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1. 发明专利

JPH06211150A STEERING DEVICE OF VEHICLE 失效
公开(公告)号：JPH06211150A
公开(公告)日：1994-08-02
申请号：JP536893
申请日：1993-01-14
申请人： AISIN SEIKI , TOYOTA MOTOR CORP
发明人： TAGAWA SHINICHI , UEHARA YASUO
IPC分类号： B62D5/04 , B62D6/00 , B62D101/00 , B62D105/00 , B62D113/00 , B62D137/00
摘要： PURPOSE:To reduce the responsiveness to a shaking of a main steering at a low speed, an to detect the abnormal condition of an auxiliary steering system even in a low speed, by deciding an object steering angle corresponding to the main steering angle by giving a small weight when the detected main steering angle is small, and giving a small weight when the deflection between a set speed and a control speed is small. CONSTITUTION:An auxiliary steering angle calculating means 20 decides an object steering angle K.thetaf depending on the detected main steering angle thetaf and a control speed Vs, by giving the weight K small when the main steering angle thetaf is small, and large when the main steering angle is large; and giving the weight K large when the deflection between a set speed and the control speed Vs is large, and small when the deflection is small. A feedback control means 60 drives an auxiliary steering angle regulating mechanism so as to make the auxiliary steering angle coincide to the above steering angle K.thetaf. By the influence of the weight K, an adequate turning property corresponding to the car speed can be obtained, and on the other hand, since the object steering angle K.thetaf is increased in a two-dimension functionally by the increase of the weight K, the auxiliary steering mechanism starts to operate at a certain low value, and the abnormal condition can be detected at the point of time.

2. 发明专利

JPH06135345A AUTOMATIC AUXILIARY STEERING GEAR OF VEHICLE 失效
公开(公告)号：JPH06135345A
公开(公告)日：1994-05-17
申请号：JP28729392
申请日：1992-10-26
申请人： AISIN SEIKI , TOYOTA MOTOR CORP
发明人： TAGAWA SHINICHI , NAKAJIMA HIROSHI , UEHARA YASUO
IPC分类号： B62D6/00 , B62D101/00 , B62D105/00 , B62D113/00 , B62D137/00
摘要： PURPOSE:To enhance the responsiveness of auxiliary steering to main steering and to smooth the auxiliary steering against disturbance. CONSTITUTION:A first auxiliary steering angle (G1.thetaf) corresponding to the main steering of an auxiliary steering wheel and a target yaw rate (TYs) are determined on the basis of an actual steering angle (thetaf) and vehicle speed(Vs), and the deviation (TYs-Ys) of the actual yaw rate (Ys) from the target yaw rate (TYs) is calculated. Then a second auxiliary steering angle (G2.(TYs-Ys)) proportional to the deviation (TYs-Ys), a third auxiliary steering angle (G3.dt(TYs-Ys)/dt) corresponding to the differential of the deviation (TYs-Ys), and a fourth auxiliary steering angle (G4.integral (TYs-Ys).dt) corresponding to the integral of the deviation (TYs-Ys) are determined, and the total of the first steering angle (G1.thetaf), the second steering angle (G2.(TYs-Ys)), the third steering angle (G3.dt(TYs-Ys)/dt) and the fourth steering angle (G4.integral (TYs-Ys)dt) is set as a goal steering angle (AGLA) to control the steering angle of the rear wheels.

3. 发明专利

JPH07186668A SUSPENSION CONTROLLER 失效
公开(公告)号：JPH07186668A
公开(公告)日：1995-07-25
申请号：JP33082893
申请日：1993-12-27
申请人： AISIN SEIKI , TOYOTA MOTOR CORP
发明人： TAGAWA SHINICHI , SHONO SHOICHI
IPC分类号： B60G17/015
摘要： PURPOSE:To prevent the continuous lowering of the car height which is generated in a specific traveling state, by installing a road surface state detecting means for detecting the vibration of a car body for a road surface, and a direction detecting means for detecting the shift direction of a car body for the road surface, and varying the gain on the basis of the outputs. CONSTITUTION:In each wheel part equipped with a damping force variable type suspension, car height sensors 15ff-15rr, longitudinal acceleration sensor 16p, lateral acceleration sensor 16r, and a vertical acceleration sensor 16z are provided, and each ON/OFF duty of the pressure control solenoid valves 80fr-80rr is adjusted by s CPU 18, according to the output of each sensor. With this constitution, in the traveling on a rough road, the shift direction of a car body for the road surface is detected by a direction detecting means, and during Ne continuation of the vibration over a prescribed value, the gain in the approaching shift direction for the road surface of the car body (first division) and the gain in the separation shift direction from the road surface of the car body (second division) are varied to the values having large relative difference and so that the gain in the first division is relatively larger than that in the second division.

