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    • 11. 发明授权
    • System for preventing excessive slip of drive wheel of vehicle
    • 防止车辆驱动轮过度滑动的系统
    • US5130929A
    • 1992-07-14
    • US551988
    • 1990-07-12
    • Shuji ShiraishiHironobu KiryuOsamu YamamotoTakashi Nishihara
    • Shuji ShiraishiHironobu KiryuOsamu YamamotoTakashi Nishihara
    • B60W10/04B60T8/175B60W10/06B60W10/18
    • B60T8/175
    • In a system for preventing an excessive slipping of a drive wheel of a vehicle, including a drive wheel torque decrement calculating means for calculating a drive wheel torque decrement in accordance with the slipping state of the drive wheel on the basis of a drive wheel velocity and a vehicle velocity, there is further includes a switchover means which produces a torque decrement switchover signal in accordance with a further large slipping of the drive wheel appearing during a given torque reduction control, and a torque decrement changeover means which delivers, to the drive wheel torque decrement calculating means,a correcting signal indicative of a command to reduce the degree of relation of the torque decrement to the slipping state of the drive wheel in accordance with an output of the torque decrement changeover signal from the switchover means, whereby it is possible to avoid a control hunting which may be caused by a larger slipping state of the drive wheel due to a disturbance factor.
    • 在用于防止车辆的驱动轮过度滑动的系统中,包括驱动轮扭矩减小计算装置,用于根据驱动轮速度根据驱动轮的滑动状态来计算驱动轮扭矩减小;以及 车速,还包括切换装置,其根据在给定的扭矩降低控制期间出现的驱动轮的进一步大的滑动而产生扭矩递减切换信号;以及扭矩递减切换装置,其将驱动轮 扭矩递减计算装置,根据来自切换装置的扭矩递减转换信号的输出,指示减小转矩递减与驱动轮滑动状态的关系程度的命令的校正信号,由此可能 以避免可能由于扰动而由驱动轮的较大滑动状态引起的控制狩猎 因素。
    • 12. 发明授权
    • Longitudinal grip force estimating device and slip control device for
vehicle
    • 车辆纵向抓地力估计装置和滑移控制装置
    • US5652383A
    • 1997-07-29
    • US560097
    • 1995-11-17
    • Osamu YamamotoShuji ShiraishiOsamu Yano
    • Osamu YamamotoShuji ShiraishiOsamu Yano
    • B60W10/00B60K28/16B60T8/172B60W10/04F02D9/02F02D29/02F02D41/04F02D45/00
    • B60T8/172B60K28/16B60T8/1725B60T2240/02
    • A first longitudinal grip force FGG is calculated by differentiating a vehicle body speed by time. A driven wheel torque is calculated from an engine torque and a second longitudinal grip force FGT is calculated from the driven wheel torque. The first longitudinal grip force FGG and the second longitudinal grip force FGT are compared with each other, and the higher one of such grip force is selected as a longitudinal grip force TG. When the vehicle travels on a normal flat road, the first longitudinal grip force FGG obtained from the vehicle body speed is selected. But when the vehicle travels on an ascent road, on which the first longitudinal grip does not indicate an accurate value, the second longitudinal grip force FGT obtained from the engine torque is selected. With this arrangement, the longitudinal grip force is accurately estimated even if the vehicle travels on such an ascent road.
    • 第一纵向夹紧力FGG是通过按照时间差分车体速度来计算的。 从发动机扭矩计算从动轮扭矩,并且根据从动轮扭矩计算第二纵向夹紧力FGT。 将第一纵向抓握力FGG和第二纵向抓握力FGT彼此进行比较,并且将这种夹持力中的较高者选择为纵向抓握力TG。 当车辆在正常平坦的道路上行驶时,选择从车体速度获得的第一纵向抓握力FGG。 但是,当车辆在上坡道上行驶时,第一纵向把手不指示准确值,则选择从发动机扭矩获得的第二纵向夹紧力FGT。 利用这种布置,即使车辆在这样的上升道路上行驶,也能够准确地估计纵向抓地力。
    • 13. 发明授权
    • Total grip force estimating system for vehicle, and slip control system
for vehicle
    • 车辆总抓力估算系统,车辆滑行控制系统
    • US5809445A
    • 1998-09-15
    • US573268
    • 1995-12-15
    • Osamu YamamotoShuji ShiraishiOsamu Yano
    • Osamu YamamotoShuji ShiraishiOsamu Yano
    • G01N19/02B60K28/16B60R16/02B60T8/172B60T8/1763F02D29/02F02D41/04F02D45/00G06G7/70
    • B60K28/16B60T8/172B60T8/1725B60T8/17636B60T2240/02
    • A slip rate of the driven wheel is calculated (at step S1). When the slip rate is smaller and when the slip rate is larger (at steps S2 and S3), estimated road surface friction coefficients MUTG and MUFG are determined by searching a table, based on a total grip force TGS or a longitudinal grip force FG determined from a vehicle acceleration (at steps S4, S7, S5 and S9). The larger one of the estimated road surface friction coefficients MUTG and MUFG is selected as MUCON (at steps S10, S11 and S12). A minimum total grip force TGMIN determined by searching a table and based on MUCON is compared with the total grip force TGS determined from the vehicle acceleration (at step S13), and the larger one of the minimum total grip force TGMIN and total grip force TGS is delivered as a total grip force TG for traction control (at steps S14 and S15). Thus, it is possible to estimate a correct total grip force, taking the road surface friction coefficient into consideration.
