Advics Co., Ltd.

Aisin Seiki Kabushiki Kaisha

Toyoda Koki Kabushiki Kaisha

Jtekt Corporation

Other

Toyota Jidosha Kabushiki Kaisha

Denso Corporation

Advices Co., Ltd.

Adivics Co., Ltd.

Hiroaki Aizawa

Yoshiyuki Yasui

Hiroaki Kato

Minekazu Momiyama

Yuzo Imoto

Akihito Kusano

Yuji Muragishi

Hiroshi Toda

Hiroaki Niino

Eiichi Ono

Takayuki Yamamoto

Shinsuke Sakane

Naoki Sawada

Seiichi Kojima

Masashi Kishimoto

Kaoru Tsubouchi

Akihiko Miwa

Motoshi Suzuki

Satoru Niwa

Shinji Takeuchi

Takayuki Ohta

A vehicle speed control device is provided. The device includes a steering device which steers left and right wheels, first and second electric motors which separately apply power to the left and right wheels, an operation amount acquisition unit which acquires an acceleration operation amount by the driver of the vehicle, a steering angle acquisition unit which acquires a steering angle which is a value between an inner wheel steering angle and an outer wheel steering angle; a vehicle speed acquisition unit configured to acquire an actual speed of the vehicle; and a control unit configured to control the first electric motor and the second electric motor on the basis of the acceleration operation amount, the actual speed, the steering angle, and a steering geometry indicating a geometric relationship between the steering angle and a turning center of the vehicle.

Vehicle speed control device

A brake control apparatus for a vehicle includes four wheel braking apparatuses, a first hydraulic pressure generating apparatus, a front-wheel hydraulic circuit connecting the hydraulic pressure generating apparatus to the two of the wheel braking apparatuses, a rear-wheel hydraulic circuit connecting the hydraulic pressure generating apparatus to the other two of the wheel braking apparatuses, a second hydraulic pressure generating apparatus generating an auxiliary pressure, a braking operation variable detecting means, a reference amount determining means for determining a reference amount of auxiliary hydraulic pressure, an obtaining means for obtaining at least one of state quantities indicating a load condition, a driving condition and slipperiness of wheel, a target amount determining means determining a target amount of auxiliary hydraulic pressure of each hydraulic circuit to be equal to or greater than the corresponding reference amount of auxiliary hydraulic pressure, and a pressure regulating means for regulating the auxiliary hydraulic pressure.

Brake control apparatus for vehicle

A steering angle control apparatus for a vehicle includes a first calculating means calculating a longitudinal force, a second calculating device calculating a longitudinal force difference between at least one of right side wheels and at least one of left side wheels based on the longitudinal force, a third calculating device calculating a contribution rate of front wheels at a steering angle control and a contribution rate of rear wheels at the steering angle control, a fourth calculating device calculating a front wheel correction steering angle and a rear wheel correction steering angle based on the contribution rate of the front wheel, the contribution rate of the rear wheel, and a state quantity including the longitudinal force difference, and a driving device outputting a control command value based on the front wheel correction steering angle and the rear wheel correction steering angle.

Steering angle control apparatus for vehicle

When a vehicle stops, a brake control unit maintains a braking force applied on a wheel by a braking-force application unit for maintaining a halted state. In this state, if a driver depresses the accelerator pedal to execute starting of the vehicle, the braking force is gradually decreased, and the vehicle starts at a speed that accords with a degree of accelerator opening and a gradient of a road on which the vehicle is stopped. When a movement direction at this time is the same as a movement direction intended by the driver, the braking force is decreased to zero for smooth starting. When the movement direction is opposite to the intended movement direction, the braking force is increased to control the movement in the opposite direction, such that the movement changes from the opposite direction to the same direction, and finally, smooth starting in the desired direction is executed.

Automatic braking device for controlling movement of vehicle in unintended direction of the driver with target brake decreasing control

A suspension control device includes a wheel grip state estimation device for estimating grip state of vehicle wheels based on variations of aligning torque of wheels to be steered, a vehicle rolling control device for controlling vehicle rolling, and a control parameter setting device for setting a control parameter of the vehicle rolling control device based on at least estimated grip state of the wheel grip state estimation device.

Suspension control device

A creep drive control device according to the invention sets a target creep vehicle speed when a driver has neither one of an acceleration intention or a stop maintenance intention. An engine output is increased (or decreased) by a vehicle speed increase processing (or a vehicle speed decrease processing), or a braking force is decreased (or increased), and an actual vehicle speed is controlled so as to be equal to the target creep vehicle speed or a value in the proximity thereof. The target creep vehicle speed, and respective engine output and braking force increase amounts and decrease amounts are corrected and set in accordance with driving conditions, road surface conditions and driver operations.

Creep drive control device for driving vehicle at creep speed

A grip factor estimating apparatus includes a steering torque detecting unit M, and an assist torque detecting unit M. When a self-aligning torque estimating unit Mestimates self-aligning torque generated in front wheels on the basis of detection result of the detecting unit, the quantity of influence of longitudinal force on self-aligning torque is removed on the basis of longitudinal force acting on the front wheels and estimated by a longitudinal force estimating unit Mand a front wheel slip angle estimated by a front wheel slip angle estimating unit M. A grip factor estimating unit Mestimates the grip factor of the front wheels on the basis of change in self-aligning torque in accordance with the side force.

