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51. 发明申请

US20090198417A1 Vehicular steering control apparatus and control method thereof 有权
标题翻译：车辆转向控制装置及其控制方法
公开(公告)号：US20090198417A1
公开(公告)日：2009-08-06
申请号：US12385061
申请日：2009-03-30
申请人： Theerawat Limpibunterng , Takahiro Kojo
发明人： Theerawat Limpibunterng , Takahiro Kojo
IPC分类号： B62D6/00
CPC分类号： B62D5/008 , B62D5/0466
摘要： An operation torque estimating portion estimates an operation torque Th of a driver based on an input angle θh and an input torque T output from a torque sensor. A non-holding state detecting portion determines whether the driver is holding a steering wheel by comparing an absolute value of the operation torque Th and a predetermined value ε1. An equilibrium detecting portion determines whether an equilibrium point is reached by comparing the absolute value of the input torque T with a predetermined value ε2. When it is determined that the driver is not holding the steering wheel and the equilibrium point is reached, a switching portion switches to such a position that causes a target steering adjusting portion to multiply a target output angle θpm by a predetermined gain G according to the input torque T so that the target steering angle is made smaller.
摘要翻译：操作转矩估计部分基于输入角度和从转矩传感器输出的输入转矩T来估计驾驶员的操作扭矩Th。非保持状态检测部分通过比较操作扭矩Th的绝对值和预定值ε1来确定驾驶员是否保持方向盘。平衡检测部分通过将输入转矩T的绝对值与预定值ε2进行比较来确定是否达到平衡点。当确定驾驶员没有握住方向盘并且达到平衡点时，切换部分切换到这样的位置，使得目标转向调节部分根据目标转向调节部分将目标输出角度tt乘以预定增益G 输入转矩T使目标转向角变小。

52. 发明授权

US07530423B2 Vehicular variable steering ratio control device and control method thereof 有权
标题翻译：车辆可变转向比控制装置及其控制方法
公开(公告)号：US07530423B2
公开(公告)日：2009-05-12
申请号：US11581460
申请日：2006-10-17
申请人： Theerawat Limpibunterng , Takahiro Kojo
发明人： Theerawat Limpibunterng , Takahiro Kojo
IPC分类号： B62D5/04
CPC分类号： B62D5/008 , B62D5/0466
摘要： An operation torque estimating portion estimates an operation torque Th of a driver based on an input angle θh and an input torque T output from a torque sensor. A non-holding state detecting portion determines whether the driver is holding a steering wheel by comparing an absolute value of the operation torque Th and a predetermined value ε1. An equilibrium detecting portion determines whether an equilibrium point is reached by comparing the absolute value of the input torque T with a predetermined value ε2. When it is determined that the driver is not holding the steering wheel and the equilibrium point is reached, a switching portion switches to such a position that causes a target steering adjusting portion to multiply a target output angle θ pm by a predetermined gain G according to the input torque T so that the target steering angle is made smaller.
摘要翻译：操作转矩估计部分基于输入角度和从转矩传感器输出的输入转矩T来估计驾驶员的操作扭矩Th。非保持状态检测部分通过比较操作扭矩Th的绝对值和预定值ε1来确定驾驶员是否保持方向盘。平衡检测部分通过将输入转矩T的绝对值与预定值ε2进行比较来确定是否达到平衡点。当确定驾驶员没有握住方向盘并且达到平衡点时，切换部分切换到这样的位置，使得目标转向调节部分根据目标转向调节部分将目标输出角θpm乘以预定增益G，根据输入转矩T使目标转向角变小。

