A vehicle control system which can ensure high reliability, real-time processing, and expandability with a simplified ECU configuration and a low cost by backing up an error through coordination in the entire system without increasing a degree of redundancy of individual controllers beyond the least necessary level. The vehicle control system comprises a sensor controller for taking in sensor signals indicating a status variable of a vehicle and an operation amount applied from a driver, a command controller for generating a control target value based on the sensor signals taken in by the sensor controller, and an actuator controller for receiving the control target value from the command controller and operating an actuator to control the vehicle, those three controller being interconnected via a network. The actuator controller includes a control target value generating unit for generating a control target value based on the sensor signals taken in by the sensor controller and received by the actuator controller via the network when the control target value generated by the command controller is abnormal, and controls the actuator in accordance with the control target value generated by the control target value generating unit.

Vehicle Control System

A suspension control apparatus includes a variable damping coefficient type shock absorber disposed between sprung mass and unsprung mass of a vehicle and an actuator for setting and adjusting a damping coefficient of the variable damping coefficient type shock absorber on the basis of a control signal. An upward and downward absolute velocity detector for detecting an upward absolute velocity and a downward absolute velocity of the vehicle is provided. A control unit changes a signal from the upward and downward absolute velocity detector in accordance with a running condition of the vehicle to obtain a control target signal. A control signal generator outputs the control signal for the actuator on the basis of the control target signal from the control unit. A signal representative of the roughness of a road surface on which the vehicle is running is generated and a feature of the control unit is adjusted for changing the control signal on the basis of the signal representative of the road surface roughness.

Suspension control apparatus

A shift lever device which includes : a shift lever turnably fitted on a stationary member; an engaging member for engagement of the shift lever with the stationary member; and a knob fitted on the shift lever. The engaging member is moved toward its distal end to disengage from the stationary member. The knob includes a knob body provided with a fitting hole into which the shift lever is inserted together with a first engaging part of the engaging member, a button pivoted on the knob body, and a link lever connected to the button, having a second engaging part for engagement with the first engaging part. When the shift lever is inserted into the fitting hole and the distal end thereof reaches a predetermined position therein, the button is operated to have the second engaging part engaged with the first engaging part.

Shift lever device

A system for detecting a physical amount of behavior of a vehicle includes, acceleration sensors arranged on at least two longitudinal axes of the vehicle, the vertical axis Of the vehicle and the lateral axis of the vehicle, a plurality of the acceleration sensors being disposed on each of the axes. A unit is provided for establishing a conversion equation for determining acceleration values of linear motion at an arbitrary point of the vehicle in the direction of each axis of an arbitrary coordinate system and acceleration values of rotational motion with respect to the each axis of the coordinate system while simultaneously using acceleration values detected by the acceleration sensors disposed on at least two of the vehicular longitudinal axes, the vertical axis and the lateral axis. There is also provided a unit for calculating the conversion equation to obtain the acceleration values of linear motion at an arbitrary point of the vehicle in the direction of each axis of the arbitrary coordinate system and acceleration values of rotational motion with respect to each axis of the coordinate system, a unit for establishing a motion equation expressing a plurality of freedom motions, and a unit for calculating the motion equation with the acceleration values of linear motion at an arbitrary point of the vehicle in the direction of each axis of the arbitrary axis of the arbitrary coordinate system and acceleration values of rotational motion with respect to the each axis of the coordinate system to obtain the physical amount associated with the behavior of the vehicle.

System for predicting behavior of automotive vehicle and for controlling vehicular behavior based thereon

The ride comfort vs. handling compromise for off-road vehicles

An electronic controlled suspension system detects a load on the fluid actuators and calculates a torsional load on the vehicle. Responsive to the calculated torsional load, corrective control is executed on the fluid flow to and from the fluid actuators, eliminating torsional load on the vehicle. Therefore, the driving characteristic is prevented from changing due to an unbalanced load on the vehicle. On the other hand, the electronic controlled suspension system detects a vehicle's cornering state. Responsive to the cornering state detected, control signals are output to increase the roll stiffness distribution to the front wheels. As a result, the roll stiffness distribution to the front wheels while the vehicle is about to corner becomes larger than that while the vehicle is steadily cornering. Responsive to the control signals, the vehicle attitude is controlled by supplying and discharging fluid to and from fluid actuators. Consequently, when the vehicle is just starting to corner, laterally moving load is controlled, and quick-responsive steering is realized.

Electronic controlled fluid suspension system

In a stabilizer control apparatus for a vehicle, a stabilizer includes a pair of stabilizer bars disposed between a right wheel and a left wheel of the vehicle, and an actuator having an electric motor disposed between the stabilizer bars. A turning determination device is provided for determining a turning operation of the vehicle. And, a controller is provided for controlling the electric motor in response to the result determined by the turning determination device. The electric motor is substantially prohibited from being fed with electric current, when the turning operation of the vehicle is being decreased.

Stabilizer control apparatus

A new rear suspension controller is invented for improving a ride comfort or for improving controllability and stability when a vehicle passes a sporadic bump or dip of otherwise smooth road surface. It includes: a front vehicle height detector which measures a distance between the vehicle body and a front wheel; a first judgment means which detects a sporadic bump or dip by comparing the signal from the front vehicle height detector with a preset standard value; a rear vehicle height detector which measures a distance between the vehicle body and a rear wheel; a second judgment means which detects the bump or dip that the front wheel has passed; and a rear suspension characteristic alteration means which alters, for example, a spring constant of air suspensions, a dumping force of shock absorbers, stabilizer compliance, etc. when the first judgment means detected the bump or dip and returns the characteristic after the second judgment means judges that the rear wheel has passed it.

Rear suspension controller

A pressure control system for suspension delivers a pressure which is proportional to a current level chosen to energize a solenoid of a pressure control valve to a shock absorber of a suspension. A change in the pressure of a return path which supplies a low pressure to the pressure control valve causes the pressure which is applied to the suspension to change. In order to suppress such change, a junction of the pressure control valve with the return path has an orifice interposed therein or is connected to a low pressure accumulator. On the other hand, in the event a depression occurs in the output of the high pressure piping, a cut valve which functions to isolate the suspension from the pressure control valve may be temporarily cut off in response to a pressure fluctuation in the high pressure piping. In order to prevent this, an orifice is interposed between the high pressure piping and a pilot chamber of the cut valve.

Pressure control system for suspension

An electronically controlled air-suspension system is described that uses sensors to detect vehicle speed, throttle position, steering angle, height, and other factors related to vehicle attitude. Its electronic control unit (ECU) drives the actuators to control spring rate, damping force, and height. As a result, the system reduces changes in vehicle attitude such as rolls, dives, squats, etc., and also provides stable maneuverability in high-speed cruising and improved drive characteristics on rough roads. A newly developed single-chip microcomputer is used in the ECU. The actuators for the sporting rate and damping force use DC motors. The system also allows drivers to select preferred suspension characteristics from four modes, and displays on a CRT the suspension status. >

Shuuichi Buma

Papers

Electronic controlled fluid suspension system

Stabilizer control apparatus

Rear suspension controller

Pressure control system for suspension

Toyota electronic modulated air suspension system for the 1986 Soarer