Advics Co., Ltd.

Aisin Seiki Kabushiki Kaisha

Toyoda Koki Kabushiki Kaisha

Jtekt Corporation

Kabushiki Kaisha Toyota Chuo Kenkyusho

Toyota Jidosha Kabushiki Kaisha

Other

Advices Co., Ltd.

Yuji Muragishi

Eiichi Ono

Yoshiyuki Yasui

Minekazu Momiyama

Hiroaki Kato

Kenji Asano

Wataru Tanaka

Katsuhiro Asano

Yuzo Imoto

Hiroaki Aizawa

Shinji Takeuchi

Yoshikazu Hattori

Hiroaki Niino

Shinsuke Sato

Yuzou Imoto

Mamoru Sawada

Katsumi Kono

Toshihisa Kato

Akira Tanaka

Norimi Asahara

Hiroaki Yoshida

Masami Kondo

Masataka Osawa

Ken Koibuchi

Ryoichi Hibino

Shoji Ito

Toshinari Suzuki

Takayuki Ohta

Yoshiki Ninomiya

Yuichi Tanaka

Daisuke Yamada

Yoshikatsu Kisanuki

Kiyokazu Sunami

Yoshitoshi Watanabe

Toshio Kohno

Shoji Ogawa

Masanori Miyashita

Takero Hongo

Michio Ishiguro

Arata Takahashi

Kazunori Furukawa

Kimiaki Ono

Tsugiharu Matsunaga

Syoji Ogawa

Tomoko Sugawara

Takehito Tomita

Yojiro Koike

Yutaka Onuma

Yasuaki Tsurumi

Ikuo Kushiro

Koji Sawamura

A motor-driven steering controller for controlling a steering wheel of a vehicle. The controller includes a steering torque controlling unit, a braking force estimating unit, a right and left braking force difference estimating unit and an assist steering torque providing unit. The steering torque controlling unit controls a steering torque on the steering wheel depending on a steering operation. The braking force estimating unit estimates braking forces to be imposed on wheels of the vehicle. The right and left braking force difference estimating unit estimates difference between the braking forces to be imposed on the right and left wheels each estimated by the braking forces estimating unit. The assist steering torque providing unit provides an assist steering torque for the steering torque controlling unit on the basis of the difference in braking force between right and left wheels estimated by the right and left braking force difference estimating unit.

Motor-driven steering controller and automobile anti-skid controller

A steering apparatus that by effecting a predetermined relationship between a steering wheel angle and a yaw angular velocity generated for a vehicle makes a direction &#x3b8;, seen from the view point of the driver, of a target destination point on a target course for vehicle travel after a predetermined forward gaze time, and a direction &#x3b4;of a steering wheel reference position, seen from the view point of the driver, coincide with each other. The steering apparatus can accordingly enhance the sensation of driver-vehicle togetherness, thereby enabling steering to be performed that matches driver sensation and does not cause discomfort.

Steering apparatus

A target value for yaw angle velocity gain is computed according to a map expressing a relationship between steering wheel angle and yaw angle velocity gain predetermined such that a direction as seen from a driver of a target destination point for vehicle travel at a predetermined time after a forward gaze and a direction as seen from the driver are caused to match each other, and a steering gear ratio is controlled accordingly. A target value for a steering wheel torque corresponding to the detected steering wheel angle and the acquired yaw angular velocity is set, based on a relationship between yaw angular velocity and resistance-feel level predetermined such that the resistance feel level for a driver monotonically increases with increasing yaw angular velocity. Control is then preformed so as to realize the steering wheel torque target value.

Steering apparatus, steering method, and computer readable storage medium

The invention provides a vehicle motion control device capable of realizing optimum avoidance control in the case of an emergency. The vehicle motion control device includes an external environment detection unit for detecting external environment, and a travel state detection unit for detecting a travel state of a driver's vehicle. An obstruction is detected based on the external environment detected by the external environment detection unit, and an environment map indicating obstructions is created. A control device estimates a plurality of possible avoidance actions for avoiding an obstruction based on the environment map and the travel state of the driver's vehicle detected by the travel state detection unit. The control device estimates collision damage according to each avoidance action estimated by the avoidance action estimation unit, and selects an appropriate avoidance action based on the estimated collision damage. The control device controls a vehicle such that the selected avoidance action is carried out.

