Patents by Inventor Etsuo Katsuyama
Etsuo Katsuyama has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 11958329Abstract: A roll vibration damping control system includes an electronic control unit configured to: compute a sum of a product of a roll moment of inertia and a roll angular acceleration of a vehicle body, a product of a roll damping coefficient and a first-order integral of the roll angular acceleration, and a product of an equivalent roll stiffness of the vehicle and a second-order integral of the roll angular acceleration, as a controlled roll moment to be applied to the vehicle body; compute a roll moment around a center of gravity of a sprung mass as a correction roll moment, the roll moment being generated by lateral force on wheels due to roll motion; and compute a target roll moment based on a value obtained by correcting the controlled roll moment with the correction roll moment.Type: GrantFiled: October 29, 2021Date of Patent: April 16, 2024Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Shota Tanzan, Etsuo Katsuyama
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Patent number: 11912091Abstract: A roll vibration damping control system includes an electronic control unit configured to: compute a sum of a product of a roll moment of inertia and a roll angular acceleration of a vehicle body, a product of a roll damping coefficient and a first-order integral of the roll angular acceleration, and a product of an equivalent roll stiffness of the vehicle and a second-order integral of the roll angular acceleration, as a controlled roll moment to be applied to the vehicle body; compute a roll moment around a center of gravity of a sprung mass as a correction roll moment, the roll moment being generated by lateral force on wheels due to roll motion; and compute a target roll moment based on a value obtained by correcting the controlled roll moment with the correction roll moment.Type: GrantFiled: December 13, 2021Date of Patent: February 27, 2024Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Shota Tanzan, Etsuo Katsuyama
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Patent number: 11738760Abstract: A vehicle control apparatus configured to calculate a center of gravity six-component; calculate a tire three-component of each wheel for two or more wheels of a vehicle imposing a constraint on each wheel expressed as an inequality corresponding to upper and lower limits of the tire three-component; apply the constraint based on whether the constraint is valid or invalid for each of the wheels based on a predetermined optimum-condition for obtaining an optimum-solution under the constraint, and calculating an optimum-solution of the tire three-component of each wheel by performing a tentative-optimum-solution-calculation one or more times until the predetermined optimum-condition is satisfied; and store an application-state of the constraint when the optimum-solution satisfying the predetermined optimum-condition is obtained, and calculate the optimum-solution of the tire three-component of each wheel by using a stored value of the application-state of the constraint, in the next calculation of the optimum-sType: GrantFiled: April 13, 2022Date of Patent: August 29, 2023Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Etsuo Katsuyama, Manabu Nagasaka
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Patent number: 11679775Abstract: A vehicle control apparatus comprising, a center of gravity six-component calculation unit for calculating a center of gravity six-component as vehicle motion targets based on a driver input, a tire three-component calculation unit for calculating a tire three-component of four wheels of a vehicle based on the center of gravity six-component, a vehicle control unit for performing vehicle control by the vehicle control, actuator group based on the tire three-component of the four wheels, and wherein the tire three-component calculation unit calculates the tire three-component of the four wheels from the center of gravity six-component by a coordinate transformation without repetition, which is normalization with the driving stiffness of each wheel and the cornering stiffness of each wheel, when the number of control requests in the vehicle control is less than degrees of freedom of the vehicle control actuator group.Type: GrantFiled: July 15, 2021Date of Patent: June 20, 2023Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHAInventor: Etsuo Katsuyama
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Publication number: 20230116140Abstract: A roll vibration damping control system includes an electronic control unit configured to: compute a sum of a product of a roll moment of inertia and a roll angular acceleration of a vehicle body, a product of a roll damping coefficient and a first-order integral of the roll angular acceleration, and a product of an equivalent roll stiffness of the vehicle and a second-order integral of the roll angular acceleration, as a controlled roll moment to be applied to the vehicle body; compute a roll moment around a center of gravity of a sprung mass as a correction roll moment, the roll moment being generated by lateral force on wheels due to roll motion; and compute a target roll moment based on a value obtained by correcting the controlled roll moment with the correction roll moment.Type: ApplicationFiled: December 12, 2022Publication date: April 13, 2023Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Shota Tanzan, Etsuo Katsuyama
