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    • 3. 发明申请
    • Vehicle control method and vehicle control apparatus
    • 车辆控制方法和车辆控制装置
    • US20040186647A1
    • 2004-09-23
    • US10767283
    • 2004-01-30
    • KABUSHIKI KAISHA TOYOTA CHUO KENKYUSHO
    • Eiichi Ono
    • G06G007/76G06F007/70
    • B60W10/04B60T8/1755B60T2260/02B60T2260/022B60W10/18B60W10/20B60W30/02B60W40/064B60W40/068B62D6/002B62D6/006
    • A target resultant force to be applied to a vehicle body is calculated, the magnitude of a critical friction circle of each wheel is estimated, and a critical resultant force is estimated from the estimated magnitude of the critical friction circle. Subsequently, a ratio of the target resultant force to a critical resultant force is set as an effective road friction, and the magnitude of a tire force is set by using the magnitude of the critical friction circle and the effective road friction. The direction of the tire force of each wheel to be controlled is set based on the sum of products, which are calculated for all other wheels, of a distance from the position of the wheel to be controlled to the position of the other wheel in a direction of the resultant force, and the magnitude of the tire force of the other wheel. Cooperative control of steering and braking or steering and driving of each wheel to be controlled is performed based on the magnitude and direction of the tire force which have been set.
    • 计算要施加到车身的目标合力,估计每个车轮的临界摩擦圈的大小,并根据估计的关键摩擦圈的大小来估计临界合力。 随后,将目标合力与临界合力的比率设定为有效道路摩擦,并且通过使用临界摩擦圈的大小和有效道路摩擦来设定轮胎力的大小。 要控制的每个车轮的轮胎力的方向是基于对于所有其他车轮计算的乘积之和与从被控制车轮的位置到另一车轮的位置的距离的总和来设定的 合力的方向和另一个车轮的轮胎力的大小。 基于所设定的轮胎力的大小和方向,进行对要控制的各车轮的转向和制动或转向和驾驶的协同控制。