 ,  B60W10/04 ,  B60W10/06 ,  B60W10/10 ,  B60W10/18 ,  B60W10/184 ,  B60W10/20 ,  B60W10/22 ,  B60W30/08 ,  B62D5/04 ,  B62D6/00 ,  B62D101/00 ,  B62D137/00 ,  F02D29/06

Abstract: PROBLEM TO BE SOLVED: To eliminate shortage of electric power in various types of actuators generated, for example, during emergency avoidance requiring a vehicle to urgently avoid an obstacle. SOLUTION: To provide electric power required in each actuator during emergency avoidance, an upper limit value of electricity generated is set to be target electricity generated Pg2 larger than electricity generated Pg1 which is an upper limit value of electricity generated (Pg) by an alternator. The alternator temporarily increases electricity generated using the target electricity generated (Pg2) as the upper limit value, under the control of an ECU during emergency avoidance of the vehicle. Due to increase in the electricity generated by the alternator, electric power supplied from the alternator to each of the actuators is increased, and the actuator can be driven so that drive force sufficient for operating each operating portion can be supplied to the operating portions. Therefore, without generating shortage of electric power in the actuators, the vehicle can urgently avoid the obstacle 200. COPYRIGHT: (C)2009,JPO&INPIT

Abstract translation: 要解决的问题：为了消除例如在紧急避免需要车辆紧急避开障碍物的各种致动器中产生的电力不足。 解决方案：为了在紧急避免期间提供每个执行器所需的电力，所产生的电力的上限值被设定为比作为发电电力的上限值（Pg）的发电量Pg1大的目标发电量Pg2 交流发电机 在紧急避免车辆的情况下，在ECU的控制下，交流发电机临时增加使用产生的目标电力（Pg2）作为上限值产生的电力。 由于交流发电机产生的电力增加，从交流发电机向每个致动器供电的电力增加，致动器可以被驱动，从而可以将足以操作每个操作部分的驱动力提供给操作部分。 因此，不会在执行器中产生电力不足，车辆可以紧急地避开障碍物200.版权所有：（C）2009，JPO＆INPIT

公开(公告)号：JP2008094263A

公开(公告)日：2008-04-24

申请号：JP2006278631

申请日：2006-10-12

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

Inventor： TAKASHIMA TORU ,  NIWA SATORU

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

Abstract: PROBLEM TO BE SOLVED: To ensure stability of a vehicle even when one rear wheel is damaged in the vehicle capable of steering at least left and right rear wheels independently from each other respectively.
SOLUTION: The steering controller (1) is provided with left and right steering actuators (40a, 40b) for steering the left and right rear wheels in the vehicle independently from each other respectively; left and right steering angle detection means (50a, 50b) for detecting steering angles of the left and right rear wheels respectively; a vehicle speed detection means (20) for detecting a speed of the vehicle; an abnormality detection means (101) for detecting abnormality of the actuator; an operation means (102) for calculating the steering angle to be steered by the other actuator of the left and right actuators based on one steering angle corresponding to one actuator of the left and right steering angles and the vehicle speed when abnormality of one actuator of the left and right actuators is detected; and a control means (103) for controlling the other actuator so as to perform steering at the calculated steering angle.
COPYRIGHT: (C)2008,JPO&INPIT

Abstract translation: 要解决的问题：为了确保车辆的稳定性，即使在能够分别彼此独立地转向至少左右后轮的车辆中的一个后轮被损坏。 转向控制器（1）分别设有左右转向执行器（40a，40b），用于分别对车辆中的左右后轮进行转向; 用于分别检测左右后轮的转向角的左右转向角检测装置（50a，50b） 用于检测车辆速度的车速检测装置（20）; 用于检测致动器的异常的异常检测装置（101） 操作装置（102），用于根据与左右转向角的一个致动器对应的一个转向角和当一个致动器的异常时的车速计算由左右的致动器的另一致动器转向的转向角的操作装置 检测左右执行器; 以及控制装置（103），用于控制另一个致动器，以便在计算出的转向角度下执行转向。 版权所有（C）2008，JPO＆INPIT

