Abstract: A method of planning works for robots includes creating a work plan for a plurality of robots, each having a work tool, sharing at at least one station a work to a plurality of work parts of the workpiece. The method includes the steps of calculating a distribution of the work parts to the robots, calculating, as a robot operation, a work order of the work parts and a moving path of the work tool for each of the robots based on the calculated work distribution, and calculating a disposed location of each of the robots with respect to the workpiece and a station where the robot is disposed so that an inter-robot interference does not occur during execution of the calculated robot operation.

Abstract: In this vehicle motion control apparatus, vehicle behavior sensors are arranged integrally with an integrated unit composed integrally of a control unit and a brake controller. An acceleration sensor is mounted in a section adjacent to the integrated unit. If an output value from the acceleration sensor for an airbag deployment exceeds a predetermined threshold due to a collision of the vehicle etc., the vehicle motion control apparatus determines there is a possibility that a mounting posture of the integrated unit relative to a vehicle body is tilted from a reference posture by a predetermined degree or more, then prohibiting performing an ESC control. And, the vehicle motion control apparatus lights a warning lamp to notify a driver of an occurrence of abnormality in the mounting posture of the integrated unit and to urge the driver to perform repairs for an adjustment of the mounting posture.

Abstract: A vehicle control device using brake hydraulic pressure includes a hydraulic unit having a housing and an electronic control unit having a casing. The housing of the hydraulic unit is mounted on a mounting surface of the casing of the electronic control unit so that the casing of the electronic control unit protrudes from the housing of the hydraulic unit to one side. On the protruding area of the casing, a bulge is formed in which a vehicle behavioral sensor is mounted. A control connector is also provided on the protruding area of the casing. The bulge does not protrude from the substantially square contour of the vehicle control device. Thus, the bulge will scarcely increase the installation space of the vehicle control device. A vehicle behavioral sensor is mounted on a small substrate.

Abstract: A multichip sensor includes an element chip having a detection element of a sensor; a signal-processing IC chip having a signal-processing IC for processing an output signal of the detection element; and a package adapted to accommodate at least the element chip and the signal-processing IC chip and having a surface to be mounted on an ECU board. The plane of the element chip and the surface to be mounted on the ECU board are perpendicular to each other. The plane of the signal-processing IC chip, which is greater than the element chip, and the surface to be mounted on the ECU board are in parallel with each other.

Abstract: An abnormality determining apparatus is applied to a vehicle motion control apparatus in which a vehicle behavior sensor (yaw rate sensor, etc.) is integrally mounted to an integrated unit that is integrally composed of an HU (hydraulic unit) and ECU. In this abnormality determining apparatus, the pattern of the vibration noise appearing on the output from the vehicle behavior sensor (output from yaw rate sensor Yrfilpc, etc.) is obtained when various actuators such as motor, solenoid valves, or the like, that are mounted to the HU, are operated with a predetermined pattern for a primary check for the HU. When the pattern of the vibration noise is not within the predetermined normal pattern range, it is determined, according to the abnormal manner of the pattern of the vibration noise, that the abnormality of the vehicle behavior sensor, abnormal operation of the actuator in the HU, or the like occurs.

Abstract: First and second acceleration sensor elements for detecting the acceleration of a vehicle in the direction in which the vehicle travels, and the acceleration of the vehicle in the direction transverse to the travel direction of the vehicle are mounted on a sensor substrate which is mounted on a control substrate of a vehicle control device. With the sensor substrate positioned such that the sensing directions of the respective sensor elements are perpendicular to or parallel to the vertical line, the outputs of the respective sensor elements are detected as zero errors or gain errors. The sensor substrate is then mounted on a vehicle and with the vehicle placed on a horizontal surface, a signal is sent to an electronic control unit (ECU) of the vehicle control device so that the ECU can recognize that the vehicle is horizontal. Based on the outputs from the first and second sensor elements at this time, the deviation angles of the sensor elements about the X-axis and Y-axis directions are calculated.

