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21. 发明专利

JP2003175749A RUNNING CONTROLLER FOR VEHICLE 审中-公开
公开(公告)号：JP2003175749A
公开(公告)日：2003-06-24
申请号：JP2001378527
申请日：2001-12-12
申请人： TOYOTA MOTOR CORP , TOYOTA CENTRAL RES & DEV
发明人： SUZUMURA MASAHITO , INAGAKI SHOJI , KOIBUCHI TAKESHI , HATTORI YOSHIKAZU
IPC分类号： B62D6/00 , B60T8/1755 , B60T8/58 , B60W10/00 , B60W10/04 , B60W10/06 , B60W10/18 , B60W10/188 , B60W10/20 , B62D7/14 , B62D101/00 , B62D113/00 , B62D137/00 , F02D29/02 , B60K41/28 , B60K41/00
摘要： PROBLEM TO BE SOLVED: To change strictness in running motion control upon controlling running motion of a vehicle by the steering control and the driving force control. SOLUTION: A target front and rear force Fxt, a target lateral force Fyt, and a target yaw moment Mzt of the vehicle based on an ideal vehicular model are computed S100, S150, an actual front and rear force Fx, a lateral force Fy, and a yaw moment Mz of the vehicle are computed S200, and a target slip angle αti and a first target slip ratio κt1i of the respective wheels are computed S300 on the basis of the above computation. A steering control means is controlled on the basis of the target slip angle αti S1000, S1050. A braking and driving force control means is controlled on the basis of a second target slip ratio κt2i computed on the basis of the target front and rear force Fxt κ , the target lateral force Fyt κ , and the target yaw moment Mzt κ on the basis of an actual vehicular model in a second control mode S550-S700, S1050 and is controlled on the basis of the first target slip ratio κt1i in a first control mode S900, S1050. COPYRIGHT: (C)2003,JPO

22. 发明专利

JP2002274410A TRAVELING CONTROL DEVICE FOR VEHICLE 失效
公开(公告)号：JP2002274410A
公开(公告)日：2002-09-25
申请号：JP2001084551
申请日：2001-03-23
申请人： TOYOTA MOTOR CORP , TOYOTA CENTRAL RES & DEV
发明人： KOIBUCHI TAKESHI , HATTORI YOSHIKAZU
IPC分类号： B62D6/00 , B60T8/172 , B60T8/1755 , B60T8/1764 , B60T8/58 , B60W30/02 , B62D101/00 , B62D103/00 , B62D113/00 , B62D137/00
摘要： PROBLEM TO BE SOLVED: To surely and effectively control the behavior of a vehicle regardless of conditions of the vehicle. SOLUTION: The feedback controlled variable Mfb is operated on the basis of the behavior of the vehicle (S20, 30), the feed forward controlled variable Mff is operated on the basis of the deviation ΔM between the yaw moment M0 of the vehicle and the actual yaw moment M of the vehicle in a desired traveling condition (S40), the division of the feed back controlled variable Mfb and the feed forward controlled variable Mff to the behavior control by braking force control of wheels and the behavior control by steering control of rear wheels, is controlled on the basis of a result of the judgment (S60) whether the behavior control by braking force control of the wheels is permitted or not, and the judgment (S70) whether the behavior control by steering control of the rear wheels is permitted or not, and the dead zone of the feed back control and the feed forward control is controlled (S80-S190).

23. 发明专利

JP2001225733A TRAVELLING CONTROL DEVICE FOR VEHICLE 失效
公开(公告)号：JP2001225733A
公开(公告)日：2001-08-21
申请号：JP2000038340
申请日：2000-02-16
申请人： TOYOTA MOTOR CORP , TOYOTA CENTRAL RES & DEV
发明人： EIRAKU REI , HATTORI YOSHIKAZU
IPC分类号： B60T8/24 , B60T8/58
摘要： PROBLEM TO BE SOLVED: To improve the turning performance of a vehicle without causing the poor behavior of the vehicle during transition to normal run after transient turn. SOLUTION: A target yaw moment(m) of the vehicle is computed in accordance with a vehicle model, in which the responsiveness of a yaw rate γ of the vehicle with the change of a steering angle δ is higher than that of the actual vehicle and an overshoot of the yaw rate after transient turn is smaller than that of the actual vehicle, and the steering angle δ and a speed V (S30) to control braking force on each wheel in accordance with the target yaw moment, whereby a yaw moment corresponding to the target yaw moment is given to the vehicle. Thus, the responsiveness of the vehicle during transient turn is improved and the overshoot of the yaw rate during transition to normal run after the transient turn is prevented (S40-90).