53. 发明授权

US07528569B2 Inverter circuit free from power-source-voltage fluctuation 有权
标题翻译：逆变电路无电源电压波动
公开(公告)号：US07528569B2
公开(公告)日：2009-05-05
申请号：US11514346
申请日：2006-09-01
申请人： Kenichiro Hidaka , Hisashi Kameya , Mitsutomo Iwase , Yasuo Ito , Masahiro Miyata , Takahiro Kojo
发明人： Kenichiro Hidaka , Hisashi Kameya , Mitsutomo Iwase , Yasuo Ito , Masahiro Miyata , Takahiro Kojo
IPC分类号： H02P27/04
CPC分类号： H02M7/53875 , B62D5/046 , H02M2001/385
摘要： An inverter circuit includes a bridge circuit constituted of a plurality of pairs of a high-side switching element and a low-side switching element, a command signal processing section, a pulse generating section for generating pulse signals to control the inverter bridge circuit according to the command signal to have a dead time to prevent short circuiting of the dc power source and a command signal compensation section. The compensation section modifies the command signal according to a current voltage level of the dc power source to control the dead zone, thereby preventing deformation of ac output power of the bridge circuit.
摘要翻译：逆变器电路包括由多个高侧开关元件和低侧开关元件对构成的桥接电路，指令信号处理部，用于产生脉冲信号的脉冲发生部，以控制逆变桥电路根据该命令信号具有死区时间以防止直流电源的短路和命令信号补偿部分。补偿部根据直流电源的当前电压电平来修正指令信号，以控制死区，从而防止桥接电路的交流输出功率的变形。

54. 发明申请

US20080195275A1 Control Device for Vehicles to Make Rapid Counter-Measure Against Communication Abnormality in Communication Means Between Calculation Control Devices 有权
标题翻译：控制装置，用于对计算控制装置之间的通信手段中的通信异常进行快速对抗
公开(公告)号：US20080195275A1
公开(公告)日：2008-08-14
申请号：US11664936
申请日：2005-10-18
申请人： Takahiro Kojo , Yoshiaki Tsuchiya , Masato Suzumura , Jun Sakugawa , Kenji Asano
发明人： Takahiro Kojo , Yoshiaki Tsuchiya , Masato Suzumura , Jun Sakugawa , Kenji Asano
IPC分类号： G06F17/00
CPC分类号： B62D5/0481 , B60T8/885 , B60T2270/402 , G06F11/1641
摘要： In the control device for vehicles which executes a control of the vehicle by one calculation control device based upon a target control amount generated by another calculation control device connected to the one calculation control device by way of a communication means, the other calculation control device calculates an estimated target control amount by itself to compare it with the target control amount generated by the one calculation control device and input thereto by way of the communication means, or a third calculation control device compares the target control amounts generated by the one and the other calculation control devices and input thereto by way of the communication means, thereby to judge if an abnormality has occurred in the communication means, and to rapidly modify the control to make a counter-measure against the abnormality.
摘要翻译：在通过一个计算控制装置基于通过通信装置连接到一个计算控制装置的另一计算控制装置生成的目标控制量的车辆控制装置中，另一计算控制装置计算估计目标控制量本身将其与由一个计算控制装置产生的目标控制量进行比较并通过通信装置输入到目标控制量，或者第三计算控制装置将由一个和另一个产生的目标控制量进行比较计算控制装置，并通过通信装置输入，从而判断通信装置中是否发生异常，并迅速修改控制以对抗异常。

