1156results about How to "Improve handling stability" patented technology

A very extensive decoupling of the handle from vibrations in the hand power tool is obtained by the fact that, on each of two legs (5, 7) extending nearly parallel to the longitudinal axis (9) of the hand power tool, at least one lever (19, 21) oriented substantially at a right angle to the machine's longitudinal axis (9) is hinge-mounted at one of its two ends, and by the fact that the levers (19, 21) are hinge-mounted at their other ends to a region of the machine housing (1) located between the two legs (5, 7) of the handle (3).

The invention relates to a steering-mode adjustable electric automobile steering system and a control method. The steering-mode adjustable electric automobile steering system comprises two motors, a mechanical steering module, an electric assisting steering module and a steering-by-wire module, wherein the two motors are arranged on a steering column and a steering pinion respectively, the mechanical steering module, the electric assisting steering module and the steering-by-wire module are formed by three electromagnetic clutches and the like and are used for mechanical steering, electric assisting steering and steering-by-wire. The control method mainly includes the first step of carrying out system initialization, the second step of allowing an ECU to start the corresponding steering mode and carrying out control according to the steering mode selected by a driver, the third step of controlling the steering modes, and the fourth step of carrying out fault diagnosis and fault-tolerant control on the steering system. The steering-mode adjustable electric automobile steering system and the control method have the advantages that the same automobile has high control flexibility on the precondition of being simple in structure, and consequently switching of driving modes can be achieved; when one motor breaks down, an original steering mode can be switched to a steering column assisting type electric assisting steering mode or a pinion assisting type electric assisting steering mode or a mechanical steering mode, and consequently the operation stability, reliability and the fault-tolerance capacity of the automobile are improved.

The present invention provides a distributed driving automobile control system based on hierarchical coordination. The system comprises a vehicle speed sensor, a steering wheel steering angle sensor, a steering wheel torque sensor, a power-assisted motor armature current sensor, a throttle pedal signal processing module, a brake pedal signal processing module, a driving motor state monitoring module, a gyroscope, a CAN bus, a coordination controller, an electric power steering system (EPS) controller, a torque distribution controller, a right front wheel driving motor controller, a left front wheel driving motor controller, a right back wheel driving motor controller and a left back wheel driving motor controller, a power-assisted motor and four driving motors. The present invention also provides a distributed driving automobile control method based on the hierarchical coordination. The system and method of the present invention enable the mutual influence of an EPS and a torque distribution system to be reduced effectively, carry out the working condition coordinated control on the EPS and the torque distribution system on the basis of guaranteeing the optimal comprehensive performance of a whole automobile, and enable the handling stability of a distributed driving automobile to be improved effectively.

A longitudinal, transverse and vertical force integrated control optimization method for electric vehicles driven by hub belongs to that technical field of electric vehicle control. The object of theinvention is to adopt a layered cooperative control structure so as to solve the four shortcomings existing in the prior art control system of a longitudinal, lateral and vertical force integrated control optimization method of an electric vehicle driven by a hub. The invention brings the relationship between vehicle resultant force and four-wheel tire force into the vehicle body six-degree-of-freedom equation to obtain the expected values of vehicle kinematics control target longitudinal speed, lateral speed, vertical speed, pitch angle, roll angle and yaw angle, thereby optimizing the vehicle kinematics control target. The layered longitudinal, lateral and vertical force unified optimal distribution integrated control method eliminates the conflict between different chassis electronic control systems and enhances the complementarity, and comprehensively improves vehicle handling stability and vehicle driving posture, which is embodied in the improvement of vehicle road tracking performance, safety, maneuverability, stability and comfort.

The invention relates to a front wheel and rear wheel drive steering control system of an automobile in the technical field of automobile engineering. Steering wheel steering angle sensors are respectively connected with a drive turning electronic control unit; one end of each steering wheel steering angle sensor is connected with a steering wheel, and the other end of each steering wheel steering angle sensor is connected with a front wheel steering motor servo control unit; the front wheel steering motor servo control unit is respectively connected with a front wheel steering angle displacement sensor and a front wheel steering execution mechanism; a rear wheel steering motor servo control unit is respectively connected with a rear wheel steering angle displacement sensor and a rear wheel steering execution mechanism; the front wheel steering execution mechanism is connected with a front wheel, and the rear wheel steering execution mechanism is connected with a rear wheel. The invention combines front wheel drive steering and rear wheel drive steering, improves the lateral dynamic performance of the automobile, the driving characteristics of a driver and the operating stability of the automobile, changes a steering angle of the front wheel and the rear wheel in real time according to the drive working condition and a running parameter of the automobile and ensures that the automobile response follows the output response of a reference automobile model.

