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1. 发明授权

US07337873B2 Steering control apparatus for a vehicle 失效
标题翻译：车辆转向控制装置
公开(公告)号：US07337873B2
公开(公告)日：2008-03-04
申请号：US11067720
申请日：2005-03-01
申请人： Hiroaki Aizawa , Hiroaki Niino , Minekazu Momiyama , Hiroaki Kato
发明人： Hiroaki Aizawa , Hiroaki Niino , Minekazu Momiyama , Hiroaki Kato
IPC分类号： B62D6/00
CPC分类号： B60W10/184 , B60T8/1764 , B60T2260/024 , B60T2270/602 , B60W10/20 , B60W30/02 , B60W40/068 , B60W2510/20 , B60W2520/20 , B62D6/003 , B62D6/006
摘要： A steering control apparatus is provided for controlling a steered wheel angle of a wheel to be steered. On the basis of a road coefficient of friction estimated between right and left wheels, a braking force difference between the right and left wheels is calculated. A slip angle—total lateral force characteristic indicative of a relationship between a slip angle and a total lateral force of a wheel to be steered is provided on the basis of the estimated coefficient of friction. Then, a steered wheel angle of the wheel to be steered is set on the basis of the braking force difference and the slip angle—total lateral force characteristic.
摘要翻译：提供一种用于控制要转向的车轮的转向轮角度的转向控制装置。基于左右车轮之间估计的道路摩擦系数，计算左右车轮之间的制动力差。基于所估计的摩擦系数，提供表示滑行角和要转向的车轮的总侧向力之间的关系的滑移角 - 总侧向力特性。然后，基于制动力差和滑移角 - 总横向力特性来设定要转向的车轮的转向车轮角。

2. 发明申请

US20050205339A1 Steering control apparatus for a vehicle 审中-公开
标题翻译：车辆转向控制装置
公开(公告)号：US20050205339A1
公开(公告)日：2005-09-22
申请号：US11067719
申请日：2005-03-01
申请人： Hiroaki Aizawa , Hiroaki Niino , Minekazu Momiyama , Hiroaki Kato
发明人： Hiroaki Aizawa , Hiroaki Niino , Minekazu Momiyama , Hiroaki Kato
IPC分类号： B60K17/34 , B60T8/1755 , B60W10/18 , B60W10/20 , B60W30/02 , B62D6/00
CPC分类号： B60W30/045 , B60T8/17552 , B60T2240/06 , B60T2260/02 , B60T2270/602 , B60W10/184 , B60W10/20 , B60W2510/20 , B60W2520/20 , B62D6/002
摘要： A steering control apparatus is provided for controlling a steered wheel angle of a wheel to be steered, wherein braking force applied to each of at least a pair of right and left wheels of the vehicle is estimated, and the braking force is modified on the basis of a variation of braking force resulted from a varying load applied to each of the wheels, when the vehicle is turning. And, a steered wheel angle of the wheel to be steered, or steering torque, is provided to cancel a moment about a gravity center of the vehicle, on the basis of the modified braking force.
摘要翻译：提供了一种用于控制要转向的车轮的转向轮角的转向控制装置，其中估计施加到车辆的至少一对右车轮和左车轮中的每一个的制动力，并且基于当车辆转动时，由施加到每个车轮的变化的负载产生的制动力的变化。并且，基于修改的制动力，提供要转向的车轮的转向车轮角度或转向转矩以消除车辆重心附近的时刻。