55. 发明申请

US20060113937A1 Motor controller and steering device 有权
标题翻译：电机控制器和转向装置
公开(公告)号：US20060113937A1
公开(公告)日：2006-06-01
申请号：US11268542
申请日：2005-11-08
申请人： Kenichiro Hidaka , Mikihiro Hiramine , Motoshi Kawai , Toshio Tsutsui , Masahiro Miyata , Takahiro Kojo
发明人： Kenichiro Hidaka , Mikihiro Hiramine , Motoshi Kawai , Toshio Tsutsui , Masahiro Miyata , Takahiro Kojo
IPC分类号： H02P7/00
CPC分类号： B62D5/046 , H02P6/10 , H02P21/05 , H02P27/08 , H02P27/085
摘要： A motor controller including an inverter including plural switching elements that are subjected to PWM control to generate sine waves of plural phases, a motor including a stator coil supplied with the sine waves thus generated so that rotational magnetic field is generated in the stator coil, and a rotor that is rotationally driven by the action of the rotational magnetic field generated by the stator coil, a storage unit for detecting the sine waves of the respective phases generated in the inverter and storing a correction amount for each phase that is calculated on the basis of the detection result so that the sine waves of the respective phases are coincident with one another and a correcting unit for correcting a PWM signal for carrying out the PWM control on the switching elements on the basis of the correction amount thus calculated.
摘要翻译：一种电动机控制器，包括：逆变器，包括经受PWM控制以产生多相正弦波的多个开关元件;电动机，包括被供给正弦波的定子线圈，以产生定子线圈中的旋转磁场;以及通过由定子线圈产生的旋转磁场的作用旋转地驱动的转子，用于检测在逆变器中产生的各相的正弦波的存储单元，并且存储在基础上计算的每相的校正量检测结果使得各相的正弦波彼此一致;以及校正单元，用于基于这样计算的校正量来校正用于对开关元件执行PWM控制的PWM信号。

56. 发明授权

US09533681B2 Vehicle cruise control device 有权
标题翻译：车辆巡航控制装置
公开(公告)号：US09533681B2
公开(公告)日：2017-01-03
申请号：US14439797
申请日：2012-10-31
申请人： Takahiro Kodaira , Takahiro Kojo
发明人： Takahiro Kodaira , Takahiro Kojo
IPC分类号： B60R22/00 , E05F15/00 , G05D1/00 , G05D3/00 , G06F7/00 , G06F17/00 , B60W30/02 , B60G17/0195 , B62D15/02 , B60G17/016 , B60G21/055 , B62D6/04 , B60W10/20 , B60W10/22 , B60W30/10 , B60W40/076 , B60W40/112
CPC分类号： B60W30/025 , B60G17/0162 , B60G17/0195 , B60G21/0555 , B60G2202/135 , B60G2202/42 , B60G2400/0511 , B60G2400/0516 , B60G2400/0521 , B60G2400/0523 , B60G2400/104 , B60G2400/204 , B60G2400/252 , B60G2400/412 , B60G2400/42 , B60G2500/40 , B60G2800/012 , B60W10/20 , B60W10/22 , B60W30/10 , B60W40/076 , B60W40/112 , B60W2550/142 , B60W2710/207 , B60W2720/18 , B62D6/04 , B62D15/025
摘要： Provided is a vehicle cruise control device 10 that performs trajectory control for causing a vehicle to travel along a traveling road by steering vehicle wheels. The vehicle cruise control device includes: a roll control device (active stabilizers 56 and 58, etc.) configured to control a lateral-direction inclination angle of a vehicle body; and an inclination angle estimation device (a roll rate sensor 72, a stroke sensor 74i, etc.) configured to determine a lateral-direction inclination of a traveling road. When the trajectory control is executed in a situation in which the vehicle travels on a laterally inclined traveling road (S150, S250, S300, S500), the lateral-direction inclination angle of the vehicle body is controlled by the roll control device so that the lateral-direction inclination angle of the vehicle body is greater than 0 and smaller than the lateral-direction inclination angle of the traveling road (S450).
摘要翻译：提供一种车辆巡航控制装置10，其执行用于使车辆通过转向车轮沿着行驶道路行驶的轨迹控制。车辆巡航控制装置包括：被配置为控制车身的横向倾斜角度的侧倾控制装置（主动稳定器56,58等）以及被配置为确定行驶道路的横向倾斜度的倾斜角度估计装置（侧倾率传感器72，行程传感器74i等）。当在横向倾斜的行驶道路（S150，S250，S300，S500）上行驶的情况下执行轨迹控制时，车体的横向倾斜角度由侧倾控制装置控制，车体的横向倾斜角度大于0且小于行驶道路的横向倾斜角度（S450）。

