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11. 发明申请

US20120221208A1 CONTROL DEVICE FOR STEERING TRANSMISSION RATIO VARIABLE DEVICE 有权
标题翻译：用于转向变速比变量装置的控制装置
公开(公告)号：US20120221208A1
公开(公告)日：2012-08-30
申请号：US13510347
申请日：2010-11-18
申请人： Takahiro Kojo , Yoshiaki Tsuchiya , Noritsugu Iwazaki , Tetsuya Morino
发明人： Takahiro Kojo , Yoshiaki Tsuchiya , Noritsugu Iwazaki , Tetsuya Morino
IPC分类号： B62D6/00 , B62D5/04
CPC分类号： B62D5/008 , B62D5/0469
摘要： A device (100) for controlling a steering transmission ratio variable device (200), which is provided with: a motor (202), which is able to apply a driving force that promotes relative rotation between a steering output shaft (15) coupled to wheels to be turned and a steering input shaft (12) that applies a steering input to the steering output shaft (15) to one of either the steering output shaft (15) or the steering input shaft (12); a motor driving device (300) that drives the motor; and a locking device vice (203) that is able to restrict the relative rotation, has a setting device that prescribes a drive voltage (V) of the motor and sets a damping gain (D2), which acts in a direction that reduces a rotating speed (θ′act) of the motor, to a value (D2lock) that is larger than a reference value (D2base) corresponding to an unlocked state during a locking control period in which a state of the steering transmission ratio variable device switches from an unlocked state in which the relative rotation is not restricted to a locked state in which the relative rotation is restricted.
摘要翻译：一种用于控制转向传动比可变装置（200）的装置（100），其具有：马达（202），该马达能够施加促进转向输出轴（15）转向车轮和向转向输出轴（15）向转向输出轴（15）或转向输入轴（12）之一施加转向输入的转向输入轴（12）; 马达驱动装置（300），其驱动马达; 以及能够限制相对旋转的锁定装置（203）具有规定所述电动机的驱动电压（V）的设定装置，并且设定阻尼增益（D2），所述阻尼增益作用于减小旋转的方向在转向传动比可变装置的状态从切换状态的锁定控制期间，与电动机的速度（＆amp;动作）相比，大于对应于解锁状态的基准值（D2base）的值（D2lock）解锁状态，其中相对旋转不限于相对旋转被限制的锁定状态。

12. 发明授权

US08843276B2 Control device for steering transmission ratio variable device 有权
标题翻译：转向传动比可变装置控制装置
公开(公告)号：US08843276B2
公开(公告)日：2014-09-23
申请号：US13510347
申请日：2010-11-18
申请人： Takahiro Kojo , Yoshiaki Tsuchiya , Noritsugu Iwazaki , Tetsuya Morino
发明人： Takahiro Kojo , Yoshiaki Tsuchiya , Noritsugu Iwazaki , Tetsuya Morino
IPC分类号： A01B69/00 , B62D6/00 , B62D11/00 , B62D5/00 , B62D5/04
CPC分类号： B62D5/008 , B62D5/0469
摘要： A device for controlling a steering transmission ratio variable device, which is provided with: a motor, which is able to apply a driving force that promotes relative rotation between a steering output shaft coupled to wheels to be turned and a steering input shaft that applies a steering input to the steering output shaft to one of either the steering output shaft or the steering input shaft; a motor driving device that drives the motor; and a locking device that is able to restrict the relative rotation, has a setting device that prescribes a drive voltage the motor and sets a damping gain, which acts in a direction that reduces a rotating speed of the motor, to a value that is larger than a reference value corresponding to an unlocked state during a locking control period in which a state of the steering transmission ratio variable device switches from an unlocked state in which the relative rotation is not restricted to a locked state in which the relative rotation is restricted.
摘要翻译：一种用于控制转向传动比可变装置的装置，其具有：电动机，其能够施加驱动力，所述驱动力促进联接到待转动的车轮的转向输出轴和施加转向的转向输入轴之间的相对旋转; 将转向输出轴的转向输入转向转向输出轴或转向输入轴之一; 驱动马达的马达驱动装置; 以及能够限制相对旋转的锁定装置，具有规定电动机的驱动电压并将减小电动机的转速的方向作用的阻尼增益设定为更大的值的设定装置比在转向传动比可变装置的状态从相对旋转不限于相对旋转受限制的锁定状态的解锁状态切换到的锁定控制期间对应于解锁状态的基准值。