Abstract: In this vehicle motion control apparatus, vehicle behavior sensors are arranged integrally with an integrated unit composed integrally of a control unit and a brake controller. An acceleration sensor is mounted in a section adjacent to the integrated unit. If an output value from the acceleration sensor for an airbag deployment exceeds a predetermined threshold due to a collision of the vehicle etc., the vehicle motion control apparatus determines there is a possibility that a mounting posture of the integrated unit relative to a vehicle body is tilted from a reference posture by a predetermined degree or more, then prohibiting performing an ESC control. And, the vehicle motion control apparatus lights a warning lamp to notify a driver of an occurrence of abnormality in the mounting posture of the integrated unit and to urge the driver to perform repairs for an adjustment of the mounting posture.

Abstract: An abnormality determining apparatus is applied to a vehicle motion control apparatus in which a vehicle behavior sensor (yaw rate sensor, etc.) is integrally mounted to an integrated unit that is integrally composed of an HU (hydraulic unit) and ECU. In this abnormality determining apparatus, the pattern of the vibration noise appearing on the output from the vehicle behavior sensor (output from yaw rate sensor Yrfilpc, etc.) is obtained when various actuators such as motor, solenoid valves, or the like, that are mounted to the HU, are operated with a predetermined pattern for a primary check for the HU. When the pattern of the vibration noise is not within the predetermined normal pattern range, it is determined, according to the abnormal manner of the pattern of the vibration noise, that the abnormality of the vehicle behavior sensor, abnormal operation of the actuator in the HU, or the like occurs.

Abstract: A multichip sensor includes an element chip having a detection element of a sensor; a signal-processing IC chip having a signal-processing IC for processing an output signal of the detection element; and a package adapted to accommodate at least the element chip and the signal-processing IC chip and having a surface to be mounted on an ECU board. The plane of the element chip and the surface to be mounted on the ECU board are perpendicular to each other. The plane of the signal-processing IC chip, which is greater than the element chip, and the surface to be mounted on the ECU board are in parallel with each other.

Abstract: First and second acceleration sensor elements for detecting the acceleration of a vehicle in the direction in which the vehicle travels, and the acceleration of the vehicle in the direction transverse to the travel direction of the vehicle are mounted on a sensor substrate which is mounted on a control substrate of a vehicle control device. With the sensor substrate positioned such that the sensing directions of the respective sensor elements are perpendicular to or parallel to the vertical line, the outputs of the respective sensor elements are detected as zero errors or gain errors. The sensor substrate is then mounted on a vehicle and with the vehicle placed on a horizontal surface, a signal is sent to an electronic control unit (ECU) of the vehicle control device so that the ECU can recognize that the vehicle is horizontal. Based on the outputs from the first and second sensor elements at this time, the deviation angles of the sensor elements about the X-axis and Y-axis directions are calculated.

Abstract: A vehicle control device using brake hydraulic pressure includes a hydraulic unit having a housing and an electronic control unit having a casing. The housing of the hydraulic unit is mounted on a mounting surface of the casing of the electronic control unit so that the casing of the electronic control unit protrudes from the housing of the hydraulic unit to one side. On the protruding area of the casing, a bulge is formed in which a vehicle behavioral sensor is mounted. A control connector is also provided on the protruding area of the casing. The bulge does not protrude from the substantially square contour of the vehicle control device. Thus, the bulge will scarcely increase the installation space of the vehicle control device. A vehicle behavioral sensor is mounted on a small substrate.

Abstract: A torque control strategy control for management of regenerative braking in a motor vehicle. A first processor (12) processes throttle request data (20) and torque modification data (40) from a second processor (14) to develop motor torque request data (28) for controlling rotary electric machine torque. The second processor processes brake request data (26), the throttle request data, and operating data from the at least one operating data source to develop friction brake torque data (30) for controlling friction brake torque applied to the vehicle and the torque modification data for the first processor.