57. 发明授权

US09079607B2 Vehicle steering control apparatus 有权
标题翻译：车辆转向控制装置
公开(公告)号：US09079607B2
公开(公告)日：2015-07-14
申请号：US13990958
申请日：2010-12-01
申请人： Mitsutaka Tanimoto , Takahiro Kojo , Yoshiaki Tsuchiya , Yoshitaka Fujita
发明人： Mitsutaka Tanimoto , Takahiro Kojo , Yoshiaki Tsuchiya , Yoshitaka Fujita
IPC分类号： B62D5/04 , B62D15/02
CPC分类号： B62D5/0466 , B62D5/046 , B62D5/0481 , B62D5/049 , B62D15/0245
摘要： A vehicle steering control apparatus in a vehicle including an apparatus changing a tire steer angle independently of steering wheel operation; a detecting device detecting a tire steer angle equivalent value corresponding to the tire steer angle; and a controller is provided. The controller is configured to learn a steering wheel angle neutral point; determine if the detecting device is in an abnormal state; disregard the learned steering wheel angle neutral point if the detecting device is in the abnormal state; control the apparatus such that the tire steer angle is returned to a tire steer angle neutral point if the detecting device is in the abnormal state; initialize the detecting device after the tire steer angle is returned to the tire steer angle neutral point; and restart the learning of the steering wheel angle after the detecting device is initialized.
摘要翻译：一种车辆中的车辆转向控制装置，其包括独立于方向盘操作而改变轮胎转向角的装置; 检测装置，其检测与所述轮胎转向角对应的轮胎转向角度当量值; 并提供控制器。控制器配置为学习方向盘角度中性点; 确定检测装置是否处于异常状态; 如果检测装置处于异常状态，则忽略学习的方向盘角度中性点; 控制装置使得如果检测装置处于异常状态，轮胎转向角度返回到轮胎转向角中性点; 在轮胎转向角度返回到轮胎转向角中性点之后初始化检测装置; 并且在检测装置被初始化之后重新启动方向盘角度的学习。

58. 发明申请

US20150134204A1 VEHICLE CRUISE CONTROL DEVICE 有权
标题翻译：车辆巡航控制装置
公开(公告)号：US20150134204A1
公开(公告)日：2015-05-14
申请号：US14412530
申请日：2012-07-06
申请人： Yoji Kunihiro , Takahiro Kojo
发明人： Yoji Kunihiro , Takahiro Kojo
IPC分类号： B60W30/14 , B62D6/00 , G01C21/34
CPC分类号： B60W30/143 , B60R21/00 , B60W30/10 , B60W30/12 , B60W30/18154 , B60W40/112 , B60W2050/0008 , B60W2050/0012 , B60W2420/42 , B60W2540/04 , B60W2550/402 , B60W2720/125 , B62D6/002 , B62D15/025 , G01C21/34
摘要： A vehicle cruise control device is provided that obtains a target trajectory of a vehicle based on white lines 102 and 104 as traveling route specification targets contained in information acquired by a device that acquires at least information in front of the vehicle, and performs traveling trajectory control so as to cause the vehicle to travel along the target trajectory. When the vehicle travels a particular area 110 where a traveling route branches into a plurality of traveling routes and a target trajectory cannot be obtained based on white lines, an interim target trajectory 116 is obtained for the particular area, based on the white lines 102 and 104 in an area adjacent to the particular area and a traveling route that the vehicle is to travel after traveling the particular area, and interim traveling trajectory control is executed so that the vehicle travels along the interim target trajectory.
摘要翻译：提供一种车辆巡航控制装置，其基于白线102和104获取车辆的目标轨迹，作为包含在获取至少在车辆前方的信息的装置获取的信息中的行驶路线指定目标，并且执行行驶轨迹控制以使车辆沿着目标轨迹行进。当车辆行驶在特定区域110处，其中行驶路线分支到多条行进路线并且基于白线不能获得目标轨迹时，基于白线102获得针对特定区域的临时目标轨迹116，以及 104在与特定区域相邻的区域中，以及车辆在行驶特定区域之后行驶的行驶路线，并且执行临时行驶轨迹控制，使得车辆沿着临时目标轨迹行驶。

