Abstract: A power steering system is disclosed which automatically corrects unexpected variations in the path of a vehicle without requiring a driver to make corrections. A rotary valve in the power steering system includes an inner sleeve connected to a steering wheel, an outer sleeve connected to a pinion shaft meshed with a rack bar, and a torsion bar coupled to the inner sleeve and the pinion shaft. The rotary valve switches oil passages communicating with a power cylinder by means of relative rotation between the inner sleeve and the outer sleeve to thereby assist in steering. The outer sleeve and the pinion shaft are connected to each other for slight relative rotation through an elastomer or resilient connecting member. If an unexpected variation in path is produced in the vehicle, the outer sleeve is rotated by the operation of a torque motor which causes the operation of the rotary valve, thereby moving the power cylinder whereby a steering force is produced for correcting the variation in path.

Abstract: A steering angle of rear wheels are steered according to a deviation between an ideal yaw rate response and an actual yaw rate response to the given steering wheel input. By combining feedback control and feed forward control, immunity from external disturbances and lateral stability can be both ensured each at a high level over the entire range of vehicle speed. By appropriately selecting the transfer function of the control system, it is possible to achieve desired responsiveness and stability. Furthermore, the vehicle response in the range where the cornering force of tires tends to saturate can be improved, and it is therefore possible to neutralize the steering property over the entire vehicle speed range.

Abstract: In a brake system in an electric vehicle comprising a follower wheel capable of being hydraulically braked by the operation of a brake operating element, and a driving wheel connected to and driven by a motor using a battery as an energy source and capable of being hydraulically braked and regeneratively braked by the operation of the brake operating element, the regenerative braking force for the driving wheel exceeds a theoretic distribution characteristic of the braking forces for the follower and driving wheels at least during an initial braking. Thus, it is possible to sufficiently perform the recovery of the kinetic energy of the vehicle by the regenerative braking to increase the possible travel distance of the vehicle. In addition, at least during an initial braking, the hydraulic braking of the driving wheel and the hydraulic braking of the follower wheel are inhibited, and substantially only the regenerative braking of the driving wheel is performed.

Abstract: A method of and an apparatus for controlling brakes suitable for use in an electric vehicle. Target deceleration is determined from the amount of depression of a brake pedal and the deceleration of the electric vehicle is detected. Then, the difference between the target deceleration and the deceleration of the electric vehicle is determined and a desired braking force for attaining the target deceleration is obtained. Thereafter, it is determined whether or not the difference falls within a predetermined range. It is further judged, based on the result of the determination, whether the operation of a regenerative brake is required to obtain the desired braking force. If the difference falls outside of the predetermined range, then the regenerative brake is inhibited from being actuated.

Abstract: The switchover is mode from a regenerative braking-preference mode in which the braking force for follower and driving wheels are more than a theoretical braking force distribution characteristic for follower and driving wheels, to a usual mode in which a braking force distribution characteristic thereof corresponds to the theoretical braking force distribution characteristic, is carried along an equal braking force line which is the sum of the braking forces for the follower and driving wheels. Thus, the sum total of the braking forces over the entire vehicle is kept constant even if the distribution of the braking forces for the follower and driving wheels is varied and therefore, a smooth braking is possible without a degradation of the steering stability. In addition, the switchover in mode from the regenerative-preference mode to the usual mode is carried out when the time-differentiation value of a wheel speed of the follower wheel or the driving wheel exceeds a predetermined value.

Abstract: A transmission control system in an electric vehicle in which a battery is used as en energy source for a motor and is charged with an electric power generated through the motor by regenerative braking of driving wheels which are connected to the motor through a transmission. In the transmission control system, a regenerative energy capable of being generated at a current transmission ratio, a regenerative energy capable of being generated when such transmission ratio is increased, and a regenerative energy capable of being generated when such transmission ratio is decreased, are calculated and compared with one another, thereby shift-changing the transmission into a shift position which permits the largest regenerative energy to be provided. This ensures that the efficiency of recovery of the energy can be increased to the maximum to effectively charge the battery.

Abstract: An automatic travelling apparatus which permits: determination of a permissible travelling area on the basis of images taken by an image pickup device or video camera, showing the sight of the area appearing ahead of the vehicle; steering control of the vehicle to go into a target course in the permissible travelling area; and selection of a predetermined way of a selected crossing or branch in the target course.For the image pickup device or video camera taking images of the area extending ahead of the vehicle for determining a permissible travelling area, a wide-angle camera, a telescopic range camera and an ordinary camera are selectively used to meet particular situations for example, taking pictures of a crossing, zigzag way or straight long way. This selective use of cameras of different characteristics permits correct identification of particular roads with those stored in the map storage.

Abstract: An automatic travelling apparatus which is capable of finding out a permissible travelling area from images taken by an image pick-up device to set a target course in the permissible travelling area; determining a steering amount appropriate for the purpose of permitting the vehicle to put itself on the target course, in consideration of the instantaneous travelling condition of the vehicle; and performing the exact steering control in terms of the steering amount. The exact travelling attained by the automatic travelling apparatus according to the present invention is attributable to a two-step determination in which first, a target course is set in a permissible area, and a tentative course is set appropriate for the purpose of permitting the vehicle to put itself on the target course.

