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61. 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。

62. 发明申请

US20130311045A1 VEHICLE STEERING CONTROL APPARATUS 有权
标题翻译：车辆转向控制装置
公开(公告)号：US20130311045A1
公开(公告)日：2013-11-21
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
CPC分类号： B62D5/0466 , B62D5/046 , B62D5/0481 , B62D5/049 , B62D15/0245
摘要： A vehicle steering control apparatus in a vehicle, which is provided with: a tire steer angle varying apparatus which is configured to change a tire steer angle independently of steering wheel operation; and a tire steer angle equivalent value detecting device which is configured to detect a tire steer angle equivalent value corresponding to the tire steer angle, is provided with: a learning device which is configured to learn a steering wheel angle neutral point; an abnormality determining device which is configured to determine whether or not the tire steer angle equivalent value detecting device is in an abnormal state; a disregarding device which is configured to disregard the learned steering wheel angle neutral point if it is determined that the tire steer angle equivalent value detecting device is in the abnormal state; a controlling device which is configured to control the tire steer angle varying apparatus such that the tire steer angle is returned to a tire steer angle neutral point if it is determined that the tire steer angle equivalent value detecting device is in the abnormal state; and an initializing device which is configured to initialize the tire steer angle equivalent value detecting device after the tire steer angle is returned to the tire steer angle neutral point, wherein the leaning device restarts the learning of the steering wheel angle after the tire steer angle equivalent value detecting device is initialized.
摘要翻译：一种车辆中的车辆转向控制装置，其具备：轮胎转向角变化装置，其被配置为独立于方向盘操作而改变轮胎转向角度; 以及轮胎转向角度等效值检测装置，其被配置为检测与轮胎转向角相对应的轮胎转向角度当量值，所述轮胎转向角度等效值检测装置具有：学习装置，被配置为学习方向盘角度中性点; 异常判定装置，其被配置为确定轮胎转向角等效值检测装置是否处于异常状态; 如果确定轮胎转向角等效值检测装置处于异常状态，则忽视装置被配置为忽略所学习的方向盘角度中性点; 如果确定轮胎转向角等效值检测装置处于异常状态，则被配置为控制轮胎转向角变化装置使得轮胎转向角度返回到轮胎转向中性点的控制装置; 以及初始化装置，其被配置为在轮胎转向角度返回到轮胎转向中立点之后初始化轮胎转向角等效值检测装置，其中，在轮胎转向角等效之后，倾斜装置重新开始学习方向盘角度初始化值检测装置。

63. 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。

64. 发明授权

US08565974B2 Control system for vehicles for decreasing controlling amount by judging abnormality 有权
标题翻译：通过判断异常来减少控制量的车辆控制系统
公开(公告)号：US08565974B2
公开(公告)日：2013-10-22
申请号：US10594750
申请日：2005-10-18
申请人： Takahiro Kojo , Masato Suzumura , Yoshiaki Tsuchiya , Kenji Asano
发明人： Takahiro Kojo , Masato Suzumura , Yoshiaki Tsuchiya , Kenji Asano
IPC分类号： A01B69/00 , B62D6/00 , B63G8/20 , B63H25/04 , G05D1/00 , G06F17/00
CPC分类号： B62D5/0481 , B60T2260/02 , B60T2270/402 , B60T2270/413
摘要： In view of the matter that an abnormality occurred in an operating portion of a control system comes out in an early stage as a result of the control, while it takes a time for an abnormality occurred in the generation of a controlling amount for controlling the operation of an operating portion to come out, in ceasing the control when an abnormality has occurred in the control system the controlling amount is decreased at a higher speed when the abnormality of the controlling amount was judged than a speed at which the operation of the operating device is decreased when the abnormality of the operating device was judged.
摘要翻译：鉴于控制系统的操作部分发生异常的情况，作为控制的结果在早期出来，而在生成用于控制操作的控制量时产生异常所花费的时间当控制系统发生异常时停止控制，当控制量的异常被判断为比操作装置的操作的速度快时控制量以较高的速度降低当判断操作装置的异常时减小。

65. 发明申请

US20130253770A1 VEHICLE STEERING CONTROL APPARATUS 有权
标题翻译：车辆转向控制装置
公开(公告)号：US20130253770A1
公开(公告)日：2013-09-26
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： B60W30/02 , B60W10/20 , B60W10/18
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。

