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:
Feb. 08, 2011
Filed:
Apr. 07, 2010
Ippei Yamazaki, Toyota, JP;
Ippei Yamazaki, Toyota, JP;
Toyota Jidosha Kabushiki Kaisha, Toyota-shi, JP;
Abstract
A target turning angle calculation partcalculates a target turning angle δ on the basis of a steering angle θ and a vehicle speed V. A correction turning angle calculation partcalculates a transfer function K(s) which is a second transfer function, depending on the vehicle speed V, by using a difference between a transfer function G(s) which is a first transfer function determined on the basis of the specification of the vehicle and a stationary component G() of the transfer function G(s), the first transfer function having as an input a turning angle δ and as an output a yaw rate γ of the vehicle, the second transfer function having as an input a target turning rate δ*' obtained by temporally differentiating the target turning angle δ* and as an output a correction turning angle δ. The correction turning angle calculation partcalculates a correction turning angle δc by multiplying the transfer function K(s) by the target turning rate δ*′. A final target turning angle calculation partinputs thereto the target turning angle δ* from the target turning angle calculation partand the correction turning angle δc from the correction turning angle calculation partand calculates a final target turning angle δby adding the correction turning angle δc to the target turning angle δ*.