The invention discloses a traversal control system and method of a driverless automobile based on a hybrid theory. The system comprises a sensing module, a path planning module, a hybrid controller module, a steering executing module and a display module. The sensing module is used for acquiring the vehicle travelling environment and the vehicle operating state; the path planning module is used for planning a path based on the absolute position of a vehicle in a map and the position of the vehicle relative to peripheral obstacles and a lane line; the hybrid controller module comprises a local controller unit and a switching monitoring controller unit; the local controller unit designs a controller meeting a target for working conditions of lane-keeping, lane conversion and emergent collision avoidance; the switching monitoring controller unit driven by different discrete events drives effective mode switching, so that the switching stability is guaranteed; the steering executing module drives a steering motor according to a signal of the hybrid controller so as to realize automatic steering of the driverless automobile; and the display module is used for displaying sensing information, path planning information and control mode information.

The invention provides an intelligent vehicle trajectory planning and tracking combined control method. The method comprises the following steps: parameterizing a road; establishing a transverse and longitudinal vehicle dynamic model; expanding a vehicle model, and forming a prediction model through linearization, discretization and incremental conversion; designing an objective function of a trajectory planning and tracking joint control problem according to a model prediction control method; obtaining a current vehicle state, and updating matrix parameters in the prediction model; establishing road boundary, driving stability and state quantity constraints according to the vehicle state and the predicted output state of the previous moment; and converting the problem into a quadratic programming problem form, solving an optimal control increment combination, and acting the optimal front wheel rotation angle [delta]* and the longitudinal control value D* on the autonomous vehicle. According to the invention, the combined processing of optimal driving line planning and control is realized, the complexity of an automatic driving module is reduced, the overall memory occupation and processing time are reduced, and the control stability of the automatic driving racing car is improved.

The invention relates to a longitudinal-transverse-vertical force cooperative control method of a distributed electrically driven vehicle. The method is implemented by a vehicle control system: 1) formulation of expected resultant force and moment; 2) optimal distribution of longitudinal, transverse and vertical forces of four wheels; 3) specific execution of the forces. The expected values of the resultant force and the moment of the whole vehicle are obtained by utilizing various information of the vehicle, an integrated tyre force optimization problem is formed by establishing a constraint condition and an objective function, and an optimization solution algorithm is designed for the problem, wherein the optimization algorithm comprises a constraint optimization method which adopts a barrier function method and a Newton method, and a feasible region planning method based on vehicle state continuity. The method does not need to implement different control strategies according to different work conditions of tyres, realizes unified optimal distribution and control of the longitudinal, transverse and vertical forces of the tyres, comprehensively improves the operation stability and the driving posture of the vehicle, and can be applied to driverless operation of vehicles in the future.

The invention relates to a method for improving lateral stability under the condition of turning / braking vehicles, in particular to an automobile brake control method for improving lateral stability of turning / braking vehicles. By an off-line simulation method, from the angle of whole-vehicle dynamics, based on optimization technology, the invention calibrates an optimal target slip-rate working interval of an automobile ABS system comprehensively considering both longitudinal braking performance and lateral braking performance under the turning / braking condition, forms a curved surface from target slip rate to steering angle to initial braking speed, and then supplies the target slip rate for dynamically adjusting wheels inside and outside a bend to an online ABS system. The online ABS system adjusts the pressure of a braking wheel cylinder to reasonably allocate longitudinal force and lateral force that every wheel bears when a vehicle turns / brakes so as to improve the lateral stability of the vehicle. On the basis of the prior ABS system, the method has the advantage of allowing the ABS system to have part of the functions of an ESP system without increasing any cost.

The invention provides a wheel longitudinal force regulation-based vehicle handling stability control method; the control method is applied to a vehicle with a mechanical steering system and without an active steering function. The control method comprises the following steps: (1) according to a signal input by a driver and a vehicle speed state, calculating a vehicle reference motion state by a vehicle reference model; (2) according to a vehicle motion state measured by a vehicle-mounted sensor, estimating to acquire a non-measured vehicle motion state as a vehicle real motion state; (3) based on sliding mode variable structure control, acquiring a target control force and a target control moment which are needed for the vehicle real motion state to track the reference motion state; (4) by regulating longitudinal force of the wheels, generating the needed target control force and target control moment. According to the control method, by regulating the longitudinal force of the wheels, nonlinear combined control on vehicle speed, yaw velocity and side slip angle can be realized, and the vehicle handling stability is improved.