4. 发明专利

JPH06156293A ELECTRIC CONTROL DEVICE FOR REAR WHEEL STEERING DEVICE 失效
公开(公告)号：JPH06156293A
公开(公告)日：1994-06-03
申请号：JP31343692
申请日：1992-11-24
申请人： TOYOTA MOTOR CORP , AISIN SEIKI
发明人： SUGIYAMA MIZUHO , ADACHI HIDEAKI , TAGAWA SHINICHI
IPC分类号： B62D6/00 , B62D101/00 , B62D113/00 , B62D137/00
摘要： PURPOSE:To provide an electric control device for a rear wheel steering device to steer the rear wheels with the rotation of a motor, which is precluded from risk of seisure resulting from excessive steering load on the rear wheels and with which the rear wheel steering mechanism is exerted sufficiently when the load is removed. CONSTITUTION:When the steering load for the rear wheels RW1, RW2 becomes excessive due to rest swing, touch with curb, etc., a microcomputer 35 senses this steering load excessive, and a driver circuit 36 is controlled for prohibiting the supply of the drive current to a motor 21. When rest swing, curb touch, etc., is removed to cause that the deviation ¦thetar*-thetar¦ of the rear wheel steering angle thetar sensed by a rear wheel steering angle sensor 34 from a target value thetar* has become below a minor specific value DELTAtheta, the prohibition of the supply of drive current is disengaged, and the steering control on the left and right rear wheels RW1, RW2 is resumed.

5. 发明专利

JPH0789320A FLUID PRESSURE TYPE ACTIVE SUSPENSION 失效
公开(公告)号：JPH0789320A
公开(公告)日：1995-04-04
申请号：JP26162793
申请日：1993-09-24
申请人： TOYOTA MOTOR CORP , AISIN SEIKI
发明人： SHONO SHOICHI , TAGAWA SHINICHI
IPC分类号： B60G17/015
摘要： PURPOSE:To enhance riding comfort of a vehicle and to decrease the posture changing speed of a vehicle body, compared with the conventional one. CONSTITUTION:This suspension is provided with an actuator M1, which increases/decreases the supporting load of corresponding wheels by feeding/ discharging the working fluid to/from a working fluid chamber, a working fluid feeding/discharging device M2, which controls the rate of feeding/ discharging the working fluid to the working fluid chamber, and a controller M4, which controls a working fluid feeding/discharging means in correspondence to the quantity of a traveling state of a vehicle, which is detected by a traveling state detecting device M3. A controller possesses a control quantity computing device M5, which computes the quantity of control to the working fluid feeding/ discharging device M2 in correspondence to the traveling state, and a gain correcting device M6, which increases a damping gain when the vehicle is accelerated/decelerated or turned.

6. 发明专利

JPH0717422A REAR WHEEL STEERING DEVICE FOR VEHICLE 失效
公开(公告)号：JPH0717422A
公开(公告)日：1995-01-20
申请号：JP18918493
申请日：1993-06-30
申请人： AISIN SEIKI , TOYOTA MOTOR CORP
发明人： NAKAJIMA HIROSHI , TAGAWA SHINICHI , UEHARA YASUO , YONETANI MASAHIRO
IPC分类号： B62D5/04 , B62D6/00 , B62D7/14 , B62D101/00 , B62D113/00 , B62D137/00
摘要： PURPOSE:To insure stable steering operation in the rear wheel steering device for vehicle by appropriately limiting the steering angle of rear wheels if sudden change is generated in an actual steering angle. CONSTITUTION:This rear wheel steering device is provided with a steering mechanism SM connected to rear wheels RW and an electric motor M controlling drive of the steering mechanism SM. Further, it is provided with a target steering angle setting means S1 setting the target steering angle of the rear wheels RW, an actual steering angle detecting means S2 detecting the actually steered actual steering angle, and a control means S3 controlling output of the electric motor M according to the comparison result of the target steering angle with the actual steering angle. It is also provided with a rate of change of target steering angle computing means S4 computing the rate of change of target steering angle, a rate of change of actual steering angle computing means S5 computing the rate of change of actual steering angle, and an output limiting means S6 controlling the control means S3 so as to limit output of the electric motor M when the rate of change in actual steering angle computed by the means S5 is over a value obtained by adding a prescribed value to the rate of change of target steering angle computed by the means S4.

7. 发明专利

JPH06160245A ABNORMALITY DIAGNOSIS SYSTEM FOR VEHICLE 失效
公开(公告)号：JPH06160245A
公开(公告)日：1994-06-07
申请号：JP31345892
申请日：1992-11-24
申请人： TOYOTA MOTOR CORP , AISIN SEIKI
发明人： GOTO TAKESHI , TAGAWA SHINICHI , HAMADA TOSHIAKI
IPC分类号： B60R16/02 , G01M17/00 , G01M17/007 , G01R31/00 , G06F11/22
摘要： PURPOSE:To provide an abnormality diagnosis system for vehicle in which many types of abnormality can be stored in a memory having small capacity. CONSTITUTION:Abnormality codes of prime numbers, e.g. 2, 3, 5, 7, 11, 13..., are assigned to various types of abnormality of sensors 11a, 11b..., actuators 12a, 12b, microcomputers 13, 15, etc. When a CPU 13a detects various types of abnormality, abnormality accumulation data representative of past abnormality stored in a nonvolatile memory 13d is multiplied by an abnormality code representative of new abnormality and the abnormality accumulation data is updated based on the multiplication results. On the other hand, abnormality accumulation data stored in the nonvolatile memory 13d is read out, as required, and solved into prime factors thus regenerating abnormality code representative of past abnormality.