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：JP2009132325A

公开(公告)日：2009-06-18

申请号：JP2007311279

申请日：2007-11-30

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

Inventor： TANIMOTO MITSUTAKA ,  NAKATSU CHIKATOSHI ,  TAKASHIMA TORU

IPC: B60R16/03 ,  B60L3/00

Abstract: PROBLEM TO BE SOLVED: To efficiently and effectively operate safety system provided in a vehicle without causing an electric power shortage. SOLUTION: In the vehicle 10 provided with a PCS 300 improving vehicle safety before collision of the vehicle, an ECU 100 performs SOC control in order to control SOC of a battery 500. In the control, a probability index value X to define possibility with which the PCS 300 may work is calculated based on a minimum value TTCmin of a collision predicted time with an obstacle in front thereof. An SOCtag which is a target value of the SOC of the battery 500 corresponds to a PCS operation probability defined by the probability index value X, and has characteristics increasing with increasing in the PCS operation probability not greater than a previously set upper limit value except for a dead band provided in a region having a low PCS operation probability or a region having a high PCS operation probability. The ECU 100 selects the SOCtag and performs power storage control to the battery 500. COPYRIGHT: (C)2009,JPO&INPIT

Abstract translation: 要解决的问题：有效和高效地运行车辆中提供的安全系统，而不会导致电力短缺。 解决方案：在具有改善车辆碰撞之前的车辆安全性的PCS 300的车辆10中，ECU 100执行SOC控制以便控制电池500的SOC。在该控制中，定义概率指数值X 基于其前方的障碍物的碰撞预测时间的最小值TTCmin来计算PCS 300可以工作的可能性。 作为电池500的SOC的目标值的SOCtag对应于由概率指标值X定义的PCS运算概率，并且随着PCS运行概率的增加而增加的特性不大于预先设定的上限值除了 设置在具有低PCS操作概率的区域中的死区或具有高PCS操作概率的区域。 ECU 100选择SOCtag并对电池500执行蓄电控制。版权所有（C）2009，JPO＆INPIT

公开(公告)号：JP2008094111A

公开(公告)日：2008-04-24

申请号：JP2006274253

申请日：2006-10-05

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

Inventor： TAKASHIMA TORU

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

Abstract: PROBLEM TO BE SOLVED: To provide a traveling assistance device capable of performing smooth change of a lane so as to give incompatible feeling to a driver.
SOLUTION: The traveling assistance device 1 for assisting change of the lane of the vehicle is provided with a lane width obtaining means 13 for obtaining lane width; a vehicle traveling track setting means 30 for setting the vehicle traveling track for performing change of the lane to an adjacent lane based on the lane width obtained by the lane width obtaining means 13; and a control means 30 for controlling a steering mechanism 20. The control means 30 controls the steering mechanism 20 based on the vehicle traveling track set by the vehicle traveling track setting means 30.
COPYRIGHT: (C)2008,JPO&INPIT

Abstract translation: 要解决的问题：提供一种行驶辅助装置，其能够进行车道的平滑变化，从而给驾驶员带来不一致的感觉。 解决方案：用于辅助车辆的车道改变的行驶辅助装置1设置有用于获得车道宽度的车道宽度获取装置13; 车辆行驶轨迹设定装置30，用于根据车道宽度获取装置13获得的车道宽度，将车道行驶轨迹设定为相邻车道; 以及用于控制转向机构20的控制装置30.控制装置30基于由车辆行驶轨道设定装置30设定的车辆行驶轨迹来控制转向机构20. [C]版权所有（C）2008，JPO＆INPIT

