In order to reliably assist a driver in emergency detour steering without causing a jerking forward motion of the vehicle during normal operation, a vehicle motion control device includes: a risk potential estimator that estimates a risk potential of a vehicle based on input external information and vehicle information; a vehicle longitudinal motion controller that generates a longitudinal motion control command of the vehicle based on a vehicle lateral jerk and a predetermined gain; and a gain adjustor that adjusts the gain, in which the gain adjustor adjusts the gain based on the risk potential estimated by the risk potential estimator.

Vehicle motion control device

An object of the invention is to always maintain an outer pin holder and a housing in a speed reducer section at their predetermined positions, to prevent damage to such components as revolving members, outer circumferential engagers, and motion conversion mechanism upon a large axial load due to turning or sudden acceleration/deceleration, etc., and to eliminate rattling noise caused by the housing and the outer pin holder. A casing immobilizing member which is fixed to an inner surface of a speed reducer section casing and a housing immobilizing member which is fixed to an outer surface of a speed reducer section housing are provided between the speed reducer section casing and the speed reducer section housing. The casing immobilizing member and the housing immobilizing member are bonded with each other via a rubber member.

In-wheel motor drive device

Provided is an in-wheel motor driving device which is provided with a versatile suspension installation part, and which is light and reduces drag resistance during steering. The in-wheel motor driving device comprises: a motor unit (A) which rotates and drives a motor-side rotary member; a deceleration unit (B) which decelerates the rotation of the motor-side rotary member and transmits said rotation to a wheel-side rotary member; and a wheel hub which is fixedly linked to the wheel-side rotary member, and the motor unit (A), the deceleration unit (B), and the wheel hub are arranged in series from the inboard side to the outboard side of a vehicle, wherein a suspension installation bracket (60) is fixed to the outer surface of a housing (22b) of the deceleration unit (B), and an arm of a suspension (12b) is installed by way of the suspension installation bracket (60).

In-wheel motor driving device

A drive assist device allows a driver to favorably check space for opening a back door along with an image of a periphery of a vehicle. The drive assist device is configured: to perform a viewpoint conversion that converts an image captured by a vehicle-mounted camera, which image is of a scene in the periphery of the vehicle including at least an area rearward of the vehicle, into an overhead image showing the vehicle from above; to superimpose on the overhead image a graphic image showing a flip-up back door in an open state from the same viewpoint as that of the overhead image; and to allow the superimposed image to be displayed on a monitor device in a vehicle compartment.

Drive assist device

An in-wheel motor includes a rotating machine (110) provided at a wheel and applying drive power to the wheel, a housing (134) for receiving the rotating machine and rotatably supporting the wheel, and a vibration damping member (124, 126) placed between the housing (134) and a ball joint (106, 108) for installing the housing (134) to the vehicle body side.

In-wheel motor

PROBLEM TO BE SOLVED: To set a connection part of a lower arm and a wheel support member to the optimum position and to prevent interference of the connection part with a speed reducer in a wheel drive device. SOLUTION: The wheel 11 is drivably constituted by decelerating rotation force of a motor 31 arranged in the wheel 12 by a plurality of speed reducers 32, 33 and transmitting it to the wheel 12. The motor 31 and the respective speed reducers 32, 33 are stored in a housing 26, and a lower ball joint 62 for connecting the lower arm 61 and the knuckle arm 29 is arranged so as to be opposed to a radial direction of the first speed reducer 32 and the wheel 12. A housing body 27 and an outer peripheral part of a ring gear 41 of the first speed reducer 32 are connected by a spline 45, and tooth lack parts 27c, 41b are formed at positions opposed to the lower ball joint 62 in the circumferential direction of the spline 45. COPYRIGHT: (C)2009,JPO&INPIT