8. 发明专利

JPH06156298A ELECTRIC CONTROL DEVICE FOR FOUR-WHEEL STEERING CAR 失效
公开(公告)号：JPH06156298A
公开(公告)日：1994-06-03
申请号：JP31505292
申请日：1992-11-25
申请人： TOYOTA MOTOR CORP , AISIN SEIKI
发明人： UEHARA YASUO , GOTO TAKESHI , TSUKA HIDEMORI , KUZUTANI HIDEKI , TAGAWA SHINICHI
IPC分类号： B62D6/00 , B62D101/00 , B62D113/00 , B62D137/00
摘要： PURPOSE:To provide an electric control device for four-wheel steering car which stops the steering of the rear wheels at occurrence of any failed state and restitutes them to the neutral position, thereby, the returning speed to the neutral position is enlarged when the rear wheel steering angle is large and the time of the rear wheels being in improper steering is shortened. CONSTITUTION:When any failure is generated in part of a car speed sensor 31, yawrate sensor 32, front wheel steering sensor 33, and microcomputer 35, the computer 35 senses the failure and gives driver circuits 36a, 36b a control signal for returning the rear wheels to its neutral position, and the driver circuits 36a, 36b control the rotation of a motor 21 to restitute the rear wheels to the neutral position. Therein, the duty ratio of the drive current for driving the motor 21 is enlarged with increasing absolute value of the rear wheel steering angle sensed by a rear wheel steering angle sensor 34, and the revolving speed of the motor 21 is enlarged to increase the steering speed of the rear wheels.

9. 发明专利

JPH08156561A SUSPENSION CONTROL DEVICE 失效
公开(公告)号：JPH08156561A
公开(公告)日：1996-06-18
申请号：JP33058494
申请日：1994-12-06
申请人： TOYOTA MOTOR CORP , AISIN SEIKI
发明人： SHONO SHOICHI , TABATA MASAAKI , HAMADA TOSHIAKI , TAGAWA SHINICHI , KOBAYASHI HIDEYUKI , HAYASHI KENJI
IPC分类号： B60G17/015
摘要： PURPOSE: To relieve a sense of incompatibility of an occupant through an improvement in control characteristics by arranging a means which supplies/ discharges fluid to/from an actuator interposed between an upper member and a lower member of a spring of a vehicle and controls damping force according to a traveling condition and corrects its control quantity according to the magnitude of the damping force. CONSTITUTION: Target damping force or actual condition damping force CT of an actuator 36 by final target damping force control is increased, and when responsiveness and generating force of the actuator 36 are enhanced, control target pressure Puj of a pressure control valve 22 is reduced through reductive correction of an active control gain. Therefore, excessive control to the actuator 36 is relieved. On the other hand, when these are reduced, the control target pressure Puj of the pressure control valve 22 is increased through increasing correction of the active control gain. Therefore, oil supply to the actuator 36 through the pressure control valve 22 is promoted, and a control delay caused when the responsiveness and the generating force of the actuator 36 are reduced is improved.

10. 发明专利

JPH0781601A REAR WHEEL STEERING CONTROLLER FOR FOUR-WHEELED STEERING VEHICLE 失效
公开(公告)号：JPH0781601A
公开(公告)日：1995-03-28
申请号：JP23036493
申请日：1993-09-16
申请人： TOYOTA MOTOR CORP , AISIN SEIKI
发明人： UEHARA YASUO , TAGAWA SHINICHI , ADACHI HIDEAKI
IPC分类号： B62D6/00 , B62D7/14 , B62D101/00 , B62D105/00 , B62D113/00 , B62D137/00
摘要： PURPOSE:To improve durability of an actuator by preventing high load from being applied on the actuator for steering rear wheels beforehand. CONSTITUTION:A microcomputer 35 detects a nearly stopped state of a vehicle by output of wheel speed sensors 31a-31d for detecting wheel speed, vehicle speed sensor 41 for detecting vehicle speed, first-fourth detection switches 42-45 for detecting the parking position of a shift lever, the neutral position of the shift lever, operation of a parking brake, and operation of the brake pedal respectively. And in the case of detecting the same stopping state, rotation drive of an electric motor 21 for steering left and right rear wheels RW1, RW2 is stopped according to running states of the vehicle. As a result, following possibilities are eliminated from happening such that rear wheels are stuck in a rut during stopping of the vehicle or the electric motor 21 is forced to drive under such restraint conditions as abutting of a rear wheel against a curbstone, and therefore high loading of the actuator can be avoided beforehand.

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