The invention provides an optimum design method of a non-bearing frame structure of a light vehicle. The optimum design method comprises the steps of establishing a three-dimensional geometrical model of the original frame structure of the light vehicle by use of SolidWorks software and outputting the model in the IGES (Initial Graphics Exchange Specification) data file format, thereby obtaining the IGES model of the frame structure, next, reading the IGES model of the frame structure in Hypermesh software, performing geometrical processing and dividing finite element meshes by use of the Hypermesh software, and performing topological optimization on the cross beam structure of the frame by use of the structure optimization function of the Hypermesh software without changing the structural forms of the longitudinal beam and the attached seats of the frame, thereby realizing the optimum design of the arrangement position and the structural form of the cross beam structure. The optimum design method of the non-bearing frame structure of the light vehicle is capable of improving the bending rigidity and torsional rigidity of the frame of the light vehicle and the inherent frequency of the frame structure without increasing the weight of the frame structure, thereby ensuring that the frame has relatively high overall rigidity and improving the reliability, security, operation stability and vibration property of the vehicle.

The invention discloses an automobile active anti-collision automatic lane change control system and an operating method thereof. The system comprises a real-time driving safety state judging module and an automatic lane change control module which are connected with each other; the real-time driving safety state judging module comprises a critical braking distance calculation module and a safety state judging module unit; the automatic lane change control module comprises a lateral dynamics and CarSim vehicle dynamics model establishing module, an expected yaw velocity acquiring module and a design terminal sliding formwork lane change controller module. The method includes two steps of driving safety state judgment and automatic lane change control. The system and method adopt pedestrians in front as the study objects of active anti-collision, whether driving is in the dangerous state or not can be judged by calculating the critical braking distance and corresponded automatic control is performed, the smoothness and operating stability during lane change are guaranteed, and safety of the pedestrians in front is guaranteed.

The invention discloses an automobile stability control system and an automobile stability control method. The system comprises a rack and pinion steering gear, an assisted motor, a worm and gear pair, a steering motor, a dual-planet-row gear mechanism, an electronic control unit (ECU), a steering wheel torque sensor, a steering wheel angle sensor, an automobile speed sensor, a yaw velocity sensor, a side slip angle sensor, a lateral acceleration sensor and a front wheel angle sensor. In the running process of an automobile, all sensors acquire measured signals in real time, the measured signals are sent to the ECU, the ECU runs a preset program to process the measured signals, and an angle displacement signal and a torque signal are output to the steering motor and the assisted motor to drive the dual-planet-row gear mechanism and the worm and gear pair, so as to finally control the motion of front wheels of the automobile, thereby realizing control on the yawing motion of the automobile. The control system and the control method, disclosed by the invention, can realize real-time control on the yawing motion of the automobile so as to improve the running stability and safety of the automobile.

The present invention provides a control method of a four-wheel independent steering vehicle. The method comprises the following steps: A, preinstalling an ideal vehicle steering model, an interference boundary estimation link, a rear wheel turning angle sliding mode controller and a yawing moment sliding mode controller; B, measuring a front wheel turning angle, a side slip angle and a yaw velocity of the vehicle in real time by taking the straightly advancing state of the vehicle as the initial moment, and performing calculation to obtain a real-time side slip angle control error and a yaw velocity control error by combining the ideal vehicle steering model and the corresponding real-time side slip angle and the corresponding real-time yaw velocity; C, inputting the real-time side slip angle control error and the yaw velocity control error into the interference boundary estimation link, to obtain real-time interference boundary parameters; and D, performing calculation to obtain a real-time rear wheel turning angle and yawing moment by combining the real-time front wheel turning angle, the real-time interference boundary parameters and the control errors, and performing controlling over the vehicle. The method has the characteristics of good control effect and high stability.