公开(公告)号：JP2012232676A

公开(公告)日：2012-11-29

申请号：JP2011102866

申请日：2011-05-02

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

Inventor： TAKASHIMA TORU ,  TANIMOTO MITSUTAKA

IPC: B62D6/00 ,  B60T8/17 ,  B62D5/04 ,  B62D7/14 ,  B62D101/00 ,  B62D113/00 ,  B62D119/00 ,  B62D137/00

Abstract: PROBLEM TO BE SOLVED: To prevent the occurrence of a sense of discomfort upon switching from automatic steering control to a driver's steering.SOLUTION: In a vehicle including at least one of devices that changes vehicle state quantity independently from steering of a driver, a behavior control apparatus of the vehicle includes: an automatic-steering-control execution unit that executes the automatic steering control for making the vehicle state quantity converge to a target state quantity, via an intended device being at least one among the at least one of the devices; a steering angle detection unit that detects a steering angle; and a state quantity equivalent unit that controls the at least one of the devices so that a first state quantity generated by the automatic steering control is equivalent to a second state quantity to be generated with respect to the detected steering angle, in one of the vehicle state quantity correlated with the steering angle of the driver's steering when the automatic steering control is switched to the driver's steering according to the steering of the driver.

Abstract translation: 要解决的问题：为了防止在从自动转向控制切换到驾驶员转向时发生不适感。 解决方案：一种车辆，包括与驾驶员的转向独立地改变车辆状态量的装置中的至少一个，车辆的行为控制装置包括：自动驾驶控制执行单元，其执行自动驾驶控制执行单元， 通过所述装置中的至少一个中的至少一个，使所述车辆状态量收敛到目标状态量; 转向角检测单元，其检测转向角; 以及状态量等效单元，其控制所述至少一个所述装置，使得通过所述自动转向控制产生的第一状态量相当于在所述车辆中的一个中相对于所检测到的转向角产生的第二状态量 当根据驾驶员的转向将自动转向控制切换到驾驶员的转向时，状态量与驾驶员的转向的转向角相关。 版权所有（C）2013，JPO＆INPIT

公开(公告)号：JP2012166715A

公开(公告)日：2012-09-06

申请号：JP2011029897

申请日：2011-02-15

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

Inventor： TAKASHIMA TORU ,  TANIMOTO MITSUTAKA

IPC: B62D6/00 ,  B60T8/1755 ,  B62D5/04 ,  B62D7/14 ,  B62D101/00 ,  B62D111/00 ,  B62D119/00 ,  B62D137/00

Abstract: PROBLEM TO BE SOLVED: To maintain proper traveling control when a vehicle turns, even if a failure occurs in an actuator system for driving a steering mechanism.SOLUTION: A traveling control apparatus is an apparatus of the vehicle 10 having the steering mechanisms 15 and 18 for controlling steering angles of front wheels FL and FR and rear wheels RL and RR. The apparatus includes: first steering devices 400, 500, and 600 and second steering devices 300, 310, 320, and 330 for driving the steering mechanisms; a control device 100 for controlling operation behavior when the first and second steering mechanisms drive steering mechanisms; and detection devices 410, 510, and 610 for detecting that a failure occurs in the first steering device. The control device operates the second steering device so that a state quantity corresponding to a vehicle state quantity is equal to a target state quantity set within an applicable range by an operation of the second steering device, when the failure occurs in the first steering device.

Abstract translation: 要解决的问题：即使在用于驱动转向机构的致动器系统中发生故障时，为了保持车辆转向时的正确的行驶控制。 解决方案：行驶控制装置是具有用于控制前轮FL和FR以及后轮RL和RR的转向角的转向机构15和18的车辆10的装置。 该装置包括：用于驱动转向机构的第一转向装置400,500和600以及第二转向装置300,310,320和330; 控制装置100，用于当第一和第二转向机构驱动转向机构时控制操作动作; 以及用于检测在第一转向装置中发生故障的检测装置410,510和610。 当第一转向装置发生故障时，控制装置操作第二转向装置，使得与车辆状态量相对应的状态量等于通过第二转向装置的操作设定在适用范围内的目标状态量。 版权所有（C）2012，JPO＆INPIT