3. 发明申请

US20050085986A1 Vehicle motion control apparatus 有权
标题翻译：车辆运动控制装置
公开(公告)号：US20050085986A1
公开(公告)日：2005-04-21
申请号：US10925925
申请日：2004-08-26
申请人： Hiroaki Aizawa , Hiroaki Niino , Minekazu Momiyama , Hiroaki Kato , Eiichi Ono , Yuji Muragishi , Yoshiyuki Yasui
发明人： Hiroaki Aizawa , Hiroaki Niino , Minekazu Momiyama , Hiroaki Kato , Eiichi Ono , Yuji Muragishi , Yoshiyuki Yasui
IPC分类号： B60T8/1755 , B60W10/00 , B60W10/04 , B60W10/06 , B60W10/10 , B60W10/18 , B60W10/188 , B60W10/20 , B62D5/04 , B62D6/00 , B62D103/00 , B62D113/00 , B62D119/00 , B62D137/00 , G05D1/00 , G06F7/00
CPC分类号： B62D6/006 , B60T8/1755 , B60T2260/02
摘要： A vehicle motion control apparatus is provided for performing a vehicle stability control on the basis of a parameter indicative of lateral margin for a tire on a road. The apparatus includes a steering control device for controlling a relationship between a steering angle and a tire angle to be varied, and a decelerating control device for controlling a vehicle speed to be decreased. The parameter indicative of lateral margin for the tire is monitored, and the steering control device and the decelerating control device are controlled on the basis of the monitored parameter. The steering control device is controlled to decrease the tire angle relative to the steering angle, when the parameter is decreased from a value of relatively large lateral margin to a value of relatively small lateral margin, which is smaller than a first threshold value, and the decelerating control device is controlled to decrease the vehicle speed in addition to the steering control by the steering control device, when the parameter is further decreased to a value of lateral margin smaller than a second threshold value, which is smaller than the first threshold value.
摘要翻译：提供一种车辆运动控制装置，用于基于表示道路上的轮胎的侧向余量的参数来执行车辆稳定性控制。该装置包括用于控制转向角和要改变的轮胎角度之间的关系的转向控制装置，以及用于控制车速降低的减速控制装置。监测表示轮胎的侧向余量的参数，并且基于所监视的参数来控制转向控制装置和减速控制装置。控制转向控制装置，当参数从相对大的侧向余量的值减小到小于第一阈值的相对小的侧向余量的值时，相对于转向角减小轮胎角度，并且当所述参数进一步减小到小于小于所述第一阈值的第二阈值的横向边缘的值时，除了所述转向控制装置的转向控制之外，控制所述减速控制装置以减小所述车速。

4. 发明申请

US20050080532A1 Steering control apparatus for vehicle and method for steering control 有权
标题翻译：车辆转向控制装置及转向控制方法
公开(公告)号：US20050080532A1
公开(公告)日：2005-04-14
申请号：US10960226
申请日：2004-10-08
申请人： Hiroaki Kato , Minekazu Momiyama , Yoshiyuki Yasui , Hiroaki Aizawa , Hiroaki Niino
发明人： Hiroaki Kato , Minekazu Momiyama , Yoshiyuki Yasui , Hiroaki Aizawa , Hiroaki Niino
IPC分类号： B60T8/1763 , B60T8/1764 , B60T8/58 , B62D5/04 , B62D6/00 , B62D101/00 , B62D103/00 , B62D111/00 , B62D113/00 , B62D119/00 , B62D137/00
CPC分类号： B62D6/003 , B60T8/1764 , B60T2220/03 , B60T2260/024
摘要： A steering control apparatus obtains a steered amount by which a steered wheel is steered based on a left-and-right braking force difference control amount, a vehicle state control amount, and a steering control amount. The apparatus changes the magnitude of the braking force difference control amount and the magnitude of the vehicle state control amount according to a vehicle speed or to time elapsed from when braking started to be applied to the left and right wheels. Accordingly, the vehicle driving on μ-split road is prevented from being deflected toward a side of higher friction coefficient due to the left-and-right braking force difference when the braking is applied.
摘要翻译：转向控制装置基于左右制动力差控制量，车辆状态控制量和转向控制量获得转向轮转向的转向量。该装置根据车速或从制动开始到左右轮的时间经过的时间来改变制动力差控制量的大小和车辆状态控制量的大小。因此，在施加制动时，由于左右制动力的差异，防止在mu分路上行驶的车辆朝向摩擦系数较高的一侧偏转。