Wheel drive device

PROBLEM TO BE SOLVED: To provide a controller achieving driving/braking force and yaw moment which are as close to driving/braking force and yaw moment that a vehicle needs to have as possible and suitable to the state of driving operation of a driver. SOLUTION: Target driving/braking force Fvn that the vehicle needs to have and the target yaw moment Mvn of the vehicle are calculated (S20). When one of the targets can not be achieved with the driving/braking force of respective wheels (S40), a distribution ratio K is calculated (S60) so that it will be smaller as a value indicating an accelerating/decelerating operation by the driver is larger and larger as a value indicating a steering operation by the driver is larger, and the straight line L which is closest to a point P of the target driving/braking force Fvn and target yaw moment Mvn is specified among the out lines of a quadrilateral 100 showing a range of driving/braking force and yaw moment which can be achieved with the driving/braking force of the respective wheels (S80), so that values of coordinates of a target point R as an internal division point on the straight line L based upon the distribution ratio K are regarded as target driving/braking force Fvt and target yaw moment Mvt after correction (S90, S100). COPYRIGHT: (C)2006,JPO&NCIPI

Driving/braking force controller for vehicle

PROBLEM TO BE SOLVED: To control the brake power of a wheel accurately by operating the parameters required for controlling the brake power of a wheel, i.e. the slip ratio of wheel or the coefficient of frictional of pavement, accurately. SOLUTION: When a vehicle is in acceleration state (S20), grounding load Wi of a wheel is operated (S30), brake drive torque Twi of the wheel is estimated based on a target drive current Iti for motor generators 12FL-12RR, rotational angular acceleration ωdi of the wheel is operated as the differentiation value of the rotational angular speed ωi of the wheel, coefficient of friction μi of pavement is operated based on the brake drive torque Twi and the rotational angular acceleration ωdi (S40), slip ratio Si of the wheel is operated based on the brake drive torque Twi (S50), stiffness Sni of the wheel is operated as the average value of the ratio of coefficient of friction μi of pavement to the slip ratio Si (S60, 70), and the target brake drive torque Twti of the wheel is limited depending on the stiffness Sni such that the target brake drive torque Twti of the wheel does not have a steep slope of increase/decrease. COPYRIGHT: (C)2006,JPO&NCIPI

Method for operating slip ratio of wheel and method for controlling brake power of wheel

PROBLEM TO BE SOLVED: To provide a miniaturized vehicle driving device while mounting an in-wheel motor SOLUTION: A shock absorber 560 is arranged on the side of a housing of an in-wheel motor 520 while a part thereof overlaps in the vertical direction An increase in the height of the vehicle driving device can be prevented thereby, and the vehicle driving device employing an in-wheel motor which can be mounted on a sport-type vehicle or a compact vehicle can be achieved Further, by employing a strut type suspension, the arm ratio can be increased, and the diameter of a spring and the shock absorber can be suppressed small In addition, a wire is fixed to the motor via a wire clamp 522, and disconnection at a connector part of a junction box 532 can be avoided COPYRIGHT: (C)2006,JPO&NCIPI

Vehicle driving device

PROBLEM TO BE SOLVED: To attain a driving/braking force and a yaw moment required for a vehicle as much as possible within a range of driving/braking force can be generated by front wheels and rear wheels in the case that a target driving/braking force and a target yaw moment of the vehicle cannot be attained within the range of driving/braking force can be generated by each wheel. SOLUTION: A target driving/braking force Fvn and a target vehicle yaw moment Mvn of the whole of the vehicle are calculated (S20). When the target driving/braking force Fvn and the target yaw moment Mvn cannot be attained by the driving/braking force of the front wheels (S30, S40), a target driving/braking force Fvft and a target yaw moment Mvft of the front wheels are arbitrated so that the magnitude of driving/braking force and the magnitude of yaw moment of the wheel by the driving/braking force Fvn of the front wheels at the radio of the target driving/braking force Fvn and the target yaw moment Mvn (S100), a target driving/braking force Fvrt and a target yaw moment Mvrt of the rear wheels are calculated on the basis of the target driving/braking force Fvn, the target vehicle yaw moment Mvn, the target driving/braking force Fvft (S240), and the target yaw moment Mvft, and similar arbitration is performed for them if necessary (S260, S300). COPYRIGHT: (C)2007,JPO&INPIT

Mitsutaka Tsuchida

Papers

Wheel drive device

Driving/braking force controller for vehicle

Method for operating slip ratio of wheel and method for controlling brake power of wheel

Vehicle driving device

Driving/braking force control unit for vehicle