    • 计算从动轮的滑移率(步骤S1)。 当滑移率较小时,滑移率较大时(步骤S2和S3),估计的路面摩擦系数MUTG和MUFG是通过基于总抓握力TGS或纵向夹紧力FG进行搜索而确定的 (步骤S4,S7,S5,S9)。 选择估计路面摩擦系数MUTG和MUFG中较大的一个作为MUCON(在步骤S10,S11和S12)。 将通过搜索表并基于MUCON确定的最小总抓握力TGMIN与从车辆加速度确定的总抓握力TGS进行比较(步骤S13),并且最小总抓握力TGMIN和总抓握力TGS中较大的一个 作为牵引力控制的总牵引力TG传送(在步骤S14和S15)。 因此,考虑到路面摩擦系数,可以估计正确的总抓地力。
    • 15. 发明授权
    • Wheel diameter difference judging system and wheel speed correcting
system
    • 车轮直径差分判断系统和车轮速度校正系统
    • US5771479A
    • 1998-06-23
    • US570208
    • 1995-12-11
    • Osamu YamamotoShuji ShiraishiOsamu Yano
    • Osamu YamamotoShuji ShiraishiOsamu Yano
    • B60W10/04B60T8/172B60W10/06B60W10/10B60W10/11F02D29/02F02D41/04F02D45/00G06F17/00
    • B60T8/172Y10S303/07
    • A wheel diameter judging system and wheel speed correcting system which calculates a driven wheel slip rate, and a driven wheel torque. A variation characteristic of the driven wheel slip rate relative to the variation in driven wheel torque is presumed using the method of least squares. A correction value corresponding to a ratio of the number of revolutions of a follower wheel to the number of revolutions of a driven wheel in a condition in which the driven wheel is not in a slipping state is calculated as an intercept of the driven wheel slip rate at the driving torque equal to zero in a graph of the variation characteristic. The driven wheel speed is corrected by the correction value. The driven wheel speed is corrected by the correction value. Thus, even if the driven wheel is in the slipping state, a difference in diameter between the follower and driven wheels can be accurately judged, and the follower wheel speed or the driven wheel speed can be accurately corrected.
    • 车轮直径判断系统和车轮速度校正系统,其计算从动轮滑移率和从动轮转矩。 使用最小二乘法推测从动轮滑移率相对于从动轮转矩的变化的变化特性。 在从动轮不处于滑动状态的条件下,将从动轮的转速与从动轮的转数的比例对应的修正值作为从动轮的滑动率 在变化特性的曲线图中的驱动转矩等于零。 通过校正值校正从动轮速度。 通过校正值校正从动轮速度。 因此,即使从动轮处于滑动状态,也能够准确地判断从动轮和从动轮之间的直径差,能够精确地校正从动轮速度或从动轮的速度。
    • 16. 发明授权
    • Reference value correcting device in driven wheel slip control system
    • 驱动轮滑差控制系统中的参考值校正装置
    • US5749062A
    • 1998-05-05
    • US571799
    • 1995-12-13
    • Osamu YamamotoShuji ShiraishiOsamu Yano
    • Osamu YamamotoShuji ShiraishiOsamu Yano
    • G01P3/56B60K28/16B60T8/172F02D29/02F02D41/04
    • B60K28/16B60T8/172
    • A reference value for a traction control is calculated based on a vehicle speed. When a vehicle is in a predetermined turning state, so that a driven wheel speed is equal to or lower than a predetermined value and a lateral acceleration is equal to or larger than a predetermined value, a correction value is searched from a table based on the vehicle speed and a steering angle to correct an error of the reference value generated due to a difference between the locus of the driven wheels and the locus of the follower wheels during turning of the vehicle. The reference value is corrected by subtracting the correction value from the reference value (when the vehicle is a rear wheel drive vehicle) or by adding the correction value to the reference value (when the vehicle is a front wheel drive vehicle. Thus, the reference value for the fraction control such as a reference value for a target slip rate can be accurately in accordance with the turning state of the vehicle.
