Toyota Jidosha Kabushiki Kaisha

Ayako Nishimura

Motonari Ohbayashi

Masayuki Naito

A vehicle that improves the accuracy of wheel stopping determination including a stopping determination unit that calculates stopping determination time by multiplying the pulse width of a wheel speed pulse immediately before a non-output time, for which no wheel speed pulse is output from a wheel speed sensor, by 2+1, or a corrected time which is corrected on the basis of the stopping determination time is set as a threshold value for determining stopping of wheels. Thus, the time corresponding to the pulse width of the wheel speed pulse takes into consideration the deceleration and traveling distance of the vehicle, thereby obtaining an optimum threshold value for determining the stopping of the wheels.

Vehicle including a wheel stopping determination unit

To make a brake device generate a required braking force, a hydraulic control section switches, according to the relative magnitude between the required braking force and a braking force exerted by braking operation, between drive of a pump motor and non-drive of the pump motor and a master cut valve reduces the flow of brake fluid in the direction to a master cylinder. By this, a wheel cylinder maintains hydraulic pressure capable of generating the required braking force. As a result, the pump motor is not necessarily always driven when the required braking force is generated, and the operating time period of the pump motor is reduced. As a result, a load on the pump motor is reduced to enhance durability of the pump motor.

Brake device

An ECU designates a value of a variation 'V' based on at least one of information about driver's operation, a velocity, and a road surface gradient when an actual velocity 'V' is higher than a target velocity, sets a value of a variation &#x201c;V&#x201d; based on the designated value of the variation &#x201c;V&#x201d; and the target velocity, adjusts the velocity of the vehicle to the velocity of the set value of the variation &#x201c;V&#x201d;, and determines whether the actual velocity &#x201c;V&#x201d; after the adjustment is a value not greater than the value of the variation &#x201c;V&#x201d;. Then, the ECU converges the velocity of the vehicle to the target velocity after it has been determined that the actual velocity &#x201c;V&#x201d; after the adjustment is a value not greater than the value of the variation &#x201c;V&#x201d;.

Vehicle travel control device

In a vehicle remote operation system that remotely operates a vehicle V using a portable terminal, during the remote operation of the vehicle V by the portable terminal, when the cab of the vehicle V is not locked, a main control unitof an on-board devicedoes not permit movement of the vehicle V. Therefore, the vehicle V can be remotely operated only when the cab of the vehicle is locked. As a result, it is possible to prevent a malicious person from getting in the vehicle V during the remote operation. In addition, even when a well-meaning person who gets in the cab unexpectedly unlocks and opens the door, the vehicle is stopped. Therefore, it is possible to ensure safety.

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Gotemba, Japan

Ayako Nishimura