66. 发明授权

US08511420B2 Vehicle steering control device 有权
标题翻译：车辆转向控制装置
公开(公告)号：US08511420B2
公开(公告)日：2013-08-20
申请号：US12743701
申请日：2008-11-19
申请人： Takahiro Kojo , Theerawat Limpibunterng
发明人： Takahiro Kojo , Theerawat Limpibunterng
IPC分类号： B62D5/04
CPC分类号： B62D5/008 , B62D5/0481 , B62D6/002
摘要： A vehicle steering control device includes an electric power steering unit, a steering ratio varying unit which drives an output member relative to an input member driven by steering operation of a driver to vary a steering ratio, and a control unit which controls the steering ratio varying unit. The control unit decreases in magnitude the relative drive velocity of the output member driven by the steering ratio varying unit relative to the input member when the magnitude of a difference between the maximum value of the steering drive velocity range of said steerable wheels which allows said power steering unit to generate a required steering assisting power and an actual steering drive velocity of said steerable wheels is small in contrast to the large difference.
摘要翻译：车辆转向控制装置包括电动转向单元，转向比变化单元，其相对于由驾驶员的转向操作驱动的输入构件驱动输出构件以改变转向比;以及控制单元，其控制转向比变化单元。当所述可转向轮的转向驱动速度范围的最大值之间的差的大小允许所述功率时，所述控制单元在幅度上减小由转向比变化单元相对于输入构件驱动的输出构件的相对驱动速度转向单元以产生所需的转向辅助动力和所述可转向轮的实际转向驱动速度与较大的差异相反。

67. 发明申请

US20120123643A1 DRIVING SUPPORT APPARATUS OF VEHICLE 有权
标题翻译：车辆驾驶辅助装置
公开(公告)号：US20120123643A1
公开(公告)日：2012-05-17
申请号：US13387589
申请日：2010-08-02
申请人： Theerawat Limpibuntering , Takahiro Kojo , Hirofumi Nitta , Shoji Asai
发明人： Theerawat Limpibuntering , Takahiro Kojo , Hirofumi Nitta , Shoji Asai
IPC分类号： B62D6/00
CPC分类号： B62D1/286 , B62D5/008 , B62D15/025
摘要： A driving support apparatus of a vehicle supports driving of the vehicle, the vehicle includes a rudder angle varying device capable of changing a relative relation between a steering angle and a rudder angle. The driving support apparatus includes a following control device for controlling the rudder angle varying device such that the vehicle follows a target driving route; a steering angle specifying device for specifying the steering angle; and a judging device for judging whether or not overriding performed by a driver takes place on the basis of the specified steering angle and a reference steering angle which is the steering angle in making the vehicle follow the target driving route. The following control device stops the vehicle following for the target driving route if it is judged that the overriding takes place.
摘要翻译：车辆的驾驶辅助装置支撑车辆的行驶，车辆包括能够改变转向角和方向舵角之间的相对关系的方向舵角度变化装置。驾驶辅助装置包括用于控制舵角变化装置的后续控制装置，使得车辆遵循目标驾驶路线; 用于指定转向角的转向角指定装置; 以及判断装置，用于基于指定的转向角和作为使车辆跟随目标行驶路线的转向角的基准转向角来判断是否进行驾驶员的超驰。如果判定出现超限，则下列控制装置停止目标驾驶路线的车辆跟随。

68. 发明申请

US20110264329A1 DRIVING SUPPORT APPARATUS OF VEHICLE 审中-公开
标题翻译：车辆驾驶辅助装置
公开(公告)号：US20110264329A1
公开(公告)日：2011-10-27
申请号：US13141875
申请日：2008-12-26
申请人： Theerawat Limpibunterng , Takahiro Kojo
发明人： Theerawat Limpibunterng , Takahiro Kojo
IPC分类号： B62D6/00 , B62D5/04
CPC分类号： B62D6/003 , B62D5/008 , B62D5/0472 , B62D15/025
摘要： A vehicle is provided with: an EPS a VGRS actuator as a rudder angle varying device; and an EPS actuator as a steering torque assisting device. In following a target driving route, a LKA target assist torque TLK is outputted from the EPS actuator on the basis of target lateral acceleration GYTG. On the other hand, in order to suppress the steering of a steering wheel by the assist torque, which is against a driver's will, steered wheels are steered by the VGRS actuator, excessively by a LKA correction target angle θLK. At this time, it does not influence a relation between a steering angle and the rotation angle of a lower steering shaft. Thus, the following for the target driving route is realized without reducing the robustness of the vehicle with respect to the driver's steering.
摘要翻译：车辆设有：作为方向舵角度变化装置的EPS作为VGRS致动器; 以及作为转向助力装置的EPS致动器。在跟随目标行驶路线时，基于目标横向加速度GYTG，从EPS致动器输出LKA目标辅助扭矩TLK。另一方面，为了通过与驾驶员意愿相反的辅助转矩来抑制方向盘的转向，由VGRS执行机构转向转向轮过度LKA修正目标角度LK。此时，不影响转向角与下转向轴的旋转角度的关系。因此，在不降低车辆相对于驾驶员转向的鲁棒性的情况下，实现目标驾驶路线的以下。