13. 发明申请

US20120029773A1 CONTROL APPARATUS FOR VEHICLE 有权
标题翻译：车辆控制装置
公开(公告)号：US20120029773A1
公开(公告)日：2012-02-02
申请号：US13263623
申请日：2009-04-10
申请人： Yoshitaka Fujita , Takahiro Kojo
发明人： Yoshitaka Fujita , Takahiro Kojo
IPC分类号： B62D6/00
CPC分类号： B60W30/12 , B62D1/286 , B62D6/00 , B62D15/025
摘要： Lane keeping control is ended in accurate timing which does not give an uncomfortable feeling to a driver. In a vehicle 10 which is provided with a steering mechanism 200, an EPS actuator 300, and a VGRS actuator 500 and which can change a rudder angle regardless of a driver's steering input due to the cooperative control of the aforementioned mechanism and actuators, an ECU 100 performs LKA end control. In the control, in cases where a winker lever 16 is operated in a period of performing LKA control for making the vehicle 10 follow a target driving route, if the indicated direction of the winker lever 16 is different from a generation direction of generating an assist steering torque TA of the EPS actuator 300 in the LKA control, the LKA control is promptly ended. In cases where the indicated direction is equal to the generation direction, if a steering angle MAdrv corresponding to the driver's steering input exceeds a steering angle MAlka generated by the LKA control, the LKA control is ended.
摘要翻译：车道保持控制在准确的时机结束，这对驾驶员不感到不舒服的感觉。在具有转向机构200，EPS致动器300和VGRS致动器500的车辆10中，由于上述机构和致动器的协调控制，可以改变舵角而不管驾驶员的转向输入，ECU 100执行LKA结束控制。在控制中，在进行LKA控制以使车辆10跟随目标驾驶路线的期间内操作方向控制杆16的情况下，如果方向指示杆16的指示方向与产生辅助的生成方向不同 LKA控制中EPS致动器300的转向转矩TA，LKA控制迅速结束。在指示方向等于发电方向的情况下，如果对应于驾驶员转向输入的转向角MAdrv超过由LKA控制产生的转向角MA1ka，则LKA控制结束。

14. 发明申请

US20130177211A1 TRAVEL PATH ESTIMATION APPARATUS AND PROGRAM 有权
标题翻译：旅行路径估算装置和程序
公开(公告)号：US20130177211A1
公开(公告)日：2013-07-11
申请号：US13820030
申请日：2011-09-26
申请人： Akihiro Watanabe , Takahiro Kojo , Theerawat Limpibunterng , Yoshiaki Tsuchiya
发明人： Akihiro Watanabe , Takahiro Kojo , Theerawat Limpibunterng , Yoshiaki Tsuchiya
IPC分类号： G06K9/32
CPC分类号： G06K9/3241 , G06K9/00798 , G06T7/73 , G06T7/77 , G06T2207/10016 , G06T2207/30244 , G06T2207/30256
摘要： A characteristic point extraction section acquires an image captured by an image capture device and extracts characteristic points from the captured image, a vehicle lane boundary point selection section selects vehicle lane boundary points that indicate vehicle lanes from the extracted characteristic points, a distribution determination section determines the distribution of the vehicle lane boundary points, a system noise setting section sets each system noise based on the distribution of vehicle lane boundary points, and a travel path parameter estimation section stably predicts travel path parameters based on the vehicle lane boundary points, past estimation results, and the system noise that has been set.
摘要翻译：特征点提取部获取由图像拍摄装置拍摄的图像，并从拍摄图像中提取特征点，车道边界点选择部从所提取的特征点中选择表示车道的车道边界点，分配确定部确定车道边界点的分布，系统噪声设定部根据车道边界点的分布设定各个系统噪声，行驶路径参数推定部基于车道边界点来稳定地预测行驶路径参数，过去的估计结果，以及已经设置的系统噪声。

