公开(公告)号：US20190152471A1

公开(公告)日：2019-05-23

申请号：US16192198

申请日：2018-11-15

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Hisanori MITSUMOTO ,  Takemi MURAYAMA

IPC: B60W30/02 ,  B60W10/184 ,  B60W30/12

Abstract: A behavior control apparatus is provided which is configured to calculate a first normative yaw rate of the vehicle based on a vehicle speed, a steering angle and a lateral acceleration of the vehicle, to calculate a second normative yaw rate of the vehicle based on a vehicle speed and a steering angle, to determine, when deflection control is not being performed, that vehicle behavior is unstable when an absolute value of a first yaw rate deviation between the first normative yaw rate and an actual yaw rate of the vehicle is larger than a first reference value, and to determine, when the deflection control is being performed, that vehicle behavior is unstable when an absolute value of a second yaw rate deviation between the second normative yaw rate and an actual yaw rate of the vehicle is larger than a second reference value.

公开(公告)号：US20190126976A1

公开(公告)日：2019-05-02

申请号：US16173097

申请日：2018-10-29

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Takemi MURAYAMA ,  Hisanori MITSUMOTO ,  Takuya SHOJI ,  Noritsugu IWAZAKI ,  Go INOUE

IPC: B62D6/00 ,  B60W40/114 ,  B60T8/1755

Abstract: A vehicular behavior control apparatus in which a control unit that controls a driving device and a braking device is configured to calculate a target yaw moment and a target deceleration of the vehicle for ensuring stable behavior of the vehicle during non-braking turning, to calculate a first vehicle longitudinal force applied to a turning inner wheel to achieve the target yaw moment and a second vehicle longitudinal force necessary to achieve the target deceleration, to control, when the first vehicle longitudinal force is equal to or less than the second vehicle longitudinal force, the driving device so as to generate a driving force equal to a value obtained by subtracting the second vehicle longitudinal force from a driver-requested driving force and adding the first vehicle longitudinal force, and to apply the first vehicle longitudinal force to the turning inner wheel.

公开(公告)号：US20160200297A1

公开(公告)日：2016-07-14

申请号：US14917049

申请日：2014-09-25

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Taisuke YASUTOMI ,  Takemi MURAYAMA ,  Hideki KATO

IPC: B60T7/12 ,  B60T8/24

CPC classification number: B60T7/12 ,  B60T8/245 ,  B60T2201/04

Abstract: A slope-descending speed control device 10 for a vehicle configured to control a vehicle deceleration so that an actual vehicle speed conforms to a target vehicle speed in accordance with a target deceleration Gxbt of a PID feedback control executed in accordance with a difference between a target vehicle speed Vxt and an actual vehicle speed Vx. In a situation where an actual vehicle speed is higher than a target vehicle speed, with a component in a hill-descending direction of gravitational acceleration of the vehicle at a time point when a condition for starting a slope-descending speed control is satisfied being a reference gravitational acceleration Gxd0, when a difference between a component Gxd in a hill-descending direction of gravitational acceleration and the reference gravitational acceleration Gxd0 is between upper and lower reference values, a target deceleration Gxbti of the integral term is not integrated to restrain its increase.

Abstract translation: 一种用于车辆的倾斜下降速度控制装置10，其被配置为控制车辆减速度，使得实际车辆速度符合目标车速，该目标车速根据根据目标的差异执行的PID反馈控制的目标减速度Gxbt 车速Vxt和实际车速Vx。 在实际车速高于目标车速的情况下，在满足用于开始斜坡下降速度控制的条件的时刻，车辆的重力加速度的山降方向的分量为 参考重力加速度Gxd0，当重力加速度的山降方向的分量Gxd与参考重力加速度Gxd0之间的差在上下参考值之间时，积分项的目标减速度Gxbti不被积分以抑制其增加 。