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Publication number: 20220332329Abstract: A vehicle control apparatus configured to calculate a center of gravity six-component; calculate a tire three-component of each wheel for two or more wheels of a vehicle imposing a constraint on each wheel expressed as an inequality corresponding to upper and lower limits of the tire three-component; apply the constraint based on whether the constraint is valid or invalid for each of the wheels based on a predetermined optimum-condition for obtaining an optimum-solution under the constraint, and calculating an optimum-solution of the tire three-component of each wheel by performing a tentative-optimum-solution-calculation one or more times until the predetermined optimum-condition is satisfied; and store an application-state of the constraint when the optimum-solution satisfying the predetermined optimum-condition is obtained, and calculate the optimum-solution of the tire three-component of each wheel by using a stored value of the application-state of the constraint, in the next calculation of the optimum-sType: ApplicationFiled: April 13, 2022Publication date: October 20, 2022Inventors: Etsuo Katsuyama, Manabu Nagasaka
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Publication number: 20220111736Abstract: A control device of an electrified vehicle controls a drive motor that drives a tire-wheel assembly of a vehicle based on a torque target value set based on a state of the vehicle. A control device includes a torque command value calculation unit that calculates a torque command value based on a torque target value using a function representing inverse characteristics of transmission characteristics that represent a relationship between torque of a drive motor and acceleration of a vehicle body and that change according to a speed of a vehicle, which is caused by elasticity of a carcass portion of a tire of a tire-wheel assembly and viscosity in a tread of the tire, and a motor controller that controls the drive motor to output torque corresponding to the torque command value.Type: ApplicationFiled: September 27, 2021Publication date: April 14, 2022Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Takuma Takeuchi, Naoto Shimoya, Etsuo Katsuyama
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Publication number: 20220097472Abstract: A roll vibration damping control system includes an electronic control unit configured to: compute a sum of a product of a roll moment of inertia and a roll angular acceleration of a vehicle body, a product of a roll damping coefficient and a first-order integral of the roll angular acceleration, and a product of an equivalent roll stiffness of the vehicle and a second-order integral of the roll angular acceleration, as a controlled roll moment to be applied to the vehicle body; compute a roll moment around a center of gravity of a sprung mass as a correction roll moment, the roll moment being generated by lateral force on wheels due to roll motion; and compute a target roll moment based on a value obtained by correcting the controlled roll moment with the correction roll moment.Type: ApplicationFiled: December 13, 2021Publication date: March 31, 2022Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Shota Tanzan, Etsuo Katsuyama
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Publication number: 20220048353Abstract: A roll vibration damping control system includes an electronic control unit configured to: compute a sum of a product of a roll moment of inertia and a roll angular acceleration of a vehicle body, a product of a roll damping coefficient and a first-order integral of the roll angular acceleration, and a product of an equivalent roll stiffness of the vehicle and a second-order integral of the roll angular acceleration, as a controlled roll moment to be applied to the vehicle body; compute a roll moment around a center of gravity of a sprung mass as a correction roll moment, the roll moment being generated by lateral force on wheels due to roll motion; and compute a target roll moment based on a value obtained by correcting the controlled roll moment with the correction roll moment.Type: ApplicationFiled: October 29, 2021Publication date: February 17, 2022Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Shota Tanzan, Etsuo Katsuyama
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Publication number: 20220024464Abstract: A vehicle control apparatus comprising, a center of gravity six-component calculation unit for calculating a center of gravity six-component as vehicle motion targets based on a driver input, a tire three-component calculation unit for calculating a tire three-component of four wheels of a vehicle based on the center of gravity six-component, a vehicle control unit for performing vehicle control by the vehicle control, actuator group based on the tire three-component of the four wheels, and wherein the tire three-component calculation unit calculates the tire three-component of the four wheels from the center of gravity six-component by a coordinate transformation without repetition, which is normalization with the driving stiffness of each wheel and the cornering stiffness of each wheel, when the number of control requests in the vehicle control is less than degrees of freedom of the vehicle control actuator group.Type: ApplicationFiled: July 15, 2021Publication date: January 27, 2022Inventor: Etsuo Katsuyama
