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1. 发明授权

US06308115B1 Vehicle running condition judgement device 失效
标题翻译：车辆运行状态判断装置
公开(公告)号：US06308115B1
公开(公告)日：2001-10-23
申请号：US09361996
申请日：1999-07-28
申请人： Hiroyuki Yamaguchi , Katsuhiro Asano , Kenji Tozu , Takayuki Itoh , Akitaka Nishio
发明人： Hiroyuki Yamaguchi , Katsuhiro Asano , Kenji Tozu , Takayuki Itoh , Akitaka Nishio
IPC分类号： G06F770
CPC分类号： B60W40/064 , B60T8/172 , B60T2270/86 , B60W40/101 , B60W40/103 , B60W2550/12 , B62D6/04 , B62D7/159
摘要： A vehicle running condition judgment device for accurately detecting a change in a road surface condition and a vehicle's limit running condition. With substitution of respective tire characteristics and a detected state quantity into a vehicle motion model, vehicle slip angles are estimated for respective assumed road surface conditions. Based on the current state quantity and the last estimated vehicle slip angle, currently estimated vehicle slip angles for the respective assumed road surface conditions are compensated. A differential operation section calculates an estimation value of a vehicle slip angular velocity for each of the assumed road surface conditions based on the compensated vehicle slip angles for the respective assumed road surface conditions. Meanwhile, an operation section calculates a detection value of a vehicle slip angular velocity based on the detected state quantity. By comparing the detection value and the respective estimation values for the assumed road surface conditions, the current road surface condition is determined. Further, a lateral acceleration is calculated based on a vehicle slip angle, and compared with the detection value for determination of the road surface condition, and also with a predetermined limit value for determination of a vehicle's limit running condition.
摘要翻译：一种车辆行驶状态判断装置，用于准确地检测路面状况和车辆极限行驶状态的变化。通过将各轮胎特性和检测到的状态量替换为车辆运动模型，针对相应的假定路面条件估计车辆滑行角度。基于当前状态量和最后估计的车辆滑移角度，对各个假设路面条件的当前估计车辆滑移角进行补偿。差分运算部根据各假定路面条件的补偿车辆滑移角，计算出各假定路面条件下的车辆滑行角速度的推定值。同时，操作部根据检测到的状态量来计算车辆滑行角速度的检测值。通过比较所述假设路面条件的检测值和各自的估计值，确定当前路面状况。此外，基于车辆滑移角计算横向加速度，并且与用于确定路面状况的检测值进行比较，并且还与用于确定车辆极限行驶状态的预定极限值进行比较。