5. 发明授权

US07191048B2 Vehicle motion control apparatus 有权
标题翻译：车辆运动控制装置
公开(公告)号：US07191048B2
公开(公告)日：2007-03-13
申请号：US10925925
申请日：2004-08-26
申请人： Hiroaki Aizawa , Hiroaki Niino , Minekazu Momiyama , Hiroaki Kato , Eiichi Ono , Yuji Muragishi , Yoshiyuki Yasui
发明人： Hiroaki Aizawa , Hiroaki Niino , Minekazu Momiyama , Hiroaki Kato , Eiichi Ono , Yuji Muragishi , Yoshiyuki Yasui
IPC分类号： B60T8/58 , G06F7/00
CPC分类号： B62D6/006 , B60T8/1755 , B60T2260/02
摘要： A vehicle motion control apparatus is provided for performing a vehicle stability control on the basis of a parameter indicative of lateral margin for a tire on a road. The apparatus includes a steering control device for controlling a relationship between a steering angle and a tire angle to be varied, and a decelerating control device for controlling a vehicle speed to be decreased. The parameter indicative of lateral margin for the tire is monitored, and the steering control device and the decelerating control device are controlled on the basis of the monitored parameter. The steering control device is controlled to decrease the tire angle relative to the steering angle, when the parameter is decreased from a value of relatively large lateral margin to a value of relatively small lateral margin, which is smaller than a first threshold value, and the decelerating control device is controlled to decrease the vehicle speed in addition to the steering control by the steering control device, when the parameter is further decreased to a value of lateral margin smaller than a second threshold value, which is smaller than the first threshold value.
摘要翻译：提供一种车辆运动控制装置，用于基于表示道路上的轮胎的侧向余量的参数来执行车辆稳定性控制。该装置包括用于控制转向角和要改变的轮胎角度之间的关系的转向控制装置，以及用于控制车速降低的减速控制装置。监测表示轮胎的侧向余量的参数，并且基于所监视的参数来控制转向控制装置和减速控制装置。控制转向控制装置，当参数从相对大的侧向余量的值减小到小于第一阈值的相对小的侧向余量的值时，相对于转向角减小轮胎角度，并且当所述参数进一步减小到小于小于所述第一阈值的第二阈值的横向边缘的值时，除了所述转向控制装置的转向控制之外，控制所述减速控制装置以减小所述车速。

6. 发明授权

US07164974B2 Vehicle roll sensing using load shift estimation 失效
标题翻译：使用负载偏移估计的车辆感知
公开(公告)号：US07164974B2
公开(公告)日：2007-01-16
申请号：US10895120
申请日：2004-07-21
申请人： Eiichi Ono , Yuji Muragishi , Hiroaki Aizawa , Hiroaki Niino , Yoshiyuki Yasui , Minekazu Momiyama , Hiroaki Kato
发明人： Eiichi Ono , Yuji Muragishi , Hiroaki Aizawa , Hiroaki Niino , Yoshiyuki Yasui , Minekazu Momiyama , Hiroaki Kato
IPC分类号： G05D1/00
CPC分类号： B60R16/0233 , B60T8/172 , B60T2230/03 , B60W40/11 , B60W40/112 , B60W40/114 , B60W40/12 , B60W2040/1307 , B60W2040/1315 , B60W2520/30
摘要： In vehicle roll sensing of the present invention, a self-aligning torque (SAT) estimator estimates a composite value of SATs generated on tire contact patch of right and left wheels. A slip angle computer detects a vehicle speed and a steering angle and computes a slip angle of the wheel from the measured vehicle speed and steering angle. An SAT model value computer estimates an SAT model value as a composite value of SATs of the right and left wheels when no load shifts between the right and left wheels on the basis of the slip angle. A load shift ratio estimator estimates a load shift state of the right and left wheels on the basis of the composite value of the SATs of the wheels and the SAT model value. A vehicle rollover estimator estimates a rollover of the vehicle on the basis of the estimated load-shift state.
摘要翻译：在本发明的车辆感知中，自对准扭矩（SAT）估计器估计在左右车轮的轮胎接触片上产生的SAT的复合值。滑差计算机检测车速和转向角，并根据测量的车速和转向角计算车轮的滑移角。 SAT模型值计算机基于滑移角度估计在左右车轮之间没有负载偏移时，SAT模型值作为左右车轮的SAT的复合值。负载偏移比估计器基于车轮的SAT和SAT模型值的复合值来估计左右车轮的负载偏移状态。车辆翻车估算器基于估计的负载转移状态来估计车辆的翻转。

