Abstract: A vehicle motion control apparatus is provided for performing a vehicle stability control on the basis of a parameter indicative of lateral margin for a tire on a road. The apparatus includes a steering control device for controlling a relationship between a steering angle and a tire angle to be varied, and a decelerating control device for controlling a vehicle speed to be decreased. The parameter indicative of lateral margin for the tire is monitored, and the steering control device and the decelerating control device are controlled on the basis of the monitored parameter.

Abstract: Various state amounts of a vehicle body detected by various types of sensors are captured (step 102). A maximum frictional force Fimax is calculated for each of wheels (steps 104 to 110). By use of the maximum frictional force Fimax and other physical quantities, a performance function not dependent on respective magnitudes of a vehicle body generating force and a yaw moment is defined, which performance function is prepared by means of a performance function in a case in which the vehicle body generating force is larger than the yaw moment, and a performance function in a case in which the vehicle body generating force is not larger than the yaw moment (step 112).

Abstract: In vehicle roll sensing of the present invention, a self-aligning torque (SAT) estimator estimates a composite value of SATs generated on tire contact patch of right and left wheels. A slip angle computer detects a vehicle speed and a steering angle and computes a slip angle of the wheel from the measured vehicle speed and steering angle. An SAT model value computer estimates an SAT model value as a composite value of SATs of the right and left wheels when no load shifts between the right and left wheels on the basis of the slip angle. A load shift ratio estimator estimates a load shift state of the right and left wheels on the basis of the composite value of the SATs of the wheels and the SAT model value. A vehicle rollover estimator estimates a rollover of the vehicle on the basis of the estimated load-shift state.

Abstract: An angular velocity detection device is provided for detecting an angular velocity about a single axis tilted in a longitudinal direction of a vehicle to a normal axis thereof. An actual motion state variable of the vehicle is calculated on the basis of the detected angular velocity. At least one of the braking force and driving force applied to a vehicle is controlled to stabilize a yawing motion and a rolling motion of the vehicle, on the basis of a motion state variable deviation between a desired motion state variable and the actual motion state variable, e.g., a deviation between a yaw velocity and a roll velocity of the vehicle.

Abstract: A vehicle control system includes a calculator that calculates an integrated controlled variable including a first controlled variable used for controlling the braking/driving force of each wheel so as to optimize the ? utilization ratio of the wheel and a second controlled variable used for controlling the steering angle of each wheel, based on constraints including a target resultant force to be applied to the vehicle body and a limit friction circle of each wheel, a calculator that calculates a steering controlled variable used for controlling only the steering angle of each wheel so as to achieve the target resultant force, and a controller that controls only the steering angle of each wheel, or the steering angle and braking/driving force of each wheel, based on a controlled variable obtained by linearly interpolating the integrated controlled variable and the steering controlled variable.

Abstract: A collision behavior control apparatus which comprises a contacting portion disposed in a portion of the front of a vehicle, and which, at the time of collision against a pedestrian or a two-wheeler with a rider riding thereon, controls the behavior of the pedestrian or the two-wheeler rider by pushing the pedestrian or the two-wheeler rider separated from the two-wheeler with the contacting portion, wherein the pedestrian or the two-wheeler rider is pushed by the contacting portion such that the pedestrian or the two-wheeler rider is not bumped up onto the hood, whereby the pedestrian or the two-wheeler rider is moved to the vehicle side.

Abstract: A braking force distribution control device is provided in which wheel speeds of respective wheels of a vehicle are detected. On the basis of the detected wheel speeds, slopes of coefficients of friction ? between the wheels and a road surface are estimated as road surface ? slope values of the respective wheels. On the basis of the estimated road surface ? slope values of the respective wheels, braking forces of the respective wheels are controlled such that the braking forces among the respective wheels are adjusted.

