Toyota Jidosha Kabushiki Kaisha

Other

Yukihide Kimura

Yoji Kunihiro

Takeshi Goto

Takahiro Kojo

Yoshio Kudo

Yoshiaki Suzuki

Masao Ueyama

Ryota Osumi

Toshihide Yano

Junrou Yamamoto

Taku Nagasawa

Masateru Amano

Etsuo Katsuyama

Katsuyuki Sano

Kei Takakuwa

Yoshimi Kajitani

Katsutoshi Mizuno

Naohito Ino

Kimitoshi Kato

Hiroyuki Terada

Tomoaki Morimoto

Hideo Osanai

Yoshikazu Kameda

Norihiro Yoshida

Takatomo Kutsuna

An automatic tilting vehicle is provided that includes left and right front wheels supported by knuckles, a steerable rear wheel, a vehicle tilting device, and a control unit. The vehicle tilting device includes a swing member, a tilt actuator for swing the swing member, and a pair of tie rods pivotally attached to the swing member and the knuckles. The control unit calculates a target lateral acceleration of the vehicle, estimates a lateral acceleration of the vehicle caused by the gyro moments of the wheels and calculates a target tilt angle of the vehicle based on a sum of the target lateral acceleration and the lateral acceleration caused by the gyro moments.

Automatic tilting vehicle

Automatic tilting vehicle is provided that includes left and right front wheels supported by knuckles, a rear wheel steered by a steering actuator, a vehicle tilting device, and a control unit. The control unit calculates a target tilt angle of the vehicle and a target steered angle of the rear wheel based on a steering angle and a vehicle speed, controls the vehicle tilting device so that a tilt angle of the vehicle becomes the target tilt angle, and controls the steering actuator so that a steered angle of the rear wheel becomes the target steered angle. When the vehicle is turning and decelerating, a steered angle of the rear wheel is controlled not to be the target steered angle but to zero, and a tilt angle of the vehicle is reduced by a gyro moment of the rear wheel.

A driving support apparatus for a vehicle comprising a steering device that steers steerable wheels, and a control unit configured to execute a running control in which a steered angle of the steerable wheels is changed by controlling the steering device, the control unit being configured to calculate a deviation between an index value of a target running state of the vehicle and an index value of an actual running state, to calculate a target change amount of the steered angle based on the index value deviation, to control the steering device so that a change amount of the steered angle conforms to the target change amount, and to limit a magnitude of a time change rate of the steered angle changed by the running control when one of a magnitude of the index value deviation and a magnitude of the target change amount exceeds a reference value.

Driving support apparatus for vehicle

A driving support device may be configured to calculate a target steering angle for allowing a vehicle to travel along a target course; set, as a reference steering angle, a steering angle when a difference between the steering angle and the target steering angle is small; calculate an indication value indicating intention of a driver's steering operation as a sum of a first product of a corrected steering angle and a steering torque, a second product of a derivative of the corrected steering angle and the steering torque, and a third product of the corrected steering angle and a derivative of the steering torque; and correct the target steering angle based on the indication value so that a target driving support torque is corrected in accordance with the intention of the driver's steering operation.

Driving support device for vehicle including an electric power steering control that generates a steering assist torque

A steering assist device includes: a steering torque detector; a steering operation amount acquisition device; an electric power steering device; and a control device configured to calculate a target control current of the electric power steering device, to supply the control current corresponding to the target control current to the electric power steering device, to determine a situation of steering operation of a driver, and to make a current component corresponding to the target inertia compensation assist torque in the target control current smaller when it is determined that the steering operation is turn-back steering with acceleration and deceleration than when it is determined that the steering operation of the driver is not the turn-back steering with acceleration and deceleration.

Steering assist device

A steering intention determination device includes a calculation unit that calculates a value based on the product of a steering angular velocity and a steering torque and the product of a steering angle and the time differential value of the steering torque, and a determination unit that determines that the driver has a turn-and-steer steering intention in a case where the value is equal to or greater than a predetermined value, determine that the driver has a steering holding intention in a case where the value is less than the predetermined value and the absolute value of the steering angular velocity is less than a predetermined angular velocity, and determine that the driver has a switchback steering intention in a case where the value is less than the predetermined value and the absolute value of the steering angular velocity is equal to or greater than the predetermined angular velocity.

Steering intention determination device, vehicle control device, steering assist device, and steering assist system

Provided is a steering assist apparatus () for a vehicle, including a transmission device () configured to transmit a force and a displacement relating to steering between a steering wheel () and steered wheels (L,R), a power steering device () configured to apply an assist torque to the transmission device, and a control device (). When assuming the steering wheel, the transmission device, the power steering device, and the steered wheels as a steering system, the control device is configured to calculate, based on a product of a steering angular velocity and a derivative of the steering angular velocity, a product of the steering angular velocity and a steering torque, and a product of a steering angle and a derivative of the steering torque, a change rate (dDE) of an energy of the steering system, and control the assist torque based on the change rate of the energy of the steering system.

