Toyota Jidosha Kabushiki Kaisha

Shirou Monzaki

Shoji Inagaki

Ryochi Watanabe

Mizuho Sugiyama

Harumi Ohori

Yasuji Mizutani

Hiroshi Kawaguchi

Yoshihisa Yamada

Hiroyuki Mizuno

Hideyuki Aizawa

Yutaka Ohnuma

Akio Okada

Hiroaki Endo

Naoki Yamamoto

Yuya Onozuka

Kazuki Takasuga

Ryozo Saitoh

A towing vehicle control device includes: a computation device that computes a target vehicle body speed and a target curvature of a towing vehicle from a target vehicle body speed and a target curvature of a towed vehicle configured to travel together with the towing vehicle provided with motive power, and that generates a control signal for the motive power based on the target vehicle body speed of the towing vehicle, the target curvature of the towing vehicle, and a target articulation angle, which is a target value of an articulation angle that is an angle formed between a travel direction of the towing vehicle and a travel direction of the towed vehicle and is computed based on the target curvature of the towed vehicle; and a drive control section that controls the motive power of the towing vehicle in accordance with the control signal.

Towing vehicle control device, towing vehicle control method, and non-transitory computer-readable medium

The vehicle behavior control device comprises a processor; and a memory, wherein the processor is configured to: obtain a front wheel path; calculate a front wheel curvature that is a curvature of the front wheel path at each of a plurality of front wheel passing points constituting the front wheel path; sequentially calculate, for each of the plurality of front wheel passing points, a rear wheel steering angle at which a curvature of a rear wheel path coincides with the curvature of the front wheel path at each of the plurality of front wheel passing points; and control driving of the front wheel and driving of the rear wheel based on the rear wheel steering angle that is calculated and a front wheel steering angle.

Vehicle behavior control device

A brake booster pressure control apparatus is provided for controlling the vacuum pressure of a brake booster, the brake booster assisting a braking operation on a brake pedal by using an intake air pressure. The brake booster pressure control apparatus includes a brake-pedal vibration detecting unit that outputs a signal indicative of occurrence of vibrations of the brake pedal. A pressure control unit controls the pressure of the brake booster based on the signal output by the brake-pedal vibration detecting unit.

Brake booster pressure control apparatus

A device for controlling a turning behavior of a vehicle detects running speed of the vehicle, calculate a standard performance of the turning behavior of the vehicle substantially according to a steering angle input by a steering system and the running speed of the vehicle, calculates a deviation of the turning behavior from the standard performance in an amount of decrease of vehicle running speed to be effected with the vehicle for compensating the deviation, calculates a target decrease of engine torque for effecting the vehicle running speed decrease, and decreases the engine torque according to the target engine torque decrease.

Device for controlling vehicle turn behavior by engine torque control with feedback of vehicle speed

In a brake system of a four-wheel vehicle having a powered fluid pressure source, fluid flow control circuit including control valves, and an automatic controller for selectively operating the powered fluid pressure source and the control valves so as to supply a controlled fluid pressure based upon the powered fluid pressure source to a selected one or more of the wheel cylinders for an execution of a behavior control of the vehicle according to running conditions of the vehicle, the automatic controller also executes a brake control of supplying a controlled fluid pressure based upon the powered fluid pressure source to at least one of the wheel cylinders according to a depression of a brake pedal by a driver during the execution of the behavior control, the at least one wheel cylinder being one or more of the wheel cylinders not selected for the behavior control.

Brake system of vehicle for simultaneous execution of driver's braking and automatic behavior control

A spin suppress control device of a vehicle makes a first spin state estimation of the vehicle body and a second spin state estimation of the vehicle body in close time proximity to the first spin state estimation, and applies a braking force to one of the front left and right wheels at the outside of the turn such that a first braking force is applied according to the first spin state estimation and a second braking force is applied according to the second spin state estimation to be at least either stronger than the first braking force or with a greater advancement relative to an actual spin state of the vehicle than the first braking force. The second spin state estimation may be executed by a reversal of yaw rate of the vehicle body across its neutral, or by a spin state above a predetermined level occurring before a predetermined time lapses from the end of the spin suppress control according to the first spin state estimation, or by a spin state estimating parameter being modified to incorporate a time-based differential thereof.

Spin suppress control device or vehicle distinctive of degree of

A stability control device of a vehicle has a unit for estimating a liability of the vehicle body to spin for producing a spin quantity which generally increases along with increase of the spin liability; a unit for estimating a liability of the vehicle body to drift-out for producing a drift-out quantity which generally increases along with increase of the drift-out liability; a brake for selectively applying a variable braking force to each of wheels; and a control unit for controlling the brake so as to apply a variable braking force to a selected one or ones of the wheels for suppressing the vehicle body against spin and/or drift-out when the vehicle is driven along a curved course, wherein the control unit controls the brake such that a first braking force is applied to one of the front wheels located at the outside of turn of the vehicle along the curved course according to an increase of the spin quantity, and a second braking force is applied to at least one of the rear wheels according to an increase of the drift-out quantity, the first braking force being decreased according to a simultaneous application of the second braking force to the at least one rear wheel.

Stability control device of vehicle operative against spin and drift-out

A stability control device for a vehicle is shown that estimates a liability of a vehicle body to drift-out in order to produce a drift-out quantity that generally increases along with the increase of the drift-out liability. A brake device selectively applies a variable braking force to each wheel, with the brake device including a manually controlled pressure source having a brake pedal and an accumulator pressure source. A controller controls the brake device according to the drift-out quantity so as to variably apply a braking force to a selected wheel for suppressing the vehicle body against drifting out. The controller controls the brake device by employing the manually controlled pressure source when the brake pedal is substantially stepped on, while employing the accumulator pressure source when the brake pedal is not substantially stepped on. The use of the manually controlled pressure source may also be conditioned upon a friction coefficient of a road surface not being greater than a predetermined threshold value.

