The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jul. 28, 2009
Filed:
Nov. 12, 2004
Ken Koibuchi, Susuno, JP;
Eiichi Ono, Toyota, JP;
Yoshikazu Hattori, Nisshin, JP;
Yuji Muragishi, Owariasahi, JP;
Ken Koibuchi, Susuno, JP;
Eiichi Ono, Toyota, JP;
Yoshikazu Hattori, Nisshin, JP;
Yuji Muragishi, Owariasahi, JP;
Toyota Jidosha Kabushiki Kaisha, Toyota, JP;
Abstract
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).