Abstract: A device for switching vehicle characteristics which includes means for setting information concerning a road, such as a highway, in the running path of the vehicle, means for detecting the fact that the vechicle comes to a designated road portion in the running path and for producing output information concerning said predetermined road portion and means for effecting switching of the vehicle characteristics in response to the output information concerning the road.

Abstract: A system for automatically turning a road wheel. The system utilizes a strut-type suspension including a cylinder connected at one end to a steering knuckle and a piston/piston rod assembly slidable within the cylinder. An actuator is mounted to a vehicle body and operatively connected to the piston rod so as to rotate the same. The piston rod is also operatively connected through a suitable connection to the cylinder so that rotary motion of the piston rod is carried to the cylinder. This causes rotational motion of the steering knuckle and thus the road wheel. The actuator is a motor having elements disposed in surrounding relation to the cylinder to bring the system into a compact arrangement.

Abstract: A system for automatically turning a road wheel. The system utilizes a strut-type suspension including a cylinder connected at one end to a steering knuckle and a piston/piston rod assembly slidable within the cylinder. An actuator is mounted to a vehicle body and operatively connected to the piston rod so as to rotate the same. The piston rod is also operatively connected through a suitable connection to the cylinder so that rotary motion of the piston rod is carried to the cylinder. This causes swing motion of the steering knuckle and thus the road wheel. The actuator is disposed in surrounding relation to the cylinder to bring the system into a compact arrangement.

Abstract: An independent rear suspension includes a knuckle having a spindle for supporting a wheel, the spindle having a central axis, a trailing arm coupled to the knuckle, a pair of spaced lower arms pivotally mounted on the knuckle, a knuckle arm extending substantially upwardly from the knuckle, an upper arm pivotally mounted on the knuckle arm, and a damper having a lower end coupled to the knuckle at a position below the central axis of the spindle, the damper having a lower portion disposed between the spaced lower arms and in the vicinity of the central axis of the spindle.

Abstract: An independent rear suspension for use on a motor vehicle having a vehicle body includes a knuckle for supporting a wheel rotatably thereon, a trailing arm having one end rigidly coupled to the knuckle and the opposite end adapted to be pivotally mounted on the vehicle body for pivotal movement about a first pivot, a pair of spaced lower arms pivotally mounted on the knuckle, a knuckle arm extending substantially upwardly from the knuckle, and an upper arm having one end pivotally mounted on the knuckle arm by a ball-and-socket joint and the opposite end adapted to be pivotally mounted on the vehicle body for pivotal movement about a second pivot, the second pivot having a central axis, the extension of which passes substantially through the first pivot. The aforesaid one end of the upper arm has a third pivot about which it is pivotally movable, the third pivot having a central axis, the extension of which is substantially parallel to the extension of the central axis of the second pivot.

Abstract: A trailing arm joint structure includes a knuckle for supporting a wheel and a substantially plate-like trailing arm lying in a vertical plane and having a front end adapted to be pivotally coupled to a vehicle frame and a rear end pivotally coupled to the knuckle. The knuckle has a front bifurcated portion composed of first upper and lower joint fingers extending forwardly and spaced vertically from each other, the knuckle having a link joint positioned between the first upper and lower joint fingers. The rear end of the trailing arm has a rear bifurcated portion composed of second upper and lower joint fingers extending rearwardly and spaced vertically from each other, the front and rear bifurcated portions being held against each other with said first and second upper and lower joint fingers being fastened together.

Abstract: A method of operating a vehicle height adjusting apparatus including a vehicle body having front and rear wheels, contractible and extensible dampers disposed between the front and rear wheels and the vehicle body, a motor, a pump unit having inlet and outlet ports and drivable by the motor for supplying a working fluid under pressure to the dampers, a first valve member disposed in a first fluid passage between the pump unit and the dampers for adjusting the height of the vehicle, and a second valve member disposed in a second fluid passage between the inlet and outlet ports of the pump unit and connected to the first fluid passage for discharging the fluid from the dampers to the outlet port of the pump unit. The method comprises the steps of actuating the pump unit, opening the second valve member no later than simultaneously with the actuation of the pump unit, and closing the second valve member a predetermined period of time after it has been opened, whereby the height of the vehicle can be increased.

Abstract: An integrated valve unit for a pressure control circuit which comprises a case, a drier wholely contained in the case, and a check valve formed and positioned in an inlet of the case having a longitudinal axis perpendicular to the longitudinal axis of the case. The check valve includes a cylinder chamber formed in the case having two end faces and a side wall, a fluid inlet port formed in one of the end faces, a pair of discharge ports in the side wall longitudinally spaced from each other and opening into the case, an axially slidable piston inserted into the chamber, a biasing member urging the piston towards one end face having the fluid inlet port formed therein, and an elastic seal member fixed to the piston member. The piston is capable of selectably closing the discharge ports upon axial sliding thereof. The elastic seal member is capable of sealing the portion of one end face including the fluid inlet port as the piston member slides toward that one end face.