Wheel grip factor estimating apparatus and vehicle motion control apparatus

A steering control apparatus is provided for controlling a steered wheel angle of a wheel to be steered. On the basis of a road coefficient of friction estimated between right and left wheels, a braking force difference between the right and left wheels is calculated. A slip angle&#x2014;total lateral force characteristic indicative of a relationship between a slip angle and a total lateral force of a wheel to be steered is provided on the basis of the estimated coefficient of friction. Then, a steered wheel angle of the wheel to be steered is set on the basis of the braking force difference and the slip angle&#x2014;total lateral force characteristic.

Steering control apparatus for a vehicle

Automatic brake device for controlling movement of vehicle in direction opposite to intended direction of movement of driver

A steering control apparatus obtains a steered amount by which a steered wheel is steered based on a left-and-right braking force difference control amount, a vehicle state control amount, and a steering control amount. The apparatus changes the magnitude of the braking force difference control amount and the magnitude of the vehicle state control amount according to a vehicle speed or to time elapsed from when braking started to be applied to the left and right wheels. Accordingly, the vehicle driving on a &#x3bc;-split road is prevented from being deflected toward a side of higher friction coefficient due to the left-and-right braking force difference when the braking is applied.

Steering control apparatus for vehicle and method for steering control

A vehicle motion control apparatus is provided with an anti-skid control device and a steering angle adjusting device, which adjusts the steering angle of at least one of the front and rear wheels to cancel a yaw deviation between a desired yaw factor and an actual yaw factor, to be substantially zero. An incompatibility between the devices is determined on the basis of a state of the wheel adjusted by the steering angle adjusting device to cancel the yaw deviation. And, a predetermined parameter provided between a vehicle stability directive parameter and a brake directive parameter is set on the basis of the incompatibility. Then, the anti-skid control device controls the braking force applied to each wheel of the vehicle on the basis of the predetermined parameter. Consequently, the anti-skid control giving importance to the braking force can be performed, as long as the steering angle adjusting device is operative.

Vehicle motion control apparatus

A vehicle motion control apparatus is provided for performing a vehicle stability control on the basis of a parameter indicative of lateral margin for a tire on a road. The apparatus includes a steering control device for controlling a relationship between a steering angle and a tire angle to be varied, and a decelerating control device for controlling a vehicle speed to be decreased. The parameter indicative of lateral margin for the tire is monitored, and the steering control device and the decelerating control device are controlled on the basis of the monitored parameter. The steering control device is controlled to decrease the tire angle relative to the steering angle, when the parameter is decreased from a value of relatively large lateral margin to a value of relatively small lateral margin, which is smaller than a first threshold value, and the decelerating control device is controlled to decrease the vehicle speed in addition to the steering control by the steering control device, when the parameter is further decreased to a value of lateral margin smaller than a second threshold value, which is smaller than the first threshold value.

In vehicle roll sensing of the present invention, a self-aligning torque (SAT) estimator estimates a composite value of SATs generated on tire contact patch of right and left wheels. A slip angle computer detects a vehicle speed and a steering angle and computes a slip angle of the wheel from the measured vehicle speed and steering angle. An SAT model value computer estimates an SAT model value as a composite value of SATs of the right and left wheels when no load shifts between the right and left wheels on the basis of the slip angle. A load shift ratio estimator estimates a load shift state of the right and left wheels on the basis of the composite value of the SATs of the wheels and the SAT model value. A vehicle rollover estimator estimates a rollover of the vehicle on the basis of the estimated load-shift state.

Vehicle roll sensing using load shift estimation

The present invention is directed to a road condition estimation apparatus for estimating a road condition for use in a vehicle having steering control unit for actuating a device mechanically independent of a manually operated steering member to steer each wheel. The apparatus includes a reaction torque detection unit for detecting reaction torque for detecting a reaction torque when at least a wheel of the vehicle is steered by the steering control unit, an aligning torque estimation unit for estimating an aligning torque produced on the wheel on the basis of the reaction torque detected by the reaction torque detection unit, a wheel factor providing unit for providing at least one of wheel factors including a side force and a slip angle applied to the wheel, and a grip factor estimation unit for estimating a grip factor of at least a tire of the wheel, in accordance with a relationship between the aligning torque estimated by the aligning torque estimation unit and the wheel factor estimated by the wheel factor providing unit.

Road condition estimation apparatus

A first ECUdetects a steering torque applied to a steering system, estimates a self-aligning torque generated in a front wheel on the basis of the steering torque, and estimates a side force for the front wheel on the basis of lateral acceleration and a yaw rate. The first ECUestimates a grip factor &#x3b5; for the front wheel on the basis of a change of the self-aligning torque to the side force. The first ECUjudges whether the grip factor is below a second OS (oversteer) start threshold value. A second ECUcontrols the transfer ratio according to the vehicle state when the grip factor is less than the second OS start threshold value.

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Anjo, Japan

Hiroaki Aizawa