2. 发明授权

US06374172B1 Vehicle driving condition detection device 有权
标题翻译：车辆行驶状况检测装置
公开(公告)号：US06374172B1
公开(公告)日：2002-04-16
申请号：US09684923
申请日：2000-10-10
申请人： Hiroyuki Yamaguchi , Katsuhiro Asano , Yasushi Amano , Kenji Tozu , Akitaka Nishio
发明人： Hiroyuki Yamaguchi , Katsuhiro Asano , Yasushi Amano , Kenji Tozu , Akitaka Nishio
IPC分类号： B60T824
CPC分类号： B60W40/103 , B60T8/172 , B60T2210/22 , B60T2230/02 , B60W30/18172 , B60W2050/0028 , B60W2550/12 , B60W2550/142 , B62D6/04 , G01L5/20
摘要： A vehicle driving condition detection device is adapted to detect a vehicle running along a banked or laterally sloping road, as well as a lateral acceleration, and sideslip angle with good accuracy. The sideslip angle is estimated at a vehicle-body sideslip angle estimating circuit based on a steering angle &dgr;f, a lateral acceleration ÿ, a yaw rate {dot over (&thgr;)}, and a vehicle speed V. In addition, using a differentiating device, the estimated sideslip angle is differentiated to calculate a slip angular velocity. A subtracting device is provided at which a deviation is calculated between the slip angular velocity and a slip angular velocity detected at a slip angular velocity calculating circuit. The deviation can detect a banked or laterally sloping road due to the fact that the detected slip angular velocity at the slip angular velocity calculating circuit includes the gravity acceleration component that depends on the slope or bank of the road. Upon detecting a banked or sloping road, a deviation &Dgr;ÿ (={dot over (&thgr;)}·V−ÿ) is outputted from a switching device, and at a subtracting device the detected lateral acceleration ÿ is corrected by being subtracted with the deviation &Dgr;ÿ. On the basis of the resultant or corrected lateral acceleration ÿ, the vehicle-body sideslip angle is estimated. Such an estimation is made irrespective of the slope or bank of the road.
摘要翻译：车辆驾驶状况检测装置适用于检测沿着横向倾斜的道路行驶的车辆以及横向加速度和高精度的侧滑角。在基于转向角增量，横向加速度ÿ，偏航率{点（θ））和车速V的车身侧滑角估计电路估计侧滑角。另外，使用微分装置，估计的侧滑角被差分以计算滑移角速度。提供一种减法装置，在该减法装置中计算滑移角速度与在滑动角速度计算电路处检测到的滑移角速度之间的偏差。由于在滑移角速度计算电路处检测到的滑动角速度包括取决于道路的坡度或堤岸的重力加速度分量，偏差可以检测堤岸或横向倾斜的道路。在检测到一条倾斜的道路时，从切换装置输出偏差DELTAÿ（= {dot over（θ）} V-ÿ），在减法装置中，通过用偏差减去检测到的横向加速度ÿ DELTAÿ。基于所得到的或校正的横向加速度is，估计车身侧滑角度。无论道路的坡度还是堤岸，都做出这样的估计。

3. 发明授权

US06324445B2 Yaw rate detecting system for a vehicle 有权
标题翻译：车辆偏航率检测系统
公开(公告)号：US06324445B2
公开(公告)日：2001-11-27
申请号：US09416524
申请日：1999-10-12
申请人： Kenji Tozu , Akitaka Nishio
发明人： Kenji Tozu , Akitaka Nishio
IPC分类号： B62D600
CPC分类号： B60T8/172 , B60T2250/06
摘要： The present invention is directed to a yaw rate detecting system for a vehicle, which includes a yaw rate sensor for measuring a yaw rate of the vehicle. The apparatus is adapted to determine a stopped state of the vehicle, set a zero point at the yaw rate measured by the yaw rate sensor when the stopped state of the vehicle is determined, and calculate an actual yaw rate in response to an output of the yaw rate sensor, on the basis of the zero point. The actual yaw rate is calculated by subtracting the yaw rate at the zero point from the yaw rate measured by the yaw rate sensor. It may be so arranged that a desired yaw rate is set on the basis of a vehicle speed and a steering angle, and the zero point is corrected in response to a comparison of the desired yaw rate and the actual yaw rate. For example, a temporary zero point is set when the stopped state of the vehicle is determined, and a deviation between the desired yaw rate and the actual yaw rate is calculated. In this case, the actual yaw rate is calculated by subtracting the yaw rate at the temporary zero point from the yaw rate measured by the yaw rate sensor. Then, the zero point is corrected on the basis of the temporary zero point in response to the deviation.
摘要翻译：本发明涉及一种用于车辆的偏航率检测系统，其包括用于测量车辆的偏航率的横摆率传感器。该装置适于确定车辆的停止状态，当确定车辆的停止状态时，以横摆率传感器测量的横摆率设定零点，并且响应于所述车辆的输出来计算实际横摆率偏航率传感器，基于零点。通过从横摆率传感器测量的横摆率减去零点处的偏航率来计算实际横摆率。可以根据车速和转向角来设定期望的偏航角速度，并且响应于期望的横摆率和实际的横摆率的比较来校正零点。例如，当确定车辆的停止状态并且计算期望横摆率和实际横摆率之间的偏差时，设置临时零点。在这种情况下，通过从横摆率传感器测量的横摆率中减去临时零点处的偏航率来计算实际横摆率。然后，基于偏差响应于临时零点来校正零点。