15. 发明申请

US20130124045A1 VEHICLE STEERING CONTROL APPARATUS 有权
标题翻译：车辆转向控制装置
公开(公告)号：US20130124045A1
公开(公告)日：2013-05-16
申请号：US13811697
申请日：2011-06-01
申请人： Yoshiaki Suzuki , Theerawat Limpibunterng , Toru Takashima , Takahiro Kojo , Taro Hirose , Yoshiaki Tsuchiya , Masahiro Miyata , Susumu Fujii
发明人： Yoshiaki Suzuki , Theerawat Limpibunterng , Toru Takashima , Takahiro Kojo , Taro Hirose , Yoshiaki Tsuchiya , Masahiro Miyata , Susumu Fujii
IPC分类号： B62D6/00
CPC分类号： B62D6/00 , B62D5/008 , B62D5/0481 , B62D7/159
摘要： A vehicle steering control apparatus (100) in a vehicle (10), which is provided with: a steering system including at least a rudder angle varying device (400, 700) capable of changing a relation between a steering angle, which is a rotation angle of a steering wheel (12), and a rudder angle of steered wheels and a steering torque assisting device (500) capable of assisting a driver steering torque; and a power supply source (800) for supplying electric power to the steering system, is provided with: a limiting device for limiting electric current consumption of the steering torque assisting device if a consumption current value of the steering system is greater than a maximum allowable current value in a case where supply capacity of supplying an electric current in the power supply source is reduced with respect to a reference; and a controlling device for matching a neutral position of the steering wheel with a neutral position of the steered wheels in a situation in which the electric current consumption of the steering torque assisting device is limited.
摘要翻译：一种车辆（10）中的车辆转向控制装置（100），其设置有：至少包括舵角变化装置（400,700）的转向系统，其能够改变作为旋转的转向角方向盘（12）的角度以及转向轮的方向舵角度和能够辅助驾驶员转向转矩的转向转矩辅助装置（500）; 以及用于向转向系统供电的供电源（800）设置有限制装置，用于限制转向系统的消耗电流值大于最大允许值的转向助力装置的电流消耗在供电源供给电力相对于基准的情况下减小电流值的电流值; 以及用于在转向转矩辅助装置的电流消耗受到限制的情况下将方向盘的空档位置与转向轮的空档位置相匹配的控制装置。

16. 发明授权

US08948455B2 Travel path estimation apparatus and program 有权
标题翻译：旅行路径估算装置及程序
公开(公告)号：US08948455B2
公开(公告)日：2015-02-03
申请号：US13820030
申请日：2011-09-26
申请人： Akihiro Watanabe , Takahiro Kojo , Theerawat Limpibunterng , Yoshiaki Tsuchiya
发明人： Akihiro Watanabe , Takahiro Kojo , Theerawat Limpibunterng , Yoshiaki Tsuchiya
IPC分类号： G06K9/00 , G06K9/32 , G06T7/00
CPC分类号： G06K9/3241 , G06K9/00798 , G06T7/73 , G06T7/77 , G06T2207/10016 , G06T2207/30244 , G06T2207/30256
摘要： A characteristic point extraction section acquires an image captured by an image capture device and extracts characteristic points from the captured image, a vehicle lane boundary point selection section selects vehicle lane boundary points that indicate vehicle lanes from the extracted characteristic points, a distribution determination section determines the distribution of the vehicle lane boundary points, a system noise setting section sets each system noise based on the distribution of vehicle lane boundary points, and a travel path parameter estimation section stably predicts travel path parameters based on the vehicle lane boundary points, past estimation results, and the system noise that has been set.
摘要翻译：特征点提取部获取由图像拍摄装置拍摄的图像，并从拍摄图像中提取特征点，车道边界点选择部从所提取的特征点中选择表示车道的车道边界点，分配确定部确定车道边界点的分布，系统噪声设定部根据车道边界点的分布设定各个系统噪声，行驶路径参数推定部基于车道边界点来稳定地预测行驶路径参数，过去的估计结果，以及已经设置的系统噪声。