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Patent number: 11203244Abstract: A damping control apparatus includes a control device for controlling actuators that generate forces acting between a vehicle body and wheels. The control device stores a single wheel model of a vehicle including a skyhook device having a damper, a spring and an inerter. The control device calculates a product of an acceleration detected by an acceleration sensor and an equivalent mass of the inerter, a product of a once integrated value of the acceleration and a damping coefficient of the damper, a product of a twice integrated value of the acceleration and, a spring constant of the spring as target damping forces to be applied to a sprung mass, and controls the actuators based on target generative forces based on the target damping forces.Type: GrantFiled: February 4, 2019Date of Patent: December 21, 2021Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHAInventor: Etsuo Katsuyama
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Publication number: 20200114721Abstract: A roll vibration damping control system includes an electronic control unit configured to: compute a sum of a product of a roll moment of inertia and a roll angular acceleration of a vehicle body, a product of a roll damping coefficient and a first-order integral of the roll angular acceleration, and a product of an equivalent roll stiffness of the vehicle and a second-order integral of the roll angular acceleration, as a controlled roll moment to be applied to the vehicle body; compute a roll moment around a center of gravity of a sprung mass as a correction roll moment, the roll moment being generated by lateral force on wheels due to roll motion; and compute a target roll moment based on a value obtained by correcting the controlled roll moment with the correction roll moment.Type: ApplicationFiled: October 3, 2019Publication date: April 16, 2020Applicant: Toyota Jidosha Kabushiki KaishaInventors: Shota Tanzan, Etsuo Katsuyama
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Publication number: 20190283734Abstract: A vehicle stability control device mounted on a vehicle includes: a yaw moment generation device configured to generate a yaw moment; and a control device configured to control the yaw moment generation device to generate a counter yaw moment that counteracts a variation yaw moment generated when the vehicle makes a turn. The counter yaw moment is expressed by FD r i v e r×h×Ay/g, wherein FD r i v e r is a required driving force required for the vehicle, h is a center of gravity height of the the vehicle, Ay is a lateral acceleration of the vehicle, and g is a gravitational acceleration.Type: ApplicationFiled: January 22, 2019Publication date: September 19, 2019Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Etsuo KATSUYAMA, Takao KOBAYASHI
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Publication number: 20190241038Abstract: A damping control apparatus includes a control device for controlling actuators that generate forces acting between a vehicle body and wheels. The control device stores a single wheel model of a vehicle including a skyhook device having a damper, a spring and an inerter. The control device calculates a product of an acceleration detected by an acceleration sensor and an equivalent mass of the inerter, a product of a once integrated value of the acceleration and a damping coefficient of the damper, a product of a twice integrated value of the acceleration and, a spring constant of the spring as target damping forces to be applied to a sprung mass, and controls the actuators based on target generative forces based on the target damping forces.Type: ApplicationFiled: February 4, 2019Publication date: August 8, 2019Inventor: Etsuo Katsuyama
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Patent number: 10196057Abstract: A vehicle stability control device includes a yaw moment generation device and a control device. A variation yaw moment generated by simultaneous turn and acceleration/deceleration is expressed as a function of a longitudinal acceleration and a lateral acceleration. A longitudinal force and a lateral force of a tire have non-linear load dependency. The variation yaw moment when assuming that the load dependency is linear is a first variation yaw moment. The variation yaw moment considering the non-linear load dependency is a second variation yaw moment that is expressed as a product of the first variation yaw moment and a correction gain. In vehicle stability control, the control device controls the yaw moment generation device to generate a counter yaw moment counteracting the second variation yaw moment, based on the longitudinal acceleration, the lateral acceleration, and the correction gain.Type: GrantFiled: November 16, 2017Date of Patent: February 5, 2019Assignees: TOYOTA JIDOSHA KABUSHIKI KAISHA, KABUSHIKI KAISHA TOYOTA CHUO KENKYUSHOInventors: Etsuo Katsuyama, Takao Kobayashi