Vehicle motion control device

A vehicle control system includes a calculator that calculates an integrated controlled variable including a first controlled variable used for controlling the braking/driving force of each wheel so as to optimize the &#x3bc; utilization ratio of the wheel and a second controlled variable used for controlling the steering angle of each wheel, based on constraints including a target resultant force to be applied to the vehicle body and a limit friction circle of each wheel, a calculator that calculates a steering controlled variable used for controlling only the steering angle of each wheel so as to achieve the target resultant force, and a controller that controls only the steering angle of each wheel, or the steering angle and braking/driving force of each wheel, based on a controlled variable obtained by linearly interpolating the integrated controlled variable and the steering controlled variable.

Vehicle control system and vehicle control method

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

Various state amounts of a vehicle body detected by various types of sensors are captured (step). A maximum frictional force Fis calculated for each of wheels (stepsto). By use of the maximum frictional force Fand other physical quantities, a performance function not dependent on respective magnitudes of a vehicle body generating force and a yaw moment is defined, which performance function is prepared by means of a performance function in a case in which the vehicle body generating force is larger than the yaw moment, and a performance function in a case in which the vehicle body generating force is not larger than the yaw moment (step). A resultant force qof tire generating forces acting on respective wheels is calculated by means of a third performance function (step), and braking and driving forces of each wheel, and a steering angle of each wheel are obtained by means of the calculated direction in which the resultant force of tire generating forces acts on the wheels (step). Based on the obtained braking and driving forces and steering wheel of each of the wheels, these wheels are each controlled (step).

Vehicle body motion realization method and apparatus

An angular velocity detection device is provided for detecting an angular velocity about a single axis tilted in a longitudinal direction of a vehicle to a normal axis thereof. An actual motion state variable of the vehicle is calculated on the basis of the detected angular velocity. At least one of the braking force and driving force applied to a vehicle is controlled to stabilize a yawing motion and a rolling motion of the vehicle, on the basis of a motion state variable deviation between a desired motion state variable and the actual motion state variable, e.g., a deviation between a yaw velocity and a roll velocity of the vehicle.

Vehicle motion stability control apparatus

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

In a steering apparatus, in accordance with a grip limit control process ('), it is determined whether or not a grip degree &#x3b5; estimated by a grip degree estimation arithmetically operating process () is less than a predetermined grip degree (&#x3b5;&#x2032;), and in the case that it is determined that an estimated grip degree (&#x3b5;) is less than the predetermined grip degree (&#x3b5;&#x2032;), the process applies such a feeling that a steering operation by a steering wheel suddenly becomes light to a driver, by suddenly increasing an assist quantity by a motor (M), thereby notifying the driver of the matter that the grip degree of a steered wheel is close to a limit. Therefore, it is possible to transmit to the driver a probability that a side slip is generated by further turning the steering wheelin the same direction as the current direction, thereby calling the driver's attention for steering. Accordingly, there is an effect that a stability of a vehicle behavior can be improved without applying any fear of insecurity to the driver.

Steering device

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.

Vehicle motion control apparatus

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

In accordance with a vehicle motion control apparatus, a steering angle (&#x3b8;h) of a steering wheel is determined on the basis of a rotation angle (&#x3b8;pm) of an assist motor () detected by a rotation angle sensor () and a rotation angle (&#x3b8;vm) of a gear ratio variable motor () detected by a rotation angle sensor (), and a VGRS control process () of a gear ratio variable mechanism is executed on the basis of the determined steering angle (&#x3b8;h). Accordingly, since the steering angle (&#x3b8;h) of the steering wheel is determined on the basis of the rotation angle (&#x3b8;vm) used for the VGRS control process () of the gear ratio variable mechanism and the rotation angle (&#x3b8;pm) used for an EPS control process () of an EPS actuator, it is possible to obtain the steering angle (&#x3b8;h) of the steering wheel without a steering angle sensor. Therefore, it is possible to reduce the number of the parts of a vehicle motion control apparatus.

Method and device for controlling maneuverability of vehicle

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Nagoya, Japan

Yuji Muragishi