24. 发明专利

JP2001177915A APPARATUS FOR TRANSFERRING ENERGY 失效
公开(公告)号：JP2001177915A
公开(公告)日：2001-06-29
申请号：JP35237699
申请日：1999-12-10
申请人： TOYOTA MOTOR CORP , TOYOTA CENTRAL RES & DEV
发明人： SOGA MASAYUKI , OBUCHI HIROSHI , NIWA SATORU , SAKAMOTO JUNICHI , HATTORI YOSHIKAZU
IPC分类号： H02J7/00 , B60L5/00 , B60L11/18 , B60M7/00
摘要： PROBLEM TO BE SOLVED: To provide an energy transferring apparatus which performs energy transfer smoothly, between energy supplying facilities and a mobile in the course of moving. SOLUTION: Since the energy transferring apparatus of this invention supplies energy through energy supplying facilities 2, and obtains the supplied energy with the mobile 1 in the course of moving, the apparatus is provided with posture controlling means 11, 17, 27 for controlling the posture of the mobile when the energy is transferred.

25. 发明专利

JP2000313323A BRAKE CONTROL DEVICE FOR VEHICLE 失效
公开(公告)号：JP2000313323A
公开(公告)日：2000-11-14
申请号：JP12568499
申请日：1999-05-06
申请人： TOYOTA MOTOR CORP , TOYOTA CENTRAL RES & DEV
发明人： SOGA MASAYUKI , HATTORI YOSHIKAZU
IPC分类号： B60T7/22 , B60R21/16 , B60R21/32
摘要： PROBLEM TO BE SOLVED: To prevent a secondary collision when a vehicle collides, and to satisfy a will to run if a driver has the will. SOLUTION: When a collision is detected (S40-60), an affirmative judgement is performed at any of steps 40-60 at the time of a vehicle collision, and a driver does not have a will to run while a vehicle having a low speed (S120, 130), a high braking force is automatically given to a wheel (S140, 210) by controlling a wheel cylinder pressure Pi of each wheel in a pre-set desired value Ptc. When the driver has a will to run or the vehicle has a high speed, the braking force is not given to the vehicle by setting the desired wheel cylinder pressure Pti to be 0 for securing a situation so as to be capable of running the vehicle.

26. 发明专利

JPH08132931A TRAVEL CONTROL DEVICE FOR VEHICLE 失效
公开(公告)号：JPH08132931A
公开(公告)日：1996-05-28
申请号：JP27881694
申请日：1994-11-14
申请人： TOYOTA MOTOR CORP , TOYOTA CENTRAL RES & DEV
发明人： SATONAKA HISASHI , HASHIMOTO YOSHIYUKI , ASANO KATSUHIRO , HATTORI YOSHIKAZU
IPC分类号： B60W10/04 , B60W10/00 , B60W10/06 , B60W10/18 , B60W10/184 , B60W30/00 , B60W30/16 , B60W40/09 , F02D9/02 , F02D29/02 , B60K41/20
摘要： PURPOSE: To provide a travel control device performing vehicle speed control and alarm control with timing coinciding with the operating timing of a driver during follow-up travel. CONSTITUTION: An inter-vehicle distance sensor and a vehicle speed sensor 12 are provided to detect the speed of an own vehicle, relative speed and inter- vehicle distance. A control device ECU14 computes brake starting inter-vehicle distance under the fixed condition of deceleration on the basis of a specified driver model equation and compares it with the present inter-vehicle distance so as to control a brake 20 and a throttle 22 to control the vehicle speed and also to control a display 24 and a speaker 26 to output an alarm. The driver model equation is determined according to the limit inter-vehicle time and the deceleration of a driver, and the parameter thereof is adjusted on the basis of the measured data so as to coincide with the driver.

27. 发明专利

JPH06336125A TRAVELING CONTROLLER FOR VEHICLE 失效
公开(公告)号：JPH06336125A
公开(公告)日：1994-12-06
申请号：JP12636293
申请日：1993-05-27
申请人： TOYOTA CENTRAL RES & DEV , TOYOTA MOTOR CORP
发明人： HATTORI YOSHIKAZU , ASANO KATSUHIRO , MIZUKOSHI MASASHI , SHIGEMATSU TAKASHI
IPC分类号： B60K31/00 , B60R21/00 , B60T7/12 , B60T8/174 , B60W30/00 , F02D29/02
摘要： PURPOSE:To carry out deceleration with the proper timing without giving a physically discomfortable feeling to a driver by decelerating the own vehicle when the relative speed is large even if the relative accelerating speed from an article is small, or when the distance is small even if the relative accelerating speed from the article is small. CONSTITUTION:A between-vehicle distance detecting means 10 and a car speed detecting means 12 are connected with a control means 14. The control means 14 is connected with a brake 20 through an actuator 16, and connected with a throttle 22 through an actuator 18. When the relative accelerating speed between the own vehicle and an article is less than a prescribed value and the distance between the own vehicle and the article is less than the first prescribed value and over the second prescribed value smaller than the first prescribed value, and the own vehicle and the article approach at the relative speed over the prescribed value, or when the relative accelerating speed between the own vehicle and the article is less than a prescribed value, and the distance between the own vehicle and the article is less than the third prescribed value which is smaller than the first prescribed value and larger than the second prescribed value, and over the second value, the speed of the own vehicle is decelerated.

