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. 05, 2011
Filed:
Feb. 24, 2006
Yoshinori Maeda, Aichi-gun, JP;
Kazuya Okumura, Suntou-gun, JP;
Michitaka Tsuchida, Susono, JP;
Yoshio Uragami, Mishima, JP;
Kensuke Yoshizue, Susono, JP;
Satoshi Ando, Fuji, JP;
Koji Sugiyama, Susono, JP;
Yoshinori Maeda, Aichi-gun, JP;
Kazuya Okumura, Suntou-gun, JP;
Michitaka Tsuchida, Susono, JP;
Yoshio Uragami, Mishima, JP;
Kensuke Yoshizue, Susono, JP;
Satoshi Ando, Fuji, JP;
Koji Sugiyama, Susono, JP;
Toyota Jidosha Kabushiki Kaisha, Toyota-shi, JP;
Abstract
According to the present invention, when a target braking/driving force and a vehicle target yaw moment required to a vehicle cannot be achieved through a control of a braking/driving forces of wheels, in a rectangular coordinate of the braking/driving force and the yaw moment, a polygon indicating the maximum range of the braking/driving force and the yaw moment attainable by the braking/driving forces of the wheels, and an ellipse that crosses each side of the polygon and has a major axis and a minor axis aligning with the coordinate axis of the rectangular coordinate are set, for example. The target braking/driving force and the target yaw moment are modified to the values at the coordinate of the point, which is closer to the origin, of a point of intersection of a segment linking a point indicating the target braking/driving force and the target yaw moment and the origin, and the polygon, and a point of intersection of a segment linking a point indicating the target braking/driving force and the target yaw moment and the origin, and the ellipse.