Toyota Jidosha Kabushiki Kaisha

Takemi Murayama

Hisanori Mitsumoto

Hideki Kato

Go Inoue

Noritsugu Iwazaki

Taisuke Yasutomi

Takuya Shoji

Tomotaka Asano

A vehicle control system executes vehicle stability control and driving assist control. The vehicle control system calculates an unstable state quantity representing instability of the vehicle and an activation threshold of the vehicle stability control, based on a vehicle state detected by a sensor installed on the vehicle. A state change amount is an amount of increase in the unstable state quantity from an average unstable state quantity that is obtained when a lateral acceleration of the vehicle is within a predetermined range. A threshold change amount is an amount of increase in the activation threshold from an average activation threshold that is obtained when the lateral acceleration is within the predetermined range. When the driving assist control is in execution, the vehicle control system activates the vehicle stability control in response to the state change amount becoming larger than the threshold change amount.

Vehicle control system and vehicle control method

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.

Vehicular behavior control apparatus

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.

Behavior control apparatus for vehicle

A predetermined relationship among various loading states, stability factor (Kh) of a vehicle and lateral acceleration (Gy) of the vehicle is stored in a storage device (A) as a reference relationship (i.e. a map). Information regarding a lateral acceleration (Gy) of the vehicle is acquired using a lateral acceleration sensor (). An estimated value of the stability factor (Kh) of the vehicle is calculated on the basis of vehicle travelling data when turning. A loading state of the vehicle is estimated on the basis of the area in which the estimated value of the stability factor and the lateral acceleration of the vehicle which is at the same point in time as the vehicle travelling data which were provided for the calculation of the estimated value belong in the reference relationship.

Method and device for estimating loading state of vehicle

A slope-descending speed control devicefor 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.

Growing community of inventors

Mishima, Japan

Takemi Murayama