The invention relates to the field of vehicle control, in particular to a nonlinear model prediction control method of regenerative braking of an electric vehicle. The method adopts a nonlinear model prediction control strategy of a rapid system, on the basis of establishing an electric vehicle regenerative braking nonlinear model, subsystem operating state signals, acquired by sensors, of the entire vehicle, wheels, suspensions and motors in the braking process of the electric vehicle are acquired, and multiple purposes, namely controlling speed accurately, guaranteeing vehicle stability, improving driving smoothness and regenerative braking energy recovering efficiency, in the braking process are controlled coordinately. The control system is mainly applied into the driving and braking processes of traditional vehicles and electric vehicles, especially the multipurpose controlling process of strong nonlinear systems.

The invention relates to a novel car body structure of a full-loaded purely electrical passenger car. In the car body structure of the full-loaded purely electrical passenger car, a passenger front door (1) and a passenger rear door (2) are formed in the front and rear sections of the car body; integral diagonal brace girder structures (6) and (8) are formed in the part between the upper and lower waist beams of the side body and the middle keel part of the car body; the upper and lower waist beams (3) and (4), lower side beams (5) and a keel longitudinal beam (15) are communicated; a motor is arranged in the middle; and a power battery packs are arranged in the middle section of the car body. The structure is a whole, and the middle section of the car body has high carrying capacity. The structure is optimized by a full-loading technique, so the non-axial loads of the rod pieces of the structure are reduced effectively, the stress of the members of the structure are more reasonable, and the load distribution is more uniform. Therefore, the strength and rigidity of the car body are both improved effectively.

The invention discloses an SBW (steer-by-wire) device with a redundancy function and a control method. The SBW device with the redundancy function comprises a road feel simulation actuator, a steeringactuator and an SBW control module, wherein the steering actuator comprises a first gear-rack mechanism, a first rack travel sensor, a first steering motor controller, a first steering motor, a firststeering motor rotor position sensor, a second gear-rack mechanism, a second rack travel sensor, a second steering motor controller, a second steering motor, a second steering motor rotor position sensor and a steering engine. By means of the redundant first steering motor and first steering motor controller as well as the redundant second steering motor and second steering motor controller, theSBW system can still steer normally once a fault occurs, and safety of passengers in a vehicle is guaranteed.

The present invention aims to provide a rubber composition for a base tread capable of enhancing fuel economy, elongation at break and durability in a balanced manner while maintaining favorable handling stability and processability (extrusion processability) even if the amount of zinc oxide is reduced, and a pneumatic tire having a base tread produced from the rubber composition. The present invention relates to a rubber composition for a base tread including: a rubber component; a compound represented by Formula (I):wherein R1 to R4 each independently represent a C1 to C18 linear or branched alkyl group or a C5 to C12 cycloalkyl group; and zinc oxide, wherein the amount of the compound represented by Formula (I) is 0.2 to 6 parts by mass and the amount of the zinc oxide is 1.0 part by mass or less, relative to 100 parts by mass of the rubber component.

A tire having an asymmetric tread pattern that land proportion of outer side area is larger than inner side area, but having a reduced difference in drainage performance between tires on right and left wheels, the tire having tread surface (2) divided by four circumferential grooves (3 and 4) into center (5), middle (6,6) and shoulder lands (7,7), wherein middle (6o) and shoulder land (7o) in the outer side area (2o) are divided respectively by outer middle lateral grooves (8o) and outer shoulder lateral grooves (10o) into blocks (9o and 11o), inclination direction of the middle lateral grooves (8o) is opposite to that of the shoulder lateral grooves (10o) with respect to tire axial direction, and the lateral grooves (8o and 10o) are inclined at an angle mo between 5 DEG and 45 DEG and at an angle so between more than 0 DEG and not more than 40 DEG , respectively.

The invention relates to a pneumatic tyre. At least three main grooves (1,2) extending towards the perimeter of the tyre and a plurality of horizontal grooves (3) extending towards the width direction of the tyre and communicating between the main grooves are mounted on a tyre tread part (T) and a plurality of pattern blocks (5) are divided using the main grooves (1,2) and the horizontal grooves (3), characterized in that: a central main groove (1) on a tyre equator (E) is formed into a straight line shape and the horizontal groove (3) is arranged and inclined by 40-60degree relative to the tyre perimeter and an ascending part (3a) is formed at the part of the horizontal groove (3) communicated with the central main groove (1) to make the groove width and the groove depth of the horizontal groove (3) proportionally change and the groove depth (D3a) of the horizontal groove (3) is 40-60% of the groove depth (D1) of the central main groove (1) and the minimum groove width (W3a) of the horizontal groove (3) is 30-50% of the maximum groove width (W3). The pneumatic tyre well keeps the wet road and simultaneously improves the operation stability during driving on the snow road and the dry road.