69. 发明申请

US20110036660A1 VEHICLE STEERING CONTROL DEVICE 有权
标题翻译：车辆转向控制装置
公开(公告)号：US20110036660A1
公开(公告)日：2011-02-17
申请号：US12743701
申请日：2008-11-19
申请人： Takahiro Kojo , Theerawat Limpibunterng
发明人： Takahiro Kojo , Theerawat Limpibunterng
IPC分类号： B62D5/04
CPC分类号： B62D5/008 , B62D5/0481 , B62D6/002
摘要： An object of the present invention is to reduce the possibility of a power assistance failure because of the phenomenon that steering assisting power which an electric power steering unit can generate is lower than the steering assisting power which is required for the electric power steering unit. A vehicle steering control device comprises an electric power steering unit, a steering ratio varying unit which drives an output member relative to an input member driven by steering operation of a driver to vary a steering ratio, and a control means which controls the steering ratio varying unit. The control means decreases in magnitude the relative drive velocity of the output member driven by the steering ratio varying unit relative to the input member when the magnitude of a difference between the maximum value of the steering drive velocity range of said steerable wheels which allows said power steering unit to generate a required steering assisting power and an actual steering drive velocity of said steerable wheels is small in contrast to the large difference.
摘要翻译：本发明的目的在于减少由于电动助力转向装置能够产生的转向辅助动力低于电动助力转向装置所需的转向辅助动力的现象而导致动力辅助失效的可能性。车辆转向控制装置包括电动助力转向单元，转向比变化单元，其相对于由驾驶员的转向操作驱动的输入构件驱动输出构件以改变转向比;以及控制装置，其控制转向比变化单元。当所述可转向轮的转向驱动速度范围的最大值之间的差异的大小允许所述功率时，所述控制装置在大小上减小由转向比变化单元相对于输入构件驱动的输出构件的相对驱动速度转向单元以产生所需的转向辅助动力和所述可转向轮的实际转向驱动速度与较大的差异相反。

70. 发明申请

US20100228444A1 VEHICLE TRAVEL CONTROL DEVICE 有权
标题翻译：车辆行驶控制装置
公开(公告)号：US20100228444A1
公开(公告)日：2010-09-09
申请号：US12738092
申请日：2008-11-19
申请人： Takahiro Kojo , Theerawat Limpibunterng
发明人： Takahiro Kojo , Theerawat Limpibunterng
IPC分类号： B60W30/02 , B62D6/00 , B60T8/1755 , B62D5/04 , B60W10/18 , B60W10/20
CPC分类号： B60T8/1755 , B60W10/18 , B60W10/20 , B60W30/045 , B60W40/11 , B60W40/112 , B60W40/114 , B60W50/12 , B62D5/0481 , B62D6/003
摘要： An object of the present invention is to cover a drop in turning responsiveness of a vehicle to a driver's steering operation caused by a limit on the operating speed of a steerable wheel turning unit by a turn assist yaw moment independent of turn lateral forces of steerable wheels to thereby prevent the drop in turning responsiveness of the vehicle when the operating speed of the steerable wheel turning unit is limited. A vehicle travel control device comprises a steerable wheel turning unit capable of turning steerable wheels to steer independently of steering of a driver and a braking unit as a turn assist yaw moment generating means capable of generating a turn assist yaw moment independently of turn lateral forces of the steerable wheels. When a predetermined controlled variable limiting condition is established and the controlled variable of the steerable wheel turning unit is limited, the influence of limiting the controlled variable of the steerable wheel turning unit on the turn yaw moment of the vehicle can be reduced by changing braking forces of individual wheels and generating a yaw moment by differences in braking force between left and right wheels.
摘要翻译：本发明的目的是通过转向辅助横摆力矩来限制车辆对驾驶员的转向操作的转弯响应的下降，这是由于转向辅助横摆力矩的限制而导致的，而转向辅助横摆力矩与转向轮的转向横向力无关从而能够防止在转向车轮转向单元的运转速度受限时车辆的转向响应性下降。车辆行驶控制装置包括可转向的车轮转向单元，其能够转向可转向的车轮以独立于驾驶员和制动单元的转向而转向，作为转向辅助横摆力矩产生装置，其能够独立于产生转向辅助横摆力矩，可转向的轮子。当建立了预定的受控变量限制条件并且限制可转向车轮转向单元的控制变量时，可以通过改变制动力来减小限制可转向车轮转向单元的受控变量对车辆的转弯横摆力矩的影响并且通过左右轮之间的制动力的差异产生偏航力矩。

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