Abstract: A connecting structure for connecting the connector terminal unit with the printed mounting board in which the degree of freedom is high with respect to the attaching posture and attaching position of the connector terminal unit, and further the error allowed in the manufacturing process of the printed mounting board and the error allowed in the assembling process of the printed mounting board to the case may be increased. An auxiliary wiring board is electrically connected onto a reverse side of a connector terminal arranged penetrating the connector terminal unit, and also the auxiliary wiring board is electrically connected onto the printed mounting board by FPC (flexible printed circuit board). The attaching posture and attaching position of the connector terminal unit can be arbitrarily determined in a range of the length of FPC.

Abstract: This invention aims to enhance a production efficiency of an automobile provided with an antilock brake system. A united assembly of an electronic unit 6 and a junction block 7 is detachably mounted on a side face of a hydraulic power unit 5 which controls a pressure of brake fluid. The junction block 7 is provided with a set of terminals 74A connected to solenoids and the like of the hydraulic power unit 5, a set of terminals 74B connected directly or indirectly to a battery 21, a set of terminals 74C and 74D connected to relays 9 and 10, and a set of terminals 74E connected to a circuit of the electronic unit 6. These sets of terminals 74A to 74E are connected through bus bars 74, respectively. It is possible to reduce the number of wire harnesses extending between an engine compartment and a car interior and to realize various kinds of lay-out in the engine compartment.

Abstract: There is disclosed a unit integrated system wherein a hydraulic unit (1) having an upper surface (3a) defining an oil inlet and an electronic control unit (2) for controlling the drive of the hydraulic unit (1) are integrated together in juxtaposition with each other in such a manner that an upper surface (2a) of the electronic control unit is located at a position equal to or lower than the upper surface (3a) of the hydraulic unit (1), whereby an operating space (35) of a piping tool is insured above the electronic control unit (2) in connecting a hydraulic pipe (34) to the oil inlet in the upper surface (3a) of the hydraulic unit (1), and the hydraulic pipe (34) is securely connected to the oil inlet of the hydraulic unit (1) by using the existing spanner-shaped piping tool without interference of the tool with an upper portion of the electronic control unit (2).

Abstract: A connector having terminal groups (222) intended to carry a large current from a source of electrical power to an actuator for a hydraulic unit. The connector also has another terminal group (223) for a smaller current which is electrically connected to components of an electronic control unit (2) for hydraulic unit (1). Connector housing (221) is provided with base plate (221a) which carries terminal groups (222 and 223) and tubular housing body (221b) encloses both terminal groups (222 and 223). The terminals of both groups are joined at their outer ends to a harness-side connector (219) and at their inner ends the terminal group (222) is joined by wiring (224) to a motor (205) and the terminal group (223) is joined to a printed board (209). The board (209) along with a junction block (210) are housed within a pair of case elements (213a and 213b).

Abstract: A hydraulic power unit (5) mounts integrally an electronic unit (6) in an antilock brake system. The unit (5) has a solenoid tab (5ab) containing a coupling pin connected to a coil of a solenoid valve (5a). The electronic unit (6) has a connector for a power source, a motor relay (7), terminal sections (61Ba, 61Bd, and 61Be) for fail-safe relays. The coil in the solenoid valve (5a) is electrically coupled to an electronic control section, and the terminal sections (61Bd and 61Be) in the electronic unit (6) by coupling the solenoid tab 5ba to a solenoid socket (14) in the electronic unit (6). This construction makes it easy to electrically interconnect the coil of the solenoid valve in the hydraulic power unit (5) and the electronic unit (6).

Abstract: An antilock brake system is constructed in such a manner that a housing 61 of an electronic unit 6 is connected integrally to a housing of a hydraulic unit main body 5 for controlling brake fluid pressures, and an upper housing 71 of a junction block 7 is connected to the housing 61 of the electronic unit 6. An electric wiring section for the electronic unit 6 is constituted by bus bars 75 incorporated in the junction block 7. Even in the event that the antilock brake system is equipped on an automobile, the number of wiring harnesses extending between the engine compartment and the passenger compartment can be reduced. In addition, the number of components that are mounted on the automobile can also be reduced, thereby making it possible to reduce the man hour for fabrication.