59. 发明授权

US08977432B2 Vehicular steering control apparatus 有权
标题翻译：车辆转向控制装置
公开(公告)号：US08977432B2
公开(公告)日：2015-03-10
申请号：US12918255
申请日：2009-04-01
申请人： Theerawat Limpibunterng , Takahiro Kojo
发明人： Theerawat Limpibunterng , Takahiro Kojo
IPC分类号： B62D6/00 , B62D11/00 , B62D12/00 , B62D5/04
CPC分类号： B62D5/046 , B62D5/0481
摘要： An ECU executes steering control in a vehicle including an electronic control power steering apparatus. In the steering control, it is determined that an assist motor is in a power generating state when a motor rotation speed ω which is the rotation speed of the assist motor is greater than an upper limit rotation speed ω1 set according to a motor command voltage Vq that is the driving voltage of the assist motor. When the assist motor is in the power generating state, the ECU interrupts the supply of current to the assist motor by controlling a relay portion of a drive apparatus that drives the assist motor so that it is open, thereby reducing the amount of power that is generated to zero. Also, when returning to an assist possible state, assist torque Tm is changed gradually with zero as the initial value in order to prevent it from changing suddenly.
摘要翻译： ECU在包括电子控制动力转向装置的车辆中执行转向控制。在转向控制中，当作为辅助电动机的转速的电动机转速ω大于根据电动机指令电压Vq设定的上限转速ω1时，辅助电动机处于发电状态即辅助马达的驱动电压。当辅助电动机处于发电状态时，ECU通过控制驱动辅助电动机的驱动装置的继电器部分使其断开，从而中断向辅助电动机的电流供给，由此减少生成为零。此外，当返回到辅助可能状态时，辅助转矩Tm随零逐渐变化为初始值，以防止其突然变化。

60. 发明申请

US20140229068A1 VEHICLE DRIVE-CONTROL DEVICE 有权
标题翻译：车辆驾驶控制装置
公开(公告)号：US20140229068A1
公开(公告)日：2014-08-14
申请号：US14342049
申请日：2011-08-31
申请人： Masao Ueyama , Yoji Kunihiro , Theerawat Limpibunterng , Takahiro Kojo
发明人： Masao Ueyama , Yoji Kunihiro , Theerawat Limpibunterng , Takahiro Kojo
IPC分类号： B62D6/00
CPC分类号： B62D6/002 , B60W10/16 , B60W10/20 , B60W30/045 , B62D6/003 , B62D15/02 , B62D15/0255
摘要： A vehicle drive-control device which executes trajectory control in which steered wheels are controlled so as to make the vehicle travel along a target trajectory. When the possibility exists that the travel direction of the vehicle may be changed by the trajectory control, at least one of an operation position of a steering input unit operated by a driver; a yaw angle of the vehicle; and a lateral position of the vehicle with respect to a lane is changed before a change in the travel direction is made, thereby giving occupants in the vehicle advance notice of the possibility of a change in vehicle travel direction caused by the trajectory control.
摘要翻译：执行轨迹控制的车辆驱动控制装置，其中控制转向轮以使车辆沿着目标轨迹行驶。当存在可以通过轨迹控制来改变车辆行驶方向的可能性时，由驾驶员操作的转向输入单元的操作位置中的至少一个; 车辆的偏航角; 并且在进行行驶方向的变化之前改变车辆相对于车道的横向位置，从而使得车辆中的乘客提前通知由轨迹控制引起的车辆行驶方向改变的可能性。

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