17. 发明申请

US20120203431A1 VEHICLE DRIVING CONTROL APPARATUS 有权
标题翻译：车辆驾驶控制装置
公开(公告)号：US20120203431A1
公开(公告)日：2012-08-09
申请号：US13502760
申请日：2010-06-23
申请人： Takahiro Kojo , Yoshiaki Tsuchiya , Theerawat Limpibunterng
发明人： Takahiro Kojo , Yoshiaki Tsuchiya , Theerawat Limpibunterng
IPC分类号： B62D6/00
CPC分类号： B62D5/008 , B62D15/025
摘要： A vehicle driving control apparatus is provided at least with: a rudder angle varying device capable of changing a relation between a steering angle, which is a rotation angle of a steering input shaft, and a rudder angle, which is a rotation angle of steered wheels; and a trajectory controlling device for determining a control amount and controlling the rudder angle varying device such that a trajectory of a vehicle approaches a target driving route of the vehicle. The vehicle driving control apparatus is further provided with a correcting device for correcting (i) a rate of change in the rudder angle with respect to a steering amount of the steering input or (ii) the determined control amount, in accordance with whether or not a steering direction of the steering input inputted to the steering input shaft through a steering member by a driver of the vehicle is identical with a rudder angle control direction of the control amount determined by the trajectory controlling device.
摘要翻译：至少提供一种车辆驾驶控制装置，其具有：能够改变作为转向输入轴的旋转角度的转向角与作为转向轮的旋转角度的方向舵角之间的关系的舵角变更装置 ; 以及轨迹控制装置，用于确定控制量并控制方向舵角度变化装置，使得车辆的轨迹接近车辆的目标行驶路线。车辆驱动控制装置还具有校正装置，用于根据转向输入的转向量来修正方向舵角度的变化率，或者根据确定的控制量是否根据确定的控制量通过车辆的驾驶员通过转向构件输入到转向输入轴的转向输入的转向方向与由轨迹控制装置确定的控制量的舵角控制方向相同。

18. 发明授权

US08996254B2 Vehicle steering control apparatus 有权
标题翻译：车辆转向控制装置
公开(公告)号：US08996254B2
公开(公告)日：2015-03-31
申请号：US13991083
申请日：2010-12-01
申请人： Norihisa Nishikawa , Mitsutaka Tanimoto , Yoshitaka Fujita , Toru Takashima , Tetsuhiro Narita , Go Inoue , Takahiro Kojo
发明人： Norihisa Nishikawa , Mitsutaka Tanimoto , Yoshitaka Fujita , Toru Takashima , Tetsuhiro Narita , Go Inoue , Takahiro Kojo
IPC分类号： A01B69/00 , B60W30/02 , B60W50/035 , B60W50/02 , B62D6/00 , B60W10/18 , B60W10/20 , B60W30/045 , B60W30/12 , B62D7/15 , B62D15/02 , B60W50/023 , B60W10/188 , B60W50/00
CPC分类号： B60W30/02 , B60W10/18 , B60W10/188 , B60W10/20 , B60W30/045 , B60W30/12 , B60W50/02 , B60W50/023 , B60W50/035 , B60W2050/009 , B60W2720/14 , B60W2720/20 , B60W2720/406 , B62D6/003 , B62D7/159 , B62D15/025
摘要： A vehicle motion control apparatus which is configured to control a motion of a vehicle comprising a plurality of apparatuses, each of which is configured to selectively control a slip angle or a yaw rate, is provided with: a behavior controlling device which is configured to perform behavior control in which a plurality of apparatuses are controlled such that a slip angle and a yaw rate are a set target slip angle and a target yaw rate, respectively; a turning state quantity specifying device which is configured to specify a turning state quantity of the vehicle; and a selecting device which is configured to select at least one of the slip angle and the yaw rate to be prioritized, on the basis of the specified turning state quantity in a case where the behavior control needs to be performed by one of the plurality of apparatuses. The behavior controlling device controls the one apparatus such that the selected one has the target value corresponding to the selected one, in the case where the behavior control needs to be performed by the one apparatus.
摘要翻译：一种车辆运动控制装置，其被配置为控制包括多个装置的车辆的运动，每个装置被配置为选择性地控制滑移角或横摆率，所述车辆运动控制装置具有：行为控制装置，被配置为执行行为控制，其中控制多个装置，使得滑移角和偏航率分别为设定的目标滑移角和目标横摆率; 转向状态量指定装置，其被构造成指定车辆的转弯状态量; 以及选择装置，其被配置为基于指定的转向状态量来选择要优先考虑的滑移角和横摆率中的至少一个，在需要由多个设备。在行为控制需要由一个装置执行的情况下，行为控制装置控制一个装置使得所选择的装置具有与所选择的装置对应的目标值。