7. 发明申请

US20050205346A1 Steering control apparatus for a vehicle 失效
标题翻译：车辆转向控制装置
公开(公告)号：US20050205346A1
公开(公告)日：2005-09-22
申请号：US11067720
申请日：2005-03-01
申请人： Hiroaki Aizawa , Hiroaki Niino , Minekazu Momiyama , Hiroaki Kato
发明人： Hiroaki Aizawa , Hiroaki Niino , Minekazu Momiyama , Hiroaki Kato
IPC分类号： B60T8/172 , B60T8/1755 , B60T8/1764 , B60T8/58 , B60T8/60 , B60W10/20 , B60W30/00 , B60W30/02 , B60W40/068 , B62D5/04 , B62D5/06 , B62D6/00 , B62D101/00 , B62D103/00 , B62D105/00 , B62D109/00 , B62D111/00 , B62D113/00 , B62D119/00 , B62D137/00
CPC分类号： B60W10/184 , B60T8/1764 , B60T2260/024 , B60T2270/602 , B60W10/20 , B60W30/02 , B60W40/068 , B60W2510/20 , B60W2520/20 , B62D6/003 , B62D6/006
摘要： A steering control apparatus is provided for controlling a steered wheel angle of a wheel to be steered. On the basis of a road coefficient of friction estimated between right and left wheels, a braking force difference between the right and left wheels is calculated. A slip angle—total lateral force characteristic indicative of a relationship between a slip angle and a total lateral force of a wheel to be steered is provided on the basis of the estimated coefficient of friction. Then, a steered wheel angle of the wheel to be steered is set on the basis of the braking force difference and the slip angle—total lateral force characteristic.
摘要翻译：提供一种用于控制要转向的车轮的转向轮角度的转向控制装置。基于在左右车轮之间估计的道路摩擦系数，计算左右车轮之间的制动力差。基于所估计的摩擦系数，提供表示滑行角和要转向的车轮的总侧向力之间的关系的滑移角 - 总侧向力特性。然后，基于制动力差和滑移角 - 总横向力特性来设定要转向的车轮的转向车轮角。

8. 发明授权

US07302328B2 Steering control apparatus for vehicle and method for steering control 有权
标题翻译：车辆转向控制装置及转向控制方法
公开(公告)号：US07302328B2
公开(公告)日：2007-11-27
申请号：US10960226
申请日：2004-10-08
申请人： Hiroaki Kato , Minekazu Momiyama , Yoshiyuki Yasui , Hiroaki Aizawa , Hiroaki Niino
发明人： Hiroaki Kato , Minekazu Momiyama , Yoshiyuki Yasui , Hiroaki Aizawa , Hiroaki Niino
IPC分类号： B62D5/04 , B62D6/00
CPC分类号： B62D6/003 , B60T8/1764 , B60T2220/03 , B60T2260/024
摘要： A steering control apparatus obtains a steered amount by which a steered wheel is steered based on a left-and-right braking force difference control amount, a vehicle state control amount, and a steering control amount. The apparatus changes the magnitude of the braking force difference control amount and the magnitude of the vehicle state control amount according to a vehicle speed or to time elapsed from when braking started to be applied to the left and right wheels. Accordingly, the vehicle driving on a μ-split road is prevented from being deflected toward a side of higher friction coefficient due to the left-and-right braking force difference when the braking is applied.
摘要翻译：转向控制装置基于左右制动力差控制量，车辆状态控制量和转向控制量获得转向轮转向的转向量。该装置根据车速或从制动开始到左右轮的时间经过的时间来改变制动力差控制量的大小和车辆状态控制量的大小。因此，在施加制动时，由于左右制动力的差异，可以防止在mu分路上行驶的车辆向摩擦系数较高的一侧偏转。