The invention discloses an electric car coordination control system. The electric car coordination control system comprises a storage battery, a coordination controller, a driving controller, a brake controller and a turning controller, wherein the storage battery is connected with the four controllers respectively; the controllers are connected with one another through CAN (Controller Area Network) buses; the coordination controller collects the input of an accelerate pedal, a brake pedal and turning operation, as well as car status and information, and input of other controllers; the driving controller not only calculates the needed driving force arm according to the opening of the accelerate pedal, but also performs compensation control to driving force arm according to the order from the coordination controller; the brake controller calculates the needed brake force arm according to the stroke of the brake pedal , and performs compensation control to brake force arm according to the order from the coordination controller; the turning controller calculates the turning angles of the front and rear wheels according to the turning angle of the steering wheel, and performs compensation control to the turning angle of the car wheels according to the order from the coordination controller. The electric car coordination control system effectively increases the manipulation stability and the safety of an electric car.

The invention discloses an EPS (Electric Power Steering)-integrated distributed vehicle steering driving control system and method. An integrated controller is utilized for receiving signals of a vehicle speed sensor, a steering wheel angle sensor, a steering wheel torque sensor, an accelerator pedal opening sensor, a brake pedal opening sensor, a yaw rate sensor and a lateral acceleration sensor to judge the running condition of a vehicle, thereby transmitting instructions to an EPS controller and a torque distribution controller; the EPS controller calculates the expected current according to variable assist characteristics to control the output torque of an assist motor; the distribution controller calculates the yaw moment required for stable control of the vehicle according to a stability control algorithm and transmits the required torque signal to a hub motor controller by virtue of optimized distribution; the hub motor controller converts the torque signal into a current magnitude signal to control the driving and braking of a hub motor; and meanwhile, the hub motor controller receives the real-time rotation rate signal of the hub motor so as to realize stability control. The system and method disclosed by the invention improve the distributed vehicle steering driving control stability.

The invention relates the technical field of vehicle power steering, in particular to an electric power steering system. The electric power steering system comprises a vehicle velocity sensor, a torque sensor, a rotation angle sensor, an ignition signal generator, a lateral acceleration sensor and a yaw velocity sensor, wherein the vehicle velocity sensor is used for collecting a vehicle velocity signal; the torque sensor is used for collecting a torque signal of a steering wheel; the rotation angle sensor is used for collecting a rotation angle signal and a rotation speed signal of the steering wheel; the ignition signal generator is used for collecting an ignition signal; the lateral acceleration sensor is used for collecting a lateral acceleration signal; the yaw velocity sensor is used for collecting a vehicle yaw velocity signal; an ECU (Electronic Control Unit) receives signals, processes the signals and outputs a current signal to a motor; and a power torque generated by the motor is added to a hand torque, acting upon the steering wheel, of a driver after being increased and the wheel is driven by a mechanical steering system to steer and return. Through collecting the lateral acceleration signal and the vehicle yaw velocity signal, the active returning function of the vehicle at high and low velocities is improved; therefore, the safety and comfort of the vehicle are improved, the operation stability and safety of the vehicle under extreme working conditions of road surfaces with small slip friction coefficients, large-angle sudden turning and the like are enhanced.

The invention discloses a multi-mode four-wheel steering system and a steering mode control method. Three steering systems comprising an electric booster steering system, a driving front wheel steering system and a wire-controlled steering system are combined in the multi-mode four-wheel steering system; based on a four-wheel steering platform, the advantages of the three steering systems can be exerted; besides, a vehicle can adjust the working mode according to the driving state information of the vehicle, so that driving pleasure of a driver can be promoted, and the steering flexibility when the vehicle travels at a low speed and the control stability when the vehicle travels at a high speed can also be improved by the four-wheel steering.

The invention provides an all-wheel steering electric unmanned vehicle chassis which is independently driven. The chassis comprises a vehicle body frame system, a circuit system and four wheels. Eachwheel is independently driven, steered and braked by a corresponding driving system, a steering system and a braking system respectively. Each of the wheels is connected with the vehicle frame througha set of suspension systems; A vehicle body frame system includes a vehicle frame for providing mounting support for the drive system, steering system, suspension system, and brake system and a non-load bearing vehicle body enclosed outside the vehicle frame; The circuit system comprises a vehicle controller, a power supply unit and eight motor controllers. Each wheel of the chassis can be independently driven, braked and steered, and the driving, braking and steering are all controlled by wire, so that the chassis has high versatility.