    • 基于车速来计算牵引力控制的基准值。 当车辆处于预定的转动状态时,使得从动轮速度等于或低于预定值并且横向加速度等于或大于预定值,则从表中搜索校正值 车速和转向角,以校正由于从动轮的轨迹与从动轮的轨迹在车辆转动期间的差异而产生的参考值的误差。 通过从参考值(当车辆是后轮驱动车辆)减去校正值或者通过将校正值加到参考值(当车辆是前轮驱动车辆时)来校正参考值,因此,参考值 可以根据车辆的转弯状态来准确地确定目标滑移率的基准值等分数控制的值。
    • 17. 发明授权
    • Driven wheel torque control system
    • 驱动轮扭矩控制系统
    • US5472061A
    • 1995-12-05
    • US214327
    • 1994-03-17
    • Shuji ShiraishiOsamu YamamotoToru IkedaNaoki Omomo
    • Shuji ShiraishiOsamu YamamotoToru IkedaNaoki Omomo
    • F02D29/02B60K28/16F02D11/10F02D41/04F16H59/66F16H61/00
    • B60K28/16B60W2520/105B60W2520/125B60W2550/148B60W2710/0605F02D11/105F16H2061/0096F16H59/66
    • A driven wheel torque control system includes a slip-reduction output torque control device for adjusting the output torque from a prime mover of a vehicle in accordance with the slipping state of a driven wheel driven by the prime mover in order to reduce an excessive slipping of the driven wheel, an operation quantity detecting device for detecting the operation quantity of an operating element for adjusting the output torque from the prime mover, a grip force detecting device for detecting a grip force of a road surface, an output torque gain changing device for changing the output torque control gain from the prime mover with respect to the output from the operation quantity detecting device on the basis of the output from the grip force detecting device, and a gain variable output torque control device for adjusting the output torque from the prime mover on the basis of the output torque control gain changed by the output control gain changing device. Thus, it is possible to positively control the slipping state of the driven wheel on the basis of a driver's will.
    • 从动轮转矩控制系统包括滑差减小输出转矩控制装置,用于根据由原动机驱动的从动轮的滑动状态来调整来自车辆的原动机的输出转矩,以便减少由原动机驱动的从动轮的滑动状态 从动轮,用于检测用于调节来自原动机的输出转矩的操作元件的操作量的操作量检测装置,用于检测路面的抓地力的抓地力检测装置,用于 根据来自握持力检测装置的输出,相对于来自操作量检测装置的输出,来自原动机的输出转矩控制增益改变;以及增益可变输出转矩控制装置,用于调整来自主轴的输出转矩 基于由输出控制增益改变装置改变的输出转矩控制增益。 因此,可以基于驾驶员的意志来肯定地控制从动轮的滑动状态。
    • 20. 发明授权
    • Driving force control system in vehicle
    • 车辆驱动力控制系统
    • US5575350A
    • 1996-11-19
    • US405241
    • 1995-03-17
    • Hironobu KiryuRyoji MoriTakashi NishiharaShuji Shiraishi
    • Hironobu KiryuRyoji MoriTakashi NishiharaShuji Shiraishi
    • B60K28/16F02D9/02F02D29/02F02D41/04F02D45/00
    • B60K28/16B60W2510/1005B60W2720/106
    • A system is provided to prevent suspension judder from being generated at the start of a vehicle which includes a traction control system. If the starting of the vehicle is detected based on driving-wheel speeds RL and RR, a shift position and an accelerator opening degree .theta.th1, an initial torque TQ2 and a delay time are map-searched based on the accelerator opening degree .theta.th1 and a steering angle .theta.st. The driving force for driven wheels is limited to the initial torque TQ2, until a delay time from the starting of the vehicle has elapsed, to prevent the generation of suspension judder. When the delay time has elapsed, an accelerating increment torque TQ3 is map-searched based on the accelerator opening degree .theta.th1 and the steering angle .theta.st, and is added to the initial torque TQ2, thereby ensuring the accelerating performance of the vehicle.
    • 提供一种系统以防止在包括牵引力控制系统的车辆的起动时产生悬架抖动。 如果基于驾驶轮速度RL和RR检测到车辆的起动,则基于加速器开度θth1和/或者基于加速器开度θth1对起始位置和加速器开度θth1,初始扭矩TQ2和延迟时间进行地图搜索, 转向角θst。 驱动轮的驱动力限于初始转矩TQ2,直到从车辆启动起的延迟时间过去,以防止产生悬架抖动。 当延迟时间已经过去时,基于加速器开度θth1和转向角θst对加速增量扭矩TQ3进行地图搜索,并将其加到初始转矩TQ2上,从而确保车辆的加速性能。