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. 03, 2015
Filed:
Mar. 24, 2014
Toyota Jidosha Kabushiki Kaisha, Toyota-shi, Aichi, JP;
Yukihide Kimura, Gotenba, JP;
Etsuo Katsuyama, Hiratsuka, JP;
Toyota Jidosha Kabushiki Kaisha, Toyota, JP;
Abstract
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.