19. 发明授权

US08612095B2 Vehicle driving control apparatus 有权
标题翻译：车辆驾驶控制装置
公开(公告)号：US08612095B2
公开(公告)日：2013-12-17
申请号：US13502760
申请日：2010-06-23
申请人： Takahiro Kojo , Yoshiaki Tsuchiya , Theerawat Limpibunterng
发明人： Takahiro Kojo , Yoshiaki Tsuchiya , Theerawat Limpibunterng
IPC分类号： B62D12/00
CPC分类号： B62D5/008 , B62D15/025
摘要： A vehicle driving control apparatus is provided at least with: a rudder angle varying device capable of changing a relation between a steering angle, which is a rotation angle of a steering input shaft, and a rudder angle, which is a rotation angle of steered wheels; and a trajectory controlling device for determining a control amount and controlling the rudder angle varying device such that a trajectory of a vehicle approaches a target driving route of the vehicle. The vehicle driving control apparatus is further provided with a correcting device for correcting (i) a rate of change in the rudder angle with respect to a steering amount of the steering input or (ii) the determined control amount, in accordance with whether or not a steering direction of the steering input inputted to the steering input shaft through a steering member by a driver of the vehicle is identical with a rudder angle control direction of the control amount determined by the trajectory controlling device.
摘要翻译：至少提供一种车辆驾驶控制装置，其具有：能够改变作为转向输入轴的旋转角度的转向角与作为转向轮的旋转角度的方向舵角之间的关系的舵角变更装置 ; 以及轨迹控制装置，用于确定控制量并控制方向舵角度变化装置，使得车辆的轨迹接近车辆的目标行驶路线。车辆驱动控制装置还具有校正装置，用于根据转向输入的转向量来修正方向舵角度的变化率，或者根据确定的控制量是否根据确定的控制量通过车辆的驾驶员通过转向构件输入到转向输入轴的转向输入的转向方向与由轨迹控制装置确定的控制量的舵角控制方向相同。

20. 发明授权

US08589028B2 Control apparatus for vehicle 有权
标题翻译：车辆控制装置
公开(公告)号：US08589028B2
公开(公告)日：2013-11-19
申请号：US13263623
申请日：2009-04-10
申请人： Yoshitaka Fujita , Takahiro Kojo
发明人： Yoshitaka Fujita , Takahiro Kojo
IPC分类号： B62D5/04
CPC分类号： B60W30/12 , B62D1/286 , B62D6/00 , B62D15/025
摘要： Lane keeping control is ended in accurate timing which does not give an uncomfortable feeling to a driver. In a vehicle 10 which is provided with a steering mechanism 200, an EPS actuator 300, and a VGRS actuator 500 and which can change a rudder angle regardless of a driver's steering input due to the cooperative control of the aforementioned mechanism and actuators, an ECU 100 performs LKA end control. In the control, in cases where a winker lever 16 is operated in a period of performing LKA control for making the vehicle 10 follow a target driving route, if the indicated direction of the winker lever 16 is different from a generation direction of generating an assist steering torque TA of the EPS actuator 300 in the LKA control, the LKA control is promptly ended. In cases where the indicated direction is equal to the generation direction, if a steering angle MAdrv corresponding to the driver's steering input exceeds a steering angle MAlka generated by the LKA control, the LKA control is ended.
摘要翻译：车道保持控制在准确的时机结束，这对驾驶员不感到不舒服的感觉。在具有转向机构200，EPS致动器300和VGRS致动器500的车辆10中，由于上述机构和致动器的协调控制，可以改变舵角而不管驾驶员的转向输入，ECU 100执行LKA结束控制。在控制中，在进行LKA控制以使车辆10跟随目标驾驶路线的期间内操作方向控制杆16的情况下，如果方向指示杆16的指示方向与产生辅助的生成方向不同 LKA控制中EPS致动器300的转向转矩TA，LKA控制迅速结束。在指示方向等于发电方向的情况下，如果对应于驾驶员转向输入的转向角MAdrv超过由LKA控制产生的转向角MA1ka，则LKA控制结束。

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