9. 发明授权

US07212903B2 Vehicle motion control apparatus 失效
标题翻译：车辆运动控制装置
公开(公告)号：US07212903B2
公开(公告)日：2007-05-01
申请号：US10938552
申请日：2004-09-13
申请人： Hiroaki Niino , Hiroaki Aizawa , Minekazu Momiyama , Hiroaki Kato
发明人： Hiroaki Niino , Hiroaki Aizawa , Minekazu Momiyama , Hiroaki Kato
IPC分类号： G06G7/76
CPC分类号： B60T8/1755 , B60T8/17616 , B60T2260/02 , B62D7/159
摘要： A vehicle motion control apparatus is provided with an anti-skid control device and a steering angle adjusting device, which adjusts the steering angle of at least one of the front and rear wheels to cancel a yaw deviation between a desired yaw factor and an actual yaw factor, to be substantially zero. An incompatibility between the devices is determined on the basis of a state of the wheel adjusted by the steering angle adjusting device to cancel the yaw deviation. And, a predetermined parameter provided between a vehicle stability directive parameter and a brake directive parameter is set on the basis of the incompatibility. Then, the anti-skid control device controls the braking force applied to each wheel of the vehicle on the basis of the predetermined parameter. Consequently, the anti-skid control giving importance to the braking force can be performed, as long as the steering angle adjusting device is operative.
摘要翻译：车辆运动控制装置设置有防滑控制装置和转向角调节装置，其调整前轮和后轮中的至少一个的转向角以抵消期望的偏航因数和实际偏航之间的偏航偏差因子基本为零。基于由转向角调节装置调整的车轮的状态来确定装置之间的不兼容性，以消除偏航偏差。并且，基于不兼容性来设定在车辆稳定性指令参数和制动指令参数之间提供的预定参数。然后，防滑控制装置根据规定的参数来控制施加于车辆的各车轮的制动力。因此，只要转向角调节装置可操作，就可以执行重要的制动力的防滑控制。

10. 发明申请

US20050065697A1 Vehicle motion control apparatus 失效
标题翻译：车辆运动控制装置
公开(公告)号：US20050065697A1
公开(公告)日：2005-03-24
申请号：US10938552
申请日：2004-09-13
申请人： Hiroaki Niino , Hiroaki Aizawa , Minekazu Momiyama , Hiroaki Kato
发明人： Hiroaki Niino , Hiroaki Aizawa , Minekazu Momiyama , Hiroaki Kato
IPC分类号： B60T8/1755 , B60T8/1761 , B62D7/15 , B62D6/00
CPC分类号： B60T8/1755 , B60T8/17616 , B60T2260/02 , B62D7/159
摘要： A vehicle motion control apparatus is provided with an anti-skid control device and a steering angle adjusting device, which adjusts the steering angle of at least one of the front and rear wheels to cancel a yaw deviation between a desired yaw factor and an actual yaw factor, to be substantially zero. An incompatibility between the devices is determined on the basis of a state of the wheel adjusted by the steering angle adjusting device to cancel the yaw deviation. And, a predetermined parameter provided between a vehicle stability directive parameter and a brake directive parameter is set on the basis of the incompatibility. Then, the anti-skid control device controls the braking force applied to each wheel of the vehicle on the basis of the predetermined parameter. Consequently, the anti-skid control giving importance to the braking force can be performed, as long as the steering angle adjusting device is operative.
摘要翻译：车辆运动控制装置设置有防滑控制装置和转向角调节装置，其调整前轮和后轮中的至少一个的转向角以抵消期望的偏航因数和实际偏航之间的偏航偏差因子基本为零。基于由转向角调节装置调整的车轮的状态来确定装置之间的不兼容性，以消除偏航偏差。并且，基于不兼容性来设定在车辆稳定性指令参数和制动指令参数之间提供的预定参数。然后，防滑控制装置根据规定的参数来控制施加于车辆的各车轮的制动力。因此，只要转向角调节装置可操作，就可以执行重要的制动力的防滑控制。

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