4. 发明授权

US06456920B1 Apparatus for estimating a vehicle side slip angle 有权
标题翻译：用于估计车辆侧滑角的装置
公开(公告)号：US06456920B1
公开(公告)日：2002-09-24
申请号：US09722504
申请日：2000-11-28
申请人： Akitaka Nishio , Kenji Tozu
发明人： Akitaka Nishio , Kenji Tozu
IPC分类号： G06F1900
CPC分类号： G01B21/22 , B60T8/17551 , B60T2230/02 , B60T2270/86 , B60W10/184 , B60W40/103 , B60W2040/1307 , B60W2050/0028 , B60W2520/10 , B60W2520/125 , B60W2520/14 , B60W2530/20
摘要： The present invention is directed to an apparatus for estimating a vehicle side slip angle, which includes a monitor for monitoring quantity of motion state of a vehicle including such signals as a vehicle speed, a vehicle lateral acceleration, a yaw rate and a steering angle, and includes a motion model memory for storing a vehicle motion model. A first estimation device estimates a vehicle side slip angle by calculating a vehicle side slip angular velocity on the basis of the vehicle speed, vehicle lateral acceleration and yaw rate, and integrating the vehicle side slip angular velocity in a predetermined calculating cycle. Also, a second estimation device estimates the vehicle side slip angle on the basis of the quantity of motion state monitored by the monitor, and the vehicle motion model stored in the motion model memory. A tire load determination device determines a lateral load to each tire of the vehicle on the basis of the result monitored by the monitor. And, a changing device changes between the estimation of the vehicle side slip angle made by the first estimation device and the estimation of the vehicle side slip angle made by the second estimation device, in accordance with the result of determination of the tire load determination device.
摘要翻译：本发明涉及一种用于估计车辆侧滑角的装置，其包括用于监视车辆的运动状态量的监视器，其包括诸如车辆速度，车辆横向加速度，偏航率和转向角度的信号，并且包括用于存储车辆运动模型的运动模型存储器。第一估计装置通过基于车速，车辆横向加速度和横摆率计算车辆侧滑角角速度，并且以预定的计算周期积分车辆侧滑角速度来估计车辆侧滑角。此外，第二估计装置基于由监视器监视的运动状态量和存储在运动模型存储器中的车辆运动模型来估计车辆侧滑角。轮胎负载确定装置基于由监视器监视的结果来确定车辆的每个轮胎的横向负载。并且，根据轮胎负荷确定装置的确定结果，改变装置在由第一估计装置产生的车辆侧滑角的估计和由第二估计装置产生的车辆侧滑角的估计之间改变。

5. 发明授权

US06422660B1 Brake control system for a vehicle 有权
公开(公告)号：US06422660B1
公开(公告)日：2002-07-23
申请号：US09782156
申请日：2001-02-14
申请人： Kenji Tozu , Akitaka Nishio
发明人： Kenji Tozu , Akitaka Nishio
IPC分类号： B60T844
摘要： The present invention is directed to a brake control system, which includes wheel brake cylinders, a master cylinder, a reservoir communicated with the wheel brake cylinders, normally open solenoid valves disposed between the master cylinder and the wheel brake cylinders, respectively, normally closed solenoid valves disposed between the wheel brake cylinders and the reservoir, respectively, a hydraulic pump for supplying the brake fluid to a passage for connecting the master cylinder with the normally open valves, and an automatically pressurizing device (e.g., a vacuum booster with a changeover valve) which is provided for advancing the master piston irrespective of operation of the pump and the brake pedal to generate hydraulic braking pressure from the master cylinder. It is so controlled that a distance of the master piston, which is advanced by the automatically pressurizing device when all of the normally open valves are closed during the hydraulic pressure control of the wheel brake cylinders, is greater than the distance of the master piston, which is advanced by the automatically pressurizing device when at least one of the normally open valves is open during the hydraulic pressure control of the wheel brake cylinders.