Stability control device of vehicle compatible with foot braking

A stability control device for a vehicle is shown including a device that estimates a liability of the vehicle body to a turn running instability and produces an instability quantity that generally increases along with increase of the liability. A braking device selectively applies a variable braking force to each wheel. A controller controls the braking device so as to variably apply the braking force to a selected wheel or wheels based upon the instability quantity for suppressing the vehicle body against the turn running instability. The controller withholds applying the braking force to the selected wheel or wheels when the instability quantity is discretely produced more than a threshold number of times in succession at a magnitude greater than a threshold value with an interval shorter than a threshold time duration.

Stability control device of vehicle improved against hunting

A stability control device of a vehicle includes a device for estimating a liability of the vehicle body to a running instability for producing an instability quantity which generally increases along with increase of the liability; a brake device for selectively applying a variable braking force to each wheel, the brake device including a manually controlled pressure source incorporating a brake pedal and an accumulator pressure source; a manual brake sensor for detecting a substantial stepping on of the brake pedal by a driver; and a controller for controlling the brake device so as to variably apply a braking force to a selected one or ones of the wheels for a stability control of suppressing the vehicle body against the running instability based upon the accumulator pressure, the controller controlling the brake device so that a braking force is applied to the wheels based upon the manually controlled pressure source when the stability control is not carried out, wherein, when the substantial stepping on of the brake pedal is detected by the manual brake sensor when the controller has finished the stability control, the controller controls the brake device so that the braking force based upon the manually controlled pressure source is applied to the wheels under a controlled uprise rate.

Stability control device of vehicle prepared for manual brake uprise

A stability control device of a vehicle having an estimator for identifying a tendency of the vehicle body toward running instability when, for example, the vehicle is making a turn, and for producing an instability quantity which generally increases along with increase of the tendency; a first wheel speed detector of an inside wheel, with respect to the duration of turn, for producing an inside wheel speed signal; a second wheel speed detector of an outside wheel for producing an outside wheel speed signal; a brake for selectively applying a variable braking force to each of the wheels; and a controller for controlling the brake so as variably to apply a braking force to the outside wheel according to calculations based upon the instability quantity and the inside wheel speed signal, wherein the controller uses the outside wheel speed signal as a substitute for the inside wheel speed signal when the inside wheel speed signal is judged to be abnormal, and further, when the outside wheel speed signal is judged to be abnormal, the controller holds the braking force applied to the outside wheel constant for a predetermined period before terminating the control operation.

Stability control device of vehicle adaptive to failure of wheel speed

A stability control device of a vehicle having an estimator for estimating a liability of the vehicle body to a turn running instability for producing an instability quantity which generally increases along with an increase of the liability; a brake system for selectively applying a variable braking force to each of the wheels; and a controller for controlling the brake system so as variably to apply a braking force to a selected one or ones of the wheels at a rate calculated based upon the instability quantity for suppressing the vehicle body against the turn running instability, wherein the controller sets a maximum possible value of the rate so that the maximum possible value being lowered along with increase of time of applying the braking force.

A drift-out suppress control device of a vehicle having a mechanism for estimating a liability of the vehicle body to drift out for producing a drift-out quantity which generally increases along with increase of the drift-out liability; a brake mechanism for selectively applying a variable braking force to each wheel; and a control mechanism for controlling the brake mechanism according to the drift-out quantity so as variably to apply a braking force to rear left and rear right wheels with a target value therefor for suppressing the vehicle body against drifting out, the target value being generally proportional to the drift-out quantity and being divided between the rear left and rear right wheels according to a distribution ratio, wherein the control mechanism decreases a share of the distribution ratio for one of the rear left and rear right wheels serving at the inside of a turn to be progressively lesser relative to a share of the distribution ratio for the other of the rear left and rear right wheels serving at the outside of the turn as the drift-out control approaches the end thereof.

Drift-out suppress control device of vehicle improved for termination of

A stability control device of a vehicle having a vehicle body, front and rear wheels, a device for estimating a liability of the vehicle body to drift out for producing a drift-out quantity which generally increases along with increase of the drift-out liability; a device for detecting lateral acceleration of the vehicle body; a brake for selectively applying a variable braking force to each of the wheels; and a controller for controlling the brake so as to variably apply a braking force to each of the wheels, wherein the controller controls the brake based upon the drift-out quantity such that a braking force applied to the rear wheels is increased with an increase of the drift-out quantity except for when the lateral acceleration is substantially minor.

Stability control device of vehicle distinctive of split-.mu. road

A slip rate at a time when a wheel deceleration corresponding to the difference between the road-surface reactive torque and the braking torque has become greater than or equal to a predetermined value set on the basis of a vehicle deceleration is computed. An offset amount between the slip rate computed on the basis of the wheel deceleration and a targeted slip rate at which a coefficient of braking friction becomes maximum is computed. A wheel speed at the targeted slip rate is calculated as a targeted wheel speed on the basis of the calculated slip rate, the calculated offset amount, and a vehicle speed. Then, the braking torque of the wheel is controlled such that the wheel speed becomes equal to the targeted wheel speed.

Growing community of inventors

Mishima, Japan

Shirou Monzaki