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

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

A driving/braking force manipulation control input of a k-th wheel, which denotes one or more specific wheels among a plurality of wheels of a vehicle, is determined such that a required condition concerning a relationship among a road surface reaction force that may act from a road surface on the k-th wheel on the basis of the detected values or estimated values of a side slip angle and a friction characteristic of the k-th wheel, a feedback control input related to the driving/braking force of the k-th wheel for bringing a difference between a state amount of the vehicle and a reference state amount close to zero, a driving/braking force feedforward control input based on a drive manipulated variable supplied by a driver of the vehicle, and a k-th wheel driving/braking force manipulation control input is satisfied. This arrangement makes it possible to properly control a motion of an actual vehicle to a desired motion while properly considering the characteristics of a road surface reaction force acting from a road surface on a wheel.

Vehicle Control Device

An in-wheel motor system, wherein the non-rotating side case and the knuckle of a motor are connected to each other through a cushioning mechanism (10) having plates (11) and (12) connected to each other through a linear guide (15) with springs formed of a linear guide (13) having a linear bearing (13A) and a rod (13B) and spring members (14) and (14) operating in the vertical direction of a vehicle which are formed integrally with each other and a damper (16) operating in the vertical direction of the vehicle and connecting the plates (11) and (12) to each other. Thus, the motor can be securely floatingly mounted on the underbody components of the vehicle, and the cushioning mechanism (10) can be easily assembled.

In-wheel motor system

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 control a vehicle having a driver unit e.g. a motor, distributing the driving forces of back/forth and right/left wheels by determining the driving force of a right/left motor to satisfy the request of driving force in the back/forth direction as much as possible. SOLUTION: When requested driving forces in the back/forth direction and the right/left direction of a vehicle are provided depending on the traveling state of the vehicle, drive torque of a right/left motor is controlled to satisfy the requested driving forces in the back/forth direction and the right/left direction within the output torque range of the right/left motor. When the requested driving forces in the back/forth direction and the right/left direction cannot be satisfied simultaneously within the output torque range of the right/left motor, preference is given to the requested driving force in the back/forth direction and the driving torque of the right/left motor is determined to satisfy it as much as possible. Traction performance of the vehicle can be enhanced by satisfying the requested driving force in the back/forth direction as much as possible even if the traveling situation is changed. COPYRIGHT: (C)2005,JPO&NCIPI

Controller of vehicle

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

Driving/braking force control unit for vehicle

PROBLEM TO BE SOLVED: To provide a small-sized electric driving device capable of obtaining sufficient speed reduction ratio. SOLUTION: The electric driving device includes independent motors provided on both sides of an engine on the front wheel side of an FR vehicle. That is, each motor corresponds to left and right wheels. Furthermore, a retarder transmitting the rotation of the motors to the drive shaft of each wheel is provided. Herein, the retarder can be installed even in a narrow space since it is arranged coaxially with the rotation shafts of the motors and the drive shafts of the wheels. Furthermore, the retarder can be miniaturized since it is constructed of a stepped pinion type planetary gear, and it is suitably attached to the vicinity of the engine with many spatial restrictions. COPYRIGHT: (C)2005,JPO&NCIPI

義紀前田

Papers

Driving/braking force controller for vehicle

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

Controller of vehicle

Driving/braking force control unit for vehicle

Electric driving device

義紀 前田

Papers

Driving/braking force controller for vehicle

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

Controller of vehicle

Driving/braking force control unit for vehicle

Electric driving device

義紀前田