6. 发明授权

US06390568B1 Vehicle motion control system 失效
标题翻译：车辆运动控制系统
公开(公告)号：US06390568B1
公开(公告)日：2002-05-21
申请号：US09609710
申请日：2000-06-30
申请人： Kenji Tozu , Akitaka Nishio
发明人： Kenji Tozu , Akitaka Nishio
IPC分类号： B60T712
CPC分类号： B60T8/4881
摘要： A vehicle motion control system which generates a minimized switching noise when a hydraulic pressure control valve is switched. The vehicle motion control system includes an automatic hydraulic pressure generator generating a hydraulic pressure irrespective of a brake pedal operation and a hydraulic pressure control valve adjusting the hydraulic brake pressure by opening or blocking a connection between the automatic hydraulic pressure generator and a wheel brake cylinder, and performs a motion control by controlling at least the hydraulic pressure control valve in accordance with the motion of a vehicle. The vehicle motion control system has a hydraulic pressure sensor detecting a generated hydraulic pressure of the automatic hydraulic pressure generator, setting a necessary hydraulic pressure for control, and adjusting the generated hydraulic pressure of the automatic hydraulic pressure generator by controlling the automatic hydraulic pressure generator in accordance with the result of a comparison between the actually generated hydraulic pressure of the automatic hydraulic pressure generator and the necessary hydraulic pressure for the motion control.
摘要翻译：一种车辆运动控制系统，其在切换液压控制阀时产生最小化的开关噪声。车辆运动控制系统包括：无论制动踏板操作产生液压的自动液压发生器和通过打开或阻塞自动液压发生器与车轮制动缸之间的连接来调节液压制动压力的液压控制阀，并且通过根据车辆的运动至少控制液压控制阀来执行运动控制。车辆运动控制系统具有液压传感器，用于检测自动液压发生器的产生的液压，设定必要的液压用于控制，并且通过控制自动液压发生器来调节自动液压发生器的产生的液压根据实际产生的自动液压发生器的液压与用于运动控制的必要液压之间的比较的结果。

7. 发明授权

US06196643B1 Brake control apparatus 失效
标题翻译：制动控制装置
公开(公告)号：US06196643B1
公开(公告)日：2001-03-06
申请号：US09220599
申请日：1998-12-28
申请人： Satoshi Yokoyama , Kenji Tozu , Masanobu Fukami , Takayuki Itoh
发明人： Satoshi Yokoyama , Kenji Tozu , Masanobu Fukami , Takayuki Itoh
IPC分类号： B60T832
CPC分类号： B60T8/3275 , B60T8/4872
摘要： A brake control apparatus includes a first valve to open and close a main line between a master cylinder and a wheel cylinder, a pump connected between a first valve and the wheel cylinder to supply pressurized brake fluid to the wheel cylinder, an auxiliary line connecting the inlet side of the pump to a master cylinder, a second valve to open and close the auxiliary line, a pressure sensor to detect the output pressure of the master cylinder and an electronic control unit which controls the first valve, the second valve, and the pump based upon the pressure detected by the pressure sensor so that the wheel cylinder receives a higher pressure than that of the master cylinder. The electronic control unit also closes the second valve while the pressure sensor detects the pressure over a certain pressure determined by the road surface condition.
摘要翻译：制动控制装置包括用于打开和关闭主缸和轮缸之间的主线的第一阀，连接在第一阀和轮缸之间的泵，以将加压的制动流体供应到轮缸;辅助线，泵的入口侧到主缸，用于打开和关闭辅助管线的第二阀，用于检测主缸的输出压力的压力传感器和控制第一阀，第二阀和第二阀的电子控制单元基于由压力传感器检测到的压力的泵，使得轮缸受到比主缸的压力更高的压力。电子控制单元还关闭第二阀，同时压力传感器检测到由路面状况确定的一定压力的压力。

