TRAVELLING CONTROL DEVICE FOR VEHICLE

Japanese Patent JP3878840

B2

PROBLEM TO BE SOLVED: To control vehicular travelling movement in a most appropriate manner all the time for controlling the vehicular travelling movement by a plurality of behavior control means, regardless of changes in a vehicular state, particularly changes in properties of the behavior control means.
SOLUTION: A vehicular target longitudinal force Fxt, a target lateral force Fyt and a target yaw moment Mzt are computed (S100, 150), control response frequency characteristics Gαi, Gκi of a steering control means and a braking driving force control means are computed for each wheel (S200), weight Wu in proportion to the inverse number of the characteristics Gαi, Gκi is computed (S250), a target slip rate κti and a target slip angle αti of each wheel are computed by distribution control employing an estimation function using the weight Wu (S350), and the steering angle θwi of each wheel, a braking pressure Pi and an engine output torque are controlled (S900 to 1100) so that the target slip rate κti and the target slip angle αti are achieved.

JP6418199	Vehicle automatic driving system
WO/2016/136031	ELECTRICAL POWER STEERING DEVICE
JP2015089807	VEHICULAR STEERING APPARATUS

Ken Koibuchi
Yoshikazu Hattori

JP2001361565A

February 07, 2007

November 27, 2001

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TOYOTA JIDOSHA KABUSHIKI KAISHA
Toyota Central R & D Labs.

B62D6/00; B60T8/1755; B60T8/58; B60W10/00; B60W10/04; B60W10/06; B60W10/18; B60W10/20; B60W30/00; B60W30/02; B60W30/045; F02D29/02; B62D113/00; B62D137/00; (IPC1-7): B60K41/28; B60K41/00; B60T8/58; B62D6/00; //B62D113:00; B62D137:00

JP9089076A
JP2001213342A
JP2001233230A
JP7164926A

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