28. 发明专利

JPH06328969A TRAVELING CONTROL DEVICE FOR VEHICLE 失效
公开(公告)号：JPH06328969A
公开(公告)日：1994-11-29
申请号：JP12021793
申请日：1993-05-21
申请人： TOYOTA CENTRAL RES & DEV , TOYOTA MOTOR CORP
发明人： ASANO KATSUHIRO , HATTORI YOSHIKAZU , MIZUKOSHI MASASHI , SHIGEMATSU TAKASHI
IPC分类号： B60K31/00 , B60T7/12 , B60T8/174 , B60T8/32 , B60W10/04 , B60W10/06 , B60W10/18 , B60W10/188 , B60W30/00 , B60W30/16 , F02D9/02 , F02D29/02 , B60K41/20
摘要： PURPOSE:To appropriately control the timing to start the deceleration of a vehicle by detecting the relative acceleration of the vehicle to a subject, and controlling the vehicle speed so as to obtain the target relative speed when the vehicle and the subject relatively approach to each other with the relative acceleration over the specified value. CONSTITUTION:A distance-between-vehicles detecting means 10 to detect the distance between a preceding vehicle and the subject vehicle and a vehicle speed detecting means 12 to detect the speed of the subject vehicle are provided, and the respective output signals are received by a control means 14. In this control means 14, the relative acceleration G and the relative speed are calculated based on the distance HW between vehicles, and the distance HW between vehicles is compared with the specified following distance HW1 between vehicles, and when HW>HW1, the opening of a throttle 22 is controlled through an actuator 18 to control the speed of the subject vehicle to a constant value. On the other hand, when HW

29. 发明专利

JP2006347236A OBSTACLE AVOIDANCE CONTROLLER AND OBSTACLE AVOIDANCE CONTROL PROGRAM 审中-公开
公开(公告)号：JP2006347236A
公开(公告)日：2006-12-28
申请号：JP2005172933
申请日：2005-06-13
申请人： TOYOTA CENTRAL RES & DEV
发明人： HATTORI YOSHIKAZU , ONO HIDEKAZU
IPC分类号： B60R21/00 , B60T7/12 , B60W10/04 , B60W10/06 , B60W10/18 , B60W10/188 , B60W10/20 , B60W30/00 , B60W30/09 , B62D6/00 , B62D101/00 , B62D113/00 , G08G1/16
摘要： PROBLEM TO BE SOLVED: To compute the direction of a tire generation force capable of avoiding an obstacle in the shortest distance by feedback control. SOLUTION: A map for deriving a direction θ of a body generation force for avoiding an obstacle is stored based on a first parameter √(Y e ')/v x decided according to components v x in the longitudinal direction of the body at a relative speed and physical quantity decided based on a body lateral distance Y e ' for avoiding an obstacle and a second parameter v y /√(Y e ') decided according to components v y in the body lateral direction of the relative speed and the physical quantity, and a distance between its own vehicle and the obstacle and the relative speed of its own vehicle to the obstacle are detected, and the first parameter and the second parameter are calculated based on the detected distance and relative speed, and the direction θ of the body generation force is derived by using the calculated first parameter and second parameter and the map. COPYRIGHT: (C)2007,JPO&INPIT

30. 发明专利

JP2005132172A Travel control device 审中-公开
标题翻译：旅行控制装置
公开(公告)号：JP2005132172A
公开(公告)日：2005-05-26
申请号：JP2003369201
申请日：2003-10-29
申请人： Toyota Central Res & Dev Lab Inc , 株式会社豊田中央研究所
发明人： HATTORI YOSHIKAZU , ONO HIDEKAZU
IPC分类号： B60R21/00 , B60T7/12 , B60T8/1755 , B60T8/58 , B62D6/00 , B62D113/00 , B62D137/00 , G08G1/16
摘要： PROBLEM TO BE SOLVED: To provide a travel control device to control the travel of a vehicle so as to efficiently avoid an obstacle at a shortest distance. SOLUTION: A radar device 11 detects the relative distance between a vehicle and an obstacle. A differentiator 21 of an ECU 20 detects a relative speed by performing the time-differentiation of the relative distance. An optimum control input operator 22 refers to an optimum control input table when it detects that the relative distance detected by the radar device 11 reaches a threshold Th or shorter and in a control range, and operates the optimum control input (the force F and the direction θ) corresponding to the relative speed v 0 by each unit step. When a distribution operator 23 detects that the relative distance is the threshold Th or shorter, and in the control range, the control distribution of a steering angle and a braking force is operated so that a vehicular motion state quantity is matched with an optimum control input operated by the optimum control input operator 22. COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供一种行驶控制装置来控制车辆的行驶，以便有效地避免在最短距离处的障碍物。解决方案：雷达装置11检测车辆与障碍物之间的相对距离。 ECU20的微分器21通过执行相对距离的时间差分来检测相对速度。当最佳控制输入操作器22检测到雷达装置11检测到的相对距离达到阈值Th或更短并处于控制范围时，参考最佳控制输入表，并操作最佳控制输入（力F和方向θ）对应于相对速度v 0 。在分配算子23检测到相对距离为阈值Th以下的情况下，在控制范围内，操作转向角和制动力的控制分配，使得车辆运动状态量与最佳控制输入由最佳控制输入操作器22操作。版权所有（C）2005，JPO＆NCIPI

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