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

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 vehicle brake device includes a master cylinder having a master piston moved by servo pressure in a servo chamber and master pressure of a master chamber is changed by movement of the master piston. A mechanical servo pressure generating unit is connected to a high pressure source and the servo chamber, and generates a servo pressure within the servo chamber according to pilot pressure within a pilot chamber based on brake fluid pressure of the high pressure source. An electrical pilot pressure generating unit is connected to the pilot chamber and generates desired pilot pressure within the pilot chamber, and a master chamber-to-pilot chamber brake fluid line connects the master chamber with the pilot chamber so pilot pressure is generated by the pilot pressure generating unit during normal operation of a power supply system, and the master pressure is used as pilot pressure when the power supply system fails.

Vehicle brake 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 vehicle drive apparatus (100) independently controls drive forces for a front-right drive wheel (2r), a front-left drive wheel (21), a rear-right drive wheel (3r), and a rear-left drive wheel (31) using a front-right electric motor (10r), a front-left electric motor (101), a rear-right electric motor (11r), and a rear-left electric motor (111), respectively. The drive forces for the drive wheels of a vehicle (1) incorporating the vehicle drive apparatus (100) are determined based on the target moments in the yaw and roll directions of the vehicle (1), the total drive for the drive wheels, and the drive reaction forces at the drive wheels. Thus, the performance desired by the driver can be achieved, and the drivability therefore improves accordingly.

Vehicle drive apparatus

According to the present invention, when a target braking/driving force and a vehicle target yaw moment required to a vehicle cannot be achieved through a control of a braking/driving forces of wheels, in a rectangular coordinate of the braking/driving force and the yaw moment, a polygon indicating the maximum range of the braking/driving force and the yaw moment attainable by the braking/driving forces of the wheels, and an ellipse that crosses each side of the polygon and has a major axis and a minor axis aligning with the coordinate axis of the rectangular coordinate are set, for example. The target braking/driving force and the target yaw moment are modified to the values at the coordinate of the point, which is closer to the origin, of a point of intersection of a segment linking a point indicating the target braking/driving force and the target yaw moment and the origin, and the polygon, and a point of intersection of a segment linking a point indicating the target braking/driving force and the target yaw moment and the origin, and the ellipse.

Braking-driving force control device of vehicle

A vehicle target braking/driving force and a vehicle target yaw moment to be achieved by a control of braking/driving force of each wheel are-calculated. The target yaw moment is corrected, for example, so as to coincide with the product of the correction coefficient determined based upon, the weight of the whole vehicle, the longitudinal and lateral distribution ratios of wheel vertical loads, and vehicle turning direction, and the target yaw moment, whereby the target yaw moment is corrected in accordance with the weight of the whole vehicle, the position of center of gravity of the whole vehicle, and vehicle turning direction. The final target braking/driving force and target yaw moment that can be achieved by the control of the braking/driving force of each wheel are calculated on the basis of the target braking/driving force and the target yaw moment after the correction, and the braking/driving force of each wheel is controlled so as to achieve the final target braking/driving force and target yaw moment.

Vehicle braking/driving force control apparatus

A braking/driving force controller in which a braking/driving force and a yaw moment required by a vehicle are achieved to an extent possible within the range of braking/driving force which can be generated by each wheel when a target braking/driving force and a target yaw moment of the vehicle cannot be achieved within the range of braking/driving force which can be generated by each wheel. In the braking/driving force controller, a target braking/driving force Fvn and a target yaw moment Mvn of the vehicle by control of braking/driving force of each wheel required for the vehicle are operated (S20), and if the target braking/driving force Fvn and the target yaw moment Mvn cannot be achieved by control of braking/driving force of each wheel (S30, S40), corrected target braking/driving force Fvt and target yaw moment Mvt are operated such that the braking/driving force magnitude and target yaw moment magnitude of the vehicle by the target braking/driving force Fwxti of each wheel are respectively maximized with in such a range that the ratio between corrected target braking/driving force Fvt and yaw moment Mvt of the vehicle becomes the ratio between the target braking/driving force Fvn and the target yaw moment Mvn (S60-100).

Braking/driving force controller of vehicle

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

Yoshinori Maeda

Papers

Vehicle drive apparatus

Braking-driving force control device of vehicle

Vehicle braking/driving force control apparatus

Braking/driving force controller of vehicle

Driving/braking force controller for vehicle