Hitachi Astemo

According to one aspect of an embodiment of the present invention a vehicle control system (200) is proposed, comprising: an environment recognition unit (300) that is configured to acquire information related to a driving environment of a driving road on which a vehicle (100) travels; a vehicle motion state acquisition unit (400) that is configured to acquire information related to a motion state of the vehicle (100); a control unit (500, 600, 630, 800, 830, 850) that is configured to output a calculation result based on input information, wherein: the control unit (500, 600, 630, 800, 830, 850) is configured to calculate, while holding, for a predetermined distance from the vehicle (100), a shape of a first target trajectory calculated at a first time (t0) for calculating a target trajectory along which the vehicle (100) is to travel, a second target trajectory at a second time (t0+ΔT) which is a next calculation timing of a target trajectory, to set a total distance of a distance to be traveled by the vehicle (100) during a time (ΔT) from the first time (t0) to the second time (t0+ΔT) and a preview point distance (D) that indicates a distance to be traveled by the vehicle (100) during a preview time (Tfwd) as the predetermined distance, and to output a control command for driving the vehicle (100) based on information related to a second target position set on the second target trajectory; and an actuator unit (700) is provided that is configured to control the motion state of the vehicle (100) based on the control command.

A road-surface inclined-state detection method, applicable to a vehicle control method, includes an acquisition step of acquiring a vehicle state where pitching moment causing front wheels 32 of a vehicle 1 to move upward in a vertical direction relative to rear wheels 42 of the vehicle 1 is applied to the vehicle 1, and where rear suspensions 40 suspending the rear wheels 42 are stroked in a compressing direction, a count step of starting counting after the vehicle state acquired in the acquisition step meets a predetermined condition, and continuing the counting until the vehicle state fails to meet the predetermined condition, and an inclined-state detection step of detecting an inclined state of a road surface R on which the vehicle 1 travels, according to count values counted in the count step.

The present invention provides a a vehicle disc brake (1),comprising: a caliper body (3) disposed across a disc rotor (2); a pair of friction pads (4) disposed on both side parts of the disc rotor (2); and a pad spring (5) configured to bias the friction pads (4) inward in a disc radial direction, wherein: the caliper body (3) is provided with a ceiling opening (3f) for inserting and removing the friction pads (4) into and from a bridge part (3b) across an outer periphery of the disc rotor (2), each of the friction pads (4) is provided with a suspension piece (4f) at a central part in a disc circumferential direction (A) in a protruding manner, and is hung to be movable in a disc axial direction by inserting a hanger pin (13), which is suspended in the disc axial direction through the ceiling opening (3f), through the suspension piece (4f), and the pad spring (5) includes: a curved piece (5a) abutting against an inside in the disc radial direction of the hanger pin (13), a run-in side pad spring-back part (5b) extending from the curved piece (5a) to a disc run-in side and configured to press the friction pad (4) inward in the disc radial direction, and a locking piece (5d) provided at a tip of the run-in side pad spring-back part (5b) and locked to an inside in the disc radial direction of a disc run-in side surface of the ceiling opening (3f).

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