Abstract: In accordance with a vehicle motion control apparatus, a steering angle (?h) of a steering wheel is determined on the basis of a rotation angle (?pm) of an assist motor (24m) detected by a rotation angle sensor (24s) and a rotation angle (?vm) of a gear ratio variable motor (32m) detected by a rotation angle sensor (32s), and a VGRS control process (40a) of a gear ratio variable mechanism is executed on the basis of the determined steering angle (?h). Accordingly, since the steering angle (?h) of the steering wheel is determined on the basis of the rotation angle (?vm) used for the VGRS control process (40a) of the gear ratio variable mechanism and the rotation angle (?pm) used for an EPS control process (30a) of an EPS actuator, it is possible to obtain the steering angle (?h) of the steering wheel without a steering angle sensor. Therefore, it is possible to reduce the number of the parts of a vehicle motion control apparatus.

Abstract: An SAT estimator 16 estimates the SAT generated between the road surface and the tire. A slip angle arithmetic unit 18 estimates the front wheel slip angle. A lateral force detector 180 computes the lateral force generated in the wheels. An SAT model value arithmetic unit 22 computes the SAT model value from the slip angle estimate and the lateral force value. A front-rear direction quantity-of-state arithmetic unit 240 computes the front-rear direction quantity of state generated in the wheels. A grip level estimator 26 estimates the grip level from the SAT estimated by the SAT estimator 16, the SAT model value computed by the SAT model value arithmetic unit 22, and the front-rear direction quantity of state estimated by the front-rear direction quantity-of-state arithmetic unit 240.

Abstract: A vehicle stabilizing control apparatus is disclosed which includes a vehicle velocity sensor, an angular velocity sensor, and a lateral acceleration sensor that detects a lateral acceleration of the vehicle or a steering angle sensor that detects a steering angle. The angular velocity sensor detects an angular velocity about an axis defined by inclining a vertical upward or downward axis of a vehicle at a predetermined angle in the forward or rearward direction of the vehicle.

Abstract: In accordance with a vehicle motion control apparatus, a steering wheel torque (Th) generated in accordance with an operation of a steering wheel is determined in accordance with a steering wheel torque arithmetic process (30b) by EPS_ECU by using a steering torque (Tp) generated in a second steering shaft of a gear ratio variable mechanism, a motor torque (Tvm) generated by a motor (32m) of the gear ratio variable mechanism and a rotation angle (?vm) of the motor (32m), on the basis of a dynamic equation expressing a torque transfer by the gear ratio variable mechanic Accordingly, even in the case that the vehicle motion control apparatus employs a structure that the gear ratio variable mechanism is interposed between the steering wheel and a torque sensor, the steering wheel torque (Th) can be known without adding any new torque sensor or the like.

Abstract: The present invention is directed to a road condition estimation apparatus for estimating a road condition for use in a vehicle having a steering control unit for actuating a device mechanically independent of a manually operated steering member to steer at least a wheel of front and rear wheels. The apparatus includes an actuating signal detection unit for detecting an actuating signal for actuating the device of the steering control unit, an aligning torque estimation unit for estimating an aligning torque produced on the wheel on the basis of the actuating signal detected by the actuating signal detection unit, and a vehicle state variable detection unit for detecting a state variable of the vehicle.

Abstract: In accordance with a steering apparatus (20), a grip state between a ground surface on which a steered wheel is grounded and the steered wheel is estimated by a grip degree estimation arithmetically operating process (30a) which is arithmetically operated by AFS_ECU (30), and VGRS target angle is set such that a steering gear ratio is increased in the case that the grip degree gets close to a grip limit on the basis of an estimated grip state, in accordance with a grip degree vs gear ratio map (30b). Accordingly, since it is possible to estimate the grip degree which is changed in correspondence to a magnitude of the road surface it, for example, in the case that the steered wheel gets close to the grip limit, it is possible to increase the steering gear ratio so as to set large even at a time when the vehicle runs at the low speed.

Abstract: The present invention is directed to a road condition estimation apparatus for estimating a road condition for use in a vehicle having steering control unit for actuating a device mechanically independent of a manually operated steering member to steer each wheel.