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Publication number: 20180170364Abstract: A vehicle stability control device includes a yaw moment generation device and a control device. A variation yaw moment generated by simultaneous turn and acceleration/deceleration is expressed as a function of a longitudinal acceleration and a lateral acceleration. A longitudinal force and a lateral force of a tire have non-linear load dependency. The variation yaw moment when assuming that the load dependency is linear is a first variation yaw moment. The variation yaw moment considering the non-linear load dependency is a second variation yaw moment that is expressed as a product of the first variation yaw moment and a correction gain. In vehicle stability control, the control device controls the yaw moment generation device to generate a counter yaw moment counteracting the second variation yaw moment, based on the longitudinal acceleration, the lateral acceleration, and the correction gain.Type: ApplicationFiled: November 16, 2017Publication date: June 21, 2018Applicants: TOYOTA JIDOSHA KABUSHIKI KAISHA, KABUSHIKI KAISHA TOYOTA CHUO KENKYUSHOInventors: Etsuo KATSUYAMA, Takao KOBAYASHI
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Patent number: 9527510Abstract: Provided is a driving force control apparatus (10) configured to control driving forces applied to four wheels by controlling a driving force application apparatus (in-wheel motors (16FL to 16RR) and friction braking apparatus (24)) configured to apply driving forces to front left and right wheels (12FL and 12FR) and rear left and right wheels (12RL and 12RR) independently. The driving force control apparatus (10) is configured to: calculate vehicle body speeds Vj at positions of the four wheels, vertical loads Fzj of the four wheels, and a driving force Fx required by a driver (S30 to S50); calculate, based on those values, target driving forces Fxj for the four wheels to set tire sliding vectors of the four wheels to be the same (S60); and control the driving force application apparatus such that the driving forces of the four wheels are equal to corresponding target driving forces, respectively (S70).Type: GrantFiled: May 2, 2016Date of Patent: December 27, 2016Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Etsuo Katsuyama, Takao Kobayashi, Hideki Sugiura
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Publication number: 20160332626Abstract: Provided is a driving force control apparatus (10) configured to control driving forces applied to four wheels by controlling a driving force application apparatus (in-wheel motors (16FL to 16RR) and friction braking apparatus (24)) configured to apply driving forces to front left and right wheels (12FL and 12FR) and rear left and right wheels (12RL and 12RR) independently. The driving force control apparatus (10) is configured to: calculate vehicle body speeds Vj at positions of the four wheels, vertical loads Fzj of the four wheels, and a driving force Fx required by a driver (S30 to S50); calculate, based on those values, target driving forces Fxj for the four wheels to set tire sliding vectors of the four wheels to be the same (S60); and control the driving force application apparatus such that the driving forces of the four wheels are equal to corresponding target driving forces, respectively (S70).Type: ApplicationFiled: May 2, 2016Publication date: November 17, 2016Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Etsuo KATSUYAMA, Takao KOBAYASHI, Hideki SUGIURA
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Patent number: 9457804Abstract: Provided is a vehicle braking/driving force control apparatus for securing travel stability of a vehicle by priority when a slip occurs on a wheel for generating a braking/driving force while a plurality of motions are controlled. An electronic control unit identifies a slipping wheel having the maximum slip ratio (Si (i=fl, fr, rl, rr)) among wheels. The unit determines to increase or decrease a target roll moment (KmxMx) and a target pitch moment (KmyMy) for controlling a roll motion and a pitch motion, which are motions on the body in the vehicle vertical direction, so that the driving force on the slipping wheel has a direction to eliminate the slip state.Type: GrantFiled: October 2, 2014Date of Patent: October 4, 2016Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHAInventor: Etsuo Katsuyama
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Publication number: 20150274033Abstract: A control unit controlling torque of four motors capable of independently driving respective wheels, and setting a predetermined reference torque to the four motors based on first information from a driver input, and includes a distributed torque limitation mode wherein at least one of first motors from the four motors are controlled at a torque acquired by distributing a first distributed torque to the predetermined reference torque through addition to the predetermined reference torque based on second information of vehicle motion state; at least one of second motors different from the first motors are controlled at a torque acquired by distributing a second distributed torque to the predetermined reference torque through subtraction from the predetermined reference torque; and the first and second distributed torque are limited to prevent a torque acting direction from changing before and after the distribution through addition and the distribution through subtraction.Type: ApplicationFiled: October 4, 2012Publication date: October 1, 2015Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Etsuo KATSUYAMA, Takao KOBAYASHI, Hideki SUGIURA