Toyota Jidosha Kabushiki Kaisha

Manabu Nagasaka

Etsuo Katsuyama

A vehicle control apparatus configured to calculate a center of gravity six-component; calculate a tire three-component of each wheel for two or more wheels of a vehicle imposing a constraint on each wheel expressed as an inequality corresponding to upper and lower limits of the tire three-component; apply the constraint based on whether the constraint is valid or invalid for each of the wheels based on a predetermined optimum-condition for obtaining an optimum-solution under the constraint, and calculating an optimum-solution of the tire three-component of each wheel by performing a tentative-optimum-solution-calculation one or more times until the predetermined optimum-condition is satisfied; and store an application-state of the constraint when the optimum-solution satisfying the predetermined optimum-condition is obtained, and calculate the optimum-solution of the tire three-component of each wheel by using a stored value of the application-state of the constraint, in the next calculation of the optimum-solution.

Vehicle control apparatus

A devicefor controlling a vehicleincludes: a sensorconfigured to detect a rudder angle; a calculation partconfigured to calculate a target braking force for making a pitch angle equal to a target pitch angle, the target braking force increasing as the rudder angle increases; a determination partconfigured to determine whether a steering action is in a steady state; a correction partconfigured to correct the target braking force to be reduced by an offset amount when it is determined that the steering action is in a steady state; and an actuatorconfigured to apply the corrected target braking force to the vehicle.

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Susono, Japan

Manabu Nagasaka