Abstract: A first ECU 30 detects a steering torque applied to a steering system, estimates a self-aligning torque generated in a front wheel on the basis of the steering torque, and estimates a side force for the front wheel on the basis of lateral acceleration and a yaw rate. The first ECU 30 estimates a grip factor ? for the front wheel on the basis of a change of the self-aligning torque to the side force. The first ECU 30 judges whether the grip factor is below a second OS (oversteer) start threshold value. A second ECU 40 controls the transfer ratio according to the vehicle state when the grip factor is less than the second OS start threshold value.

Abstract: In accordance with a vehicle motion control apparatus, a steering angle (?h) of a steering wheel is determined on the basis of a rotation angle (?pm) of an assist motor (24m) detected by a rotation angle sensor (24s) and a rotation angle (?vm) of a gear ratio variable motor (32m) detected by a rotation angle sensor (32s), and a VGRS control process (40a) of a gear ratio variable mechanism is executed on the basis of the determined steering angle (?h). Accordingly, since the steering angle (?h) of the steering wheel is determined on the basis of the rotation angle (?vm) used for the VGRS control process (40a) of the gear ratio variable mechanism and the rotation angle (?pm) used for an EPS control process (30a) of an EPS actuator, it is possible to obtain the steering angle (?h) of the steering wheel without a steering angle sensor. Therefore, it is possible to reduce the number of the parts of a vehicle motion control apparatus.

Abstract: The present invention is directed to a vehicle motion control apparatus, which includes a steering factor detection unit for detecting at least one of steering factors including a steering torque and steering effort applied to a steering system, an aligning torque estimation unit for estimating an aligning torque produced on at least a wheel of the vehicle on the basis of the steering factor, a vehicle state variable detection unit for detecting a state variable of the vehicle, a wheel factor estimation unit for estimating at least one of wheel factors including a side force and slip angle applied to the wheel on the basis of the vehicle state variable, and a grip factor estimation unit for estimating a grip factor of at least a tire of the wheel, in accordance with the estimated alignment torque and the estimated wheel factor.

Abstract: In a steering apparatus, in accordance with a grip limit control process (30b?), it is determined whether or not a grip degree ? estimated by a grip degree estimation arithmetically operating process (30a) is less than a predetermined grip degree (??), and in the case that it is determined that an estimated grip degree (?) is less than the predetermined grip degree (??), the process applies such a feeling that a steering operation by a steering wheel suddenly becomes light to a driver, by suddenly increasing an assist quantity by a motor (M), thereby notifying the driver of the matter that the grip degree of a steered wheel is close to a limit. Therefore, it is possible to transmit to the driver a probability that a side slip is generated by further turning the steering wheel 21 in the same direction as the current direction, thereby calling the driver's attention for steering.

Abstract: A SAT estimating portion supplies a grip degree estimating portion with the estimated SAT value. A summing device sums a front wheel slip angle on which high pass filter processing has been performed and a front wheel slip angle on which low pass filter processing has been performed so as to obtain an integrated slip angle. A grip degree estimating portion estimates a grip degree of a tire, by calculating a SAT reference value which is based on the integrated slip angle, and calculating a ratio between the SAT reference value and the estimated SAT value. A road surface ? value estimating portion estimates a road surface ? value when the grip degree becomes equal to or lower than a reference value.

Abstract: The present invention is directed to a wheel grip factor estimation apparatus, which includes a steering factor detection unit for detecting at least one of steering factors including a steering torque and steering effort applied to a steering system extending from a steering wheel to a suspension of a vehicle, an aligning torque estimation unit for estimating an aligning torque produced on at least a wheel of the vehicle on the basis of the steering factor detected by the steering factor detection unit, and a vehicle state variable detection unit for detecting a state variable of the vehicle. The apparatus further includes a wheel factor estimation unit for estimating at least one of wheel factors including a side force and slip angle applied to the wheel on the basis of the vehicle state variable, and a grip factor estimation unit for estimating a grip factor of at least a tire of the wheel, in accordance with a relationship between the estimated alignment torque and the estimated wheel factor.