The invention relates to a variable-diameter wheel hub which comprises a central control cabinet and a plurality of identical retractable hub blocks. The various retractable hub blocks can be driven by retractable spoke assemblies, so that the diameters of the various retractable hub blocks can be radially varied; each retractable spoke assembly comprises a variable-damping retraction actuating mechanism and an extension auxiliary spring, and each extension auxiliary spring sleeves the outer wall of the corresponding variable-damping retraction actuating mechanism; a body of each variable-damping retraction actuating mechanism is a double-piston cylinder barrel, spaces between floating pistons and end walls of barrel walls are filled with high-pressure nitrogen, and a space between each floating piston and another end wall of the corresponding barrel wall is filled with magnetorheological fluid materials; an electromagnetic coil is buried in each working piston, and a circle of throttle holes are formed in each working piston in a buried manner; one end of each wire is communicated with the corresponding electromagnetic coil, and the other end of each wire is communicated with a storage battery. The variable-diameter wheel hub has the advantages that the diameter of the variable-diameter wheel hub can be varied by the aid of the dead weight of an automobile and centrifugal force generated when a wheel runs, extra driving devices can be omitted, the viscosity of magnetorheological fluid can be controlled by the aid of only low currents, and accordingly the variable-diameter wheel hub is low in energy consumption and fast in response; the riding comfort and the obstacle crossing ability are taken into account, and accordingly the variable-diameter wheel hub and non-inflatable tires can be matched with one another to be applied to conventional vehicles, motorcycles, wheelbarrows and the like.

Disclosed is a logistics information matching method and system. The method includes the steps of receiving goods requiring information of vehicles and vehicle requiring information of goods and matching the vehicles with the goods according to the goods requiring information of the vehicles, the vehicle requiring information of the goods and a bank of basic place names to obtain preliminary goods matching information of the vehicles or preliminary vehicle matching information of the goods; extracting information of goods in the distance smaller than or equal to a first preset threshold value to the vehicles from the preliminary goods information of the vehicle to obtain and push goods source information of the vehicles; extracting information of vehicles in the distance smaller than or equal to a second preset threshold value to the goods from the preliminary vehicle information of the goods to obtain and push vehicle source information of the goods. The logistics information matching method and system match the vehicle with the goods on the basis of the basic place names and the priority of geographic scope of the vehicles or the goods according to the received goods requiring information of the vehicle and the vehicle requiring information of the goods, thereby effectively solving the problem of nearest matching of most vehicles and goods without artificial goods allocation or vehicle dispatch and being high in matching efficiency.

The invention relates to an airship airbag with shape-control frames. The airship airbag with the shape-control frames comprises an airbag casing (1) and the shape-control frames; the airtight flexible airbag casing (1) is arranged on the outer layer of the air bag, is of a laminated structure on the whole and consists of a plurality of layered structures; the inside of every layered structure is fixedly connected with the shape-control frames which comprises a plurality of pairs of vertically-arranged folding frames (2) and two pairs of shaping frames (3) respectively hinged to two ends of the folding frames (2); the airbag casing (1) of every layered structure (4) is formed by splicing the airtight film covering pieces (91) of a plurality of convex curved surface unit (9), and every convex curved surface unit (9) not only comprises one elongated airtight film covering piece (91) but also comprises a pair of end-edge fixing parts (92) on the shaping frames (3) and a pair of pulling-resistant straps (93). The airship airbag with the shape-control frames can make full use of the space inside an airship, is good in regularity of expansion and shrinkage deformation and good in repeatability and stability, and can bear relative large overpressure when being inflated and expanded fully.

The present invention provides a pneumatic tire that has improved handling stability while maintaining good fuel economy and tensile strength or even improving these properties. The pneumatic tire includes a tread including a rubber layer formed from a rubber composition that includes: carbon black; silica; and staple fibers with an average width of 3 nm to 50 μm and an average length of 50 nm to 500 μm, the staple fibers in the rubber layer having an average orientation angle between the longitudinal direction of each staple fiber and the circumferential direction of the tire of 15° to 75°, and the staple fibers in the rubber layer including 35 to 100% of staple fibers each having an orientation angle between its longitudinal direction and the circumferential direction of the tire of 15° to 75°.