Steering assist apparatus for vehicle

A controller of a steering apparatus includes a calculating unit that calculates a correction assistance quantity based on a steering angular velocity coefficient and a torque coefficient, a steering angular velocity coefficient setting unit that sets the steering angular velocity coefficient depending on a steering angular velocity and that sets the steering angular velocity coefficient to become larger as a feedback quantity of a negative feedback unit becomes larger, and a torque coefficient setting unit that sets the torque coefficient depending on a steering torque and that sets the torque coefficient to become larger as the feedback quantity of the negative feedback unit becomes larger. The feedback quantity of the torque coefficient setting unit when the steering torque is in a predetermined high-frequency range is larger than the feedback quantity of the steering angular velocity coefficient setting unit when the steering angular velocity is in a predetermined high-frequency range.

Steering apparatus and steering controller

A steering system includes a steering angle detection unit that detects a steering angle of a steering wheel; a steering torque detection unit that detects a steering torque with respect to the steering wheel; an ECU that calculates a corrected steering angle by nonlinearly correcting the steering angle, a first steering parameter as the product of an angular velocity of the steering angle and the steering torque, a second steering parameter as the product of the corrected steering angle and a time differential value of the steering torque, and a target control amount based on the first steering parameter and the second steering parameter; and a steering support unit that applies a rotation torque to the steering wheel based on the target control amount.

Steering control device and steering system

A boundary layer control system includes a boundary layer separating portion that separates a boundary layer of an airflow at an underside of a body of a moving object from a main flow of the airflow, and an ejecting portion that ejects fluid in a state different from that of the boundary layer and the main flow, between the boundary layer and the main flow that have been separated by the boundary layer separating portion. This boundary layer control system is characterized in that boundary layer and the main flow are reliably separated by the fluid in a state different from that of the boundary layer and the main flow, so the percentage of the main flow that is slowed down (i.e., reduced in velocity) by the boundary layer is reduced.

Boundary layer control system

A fluid control apparatus includes a plate member that separates an air stream on a surface of a body of a moving body into a boundary layer and a main flow and a blow-out portion that blows out the boundary layer separated by the plate member into the main flow separated by the plate member in a downstream of the plate member in a flow direction of an air stream.

Fluid control apparatus

A wing structure includes: a main wing that extends in a second direction intersecting a first direction as a fluid flow direction; and an auxiliary wing that is disposed so as to be separated from the main wing and faces the main wing at the front part side of the main wing, wherein a wing chord length of the auxiliary wing is shorter than a wing chord length of the main wing. A fluid contacts the auxiliary wing which is formed at the front part side of the main wing, the fluid is guided between the auxiliary wing and the main wing, and the fluid is compressed when passing between the auxiliary wing and the main wing, thereby appropriately forming a fluid compression process region on the surface of the main wing and increasing an acting force.

Wing structure and fairing device

A steering device that is enabled to move and operate in multiple directions and has a simple configuration. A steering device is equipped with a steering member and a guide member, and the guide member is attached to an input shaft. The steering member is provided with left and right grips, and a movement direction changing mechanism is provided between the guide member and the left and right grips. If the left and right grips are operated by a small steering angle, the movement direction of the left and right grips is changed to the direction around the input shaft through the movement direction changing mechanism. When the left and right grips are operated by a large steering angle, the movement direction of the left and right grips is the direction around the input shaft.

Steering device

A vehicle Ve comprises six wheels of front left and right wheels FWFW, middle left and right wheels MW, MW, and rear left and right wheels RW, RW. Each of in-wheel motors-is provided/installed in each of the wheels. An electronic control unit 41 calculates a target heave force for controlling a heave behavior, and a target pitching moment My for controlling a pitching behavior, using a state of a movement of a vehicle body Bo obtained from a movement state detecting sensor. The unitcalculates a driving force and a braking force of the front wheels FW1 FWand the rear wheels RW, RW, in order to achieve the calculated target heave force and the target pitching moment, and calculates a driving force and a braking force of the middle wheels MW, MWfor suppressing a forward-and-backward movement of the vehicle, the movement caused by independently (simultaneously) controlling the behaviors coupling with each other.

Vehicle behavior control apparatus

A CPU changes a turning angle corresponding to a steering angle required for a steering device to steer a host vehicle, depending on the amount of operation for moving a steering wheel at a reference position in a tilt direction and a push-pull direction. A tilt reaction force device and a push-pull reaction force device generate a reaction force against a second operation amount for moving the steering wheel from the reference position according to the reference position of the steering wheel relative to the driver which is adjusted by a tilt/expansion mechanism. In this way, even when the reference position of the steering wheel is changed, it is possible to give an appropriate reaction force to the driver since a reaction force against, for example, an operation of pushing or pulling the steering wheel is generated according to the reference position of the steering wheel relative to the driver.

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Gotenba, Japan

Yukihide Kimura