8. 发明授权

US6120113A Hydraulic braking system for an automotive vehicle 失效
标题翻译：汽车液压制动系统
公开(公告)号：US6120113A
公开(公告)日：2000-09-19
申请号：US840587
申请日：1997-04-22
申请人： Norio Yamazaki , Yoshiyuki Yasui , Kenji Tozu , Masanobu Fukami , Takayuki Itoh , Seiichi Kojima
发明人： Norio Yamazaki , Yoshiyuki Yasui , Kenji Tozu , Masanobu Fukami , Takayuki Itoh , Seiichi Kojima
IPC分类号： B60T8/1755 , B60T8/24 , B60T8/26 , B60T8/42 , B60T8/48 , B60T8/40
CPC分类号： B60T8/268 , B60T8/1755 , B60T8/24 , B60T8/4275 , B60T8/4872 , B60T2270/306
摘要： The present invention is directed to a hydraulic braking system for an automotive vehicle, wherein a first passage is provided for communicating a master cylinder with first and second wheel cylinders. First and second pressure control devices are disposed in the first passage to control the hydraulic pressure of the brake fluid in the first and second wheel cylinders, respectively. A second passage is provided for communicating the master cylinder with an inlet of an auxiliary pressure source, which introduces the brake fluid from the wheel cylinders, and discharges the pressurized brake fluid to the wheel cylinders through the pressure control devices. A valve device is disposed in the first passage and connected to the second passage to selectively place one of a first operating position for communicating the master cylinder with the pressure control devices and blocking the communication between the master cylinder and the inlet of the auxiliary pressure source, and a second operating position for communicating the master cylinder with the inlet of the auxiliary pressure source and blocking the communication between the master cylinder and the pressure control devices. At least an auxiliary passage is provided for communicating the master cylinder with at least one of the wheel cylinders. And, at least a switching valve is disposed in the auxiliary passage to open and close the auxiliary passage.
摘要翻译：本发明涉及一种用于机动车辆的液压制动系统，其中提供第一通道以将主缸与第一和第二轮缸连通。第一和第二压力控制装置设置在第一通道中以分别控制第一和第二轮缸中的制动流体的液压。提供第二通道，用于使主缸与辅助压力源的入口连通，该辅助压力源引入来自轮缸的制动流体，并且通过压力控制装置将加压的制动流体排放到轮缸。阀装置设置在第一通道中并连接到第二通道，以选择性地将用于使主缸连通的第一操作位置与压力控制装置中的一个并阻塞主缸和辅助压力源的入口之间的连通以及用于使主缸与辅助压力源的入口连通并阻止主缸和压力控制装置之间的连通的第二操作位置。至少提供辅助通道用于使主缸与至少一个轮缸连通。并且，至少一个切换阀设置在辅助通道中以打开和关闭辅助通道。

9. 发明授权

US6070952A Braking force control system for an automotive vehicle 失效
标题翻译：汽车制动力控制系统
公开(公告)号：US6070952A
公开(公告)日：2000-06-06
申请号：US853458
申请日：1997-05-09
申请人： Kenji Tozu , Yoshiyuki Yasui , Masanobu Fukami , Takayuki Itoh , Norio Yamazaki
发明人： Kenji Tozu , Yoshiyuki Yasui , Masanobu Fukami , Takayuki Itoh , Norio Yamazaki
IPC分类号： B60T8/24 , B60T8/172 , B60T8/1755 , B60T8/48 , B60T8/60
CPC分类号： B60T8/1755
摘要： The present invention is directed to a braking force control system for an automotive vehicle having a hydraulic braking pressure control apparatus which is provided for applying the braking force to each of front and rear wheels of the vehicle at least in response to depression of a brake pedal. A desired yaw rate is set in accordance with a motion of the vehicle, and an actual yaw rate of the vehicle is measured. A varying rate of the desired yaw rate is calculated, and a varying rate of the actual yaw rate is calculated. Then, a deviation between the varying rate of the desired yaw rate and the varying rate of the actual yaw rate is calculated. And, a limitation unit is provided for actuating the hydraulic braking pressure control apparatus to limit the varying rate of the actual yaw rate by applying the braking force to at least one of the wheels, when the deviation exceeds a predetermined value. The limitation unit may be so constituted as to apply the braking force to a front wheel of the wheels which is located on the outside of a curve in the vehicle's path.
摘要翻译：本发明涉及一种用于机动车辆的制动力控制系统，其具有液压制动压力控制装置，该液压制动压力控制装置至少响应于制动踏板的下压而向车辆的前轮和后轮施加制动力。根据车辆的运动来设定期望的偏航率，并且测量车辆的实际横摆率。计算所需横摆率的变化率，并计算实际横摆率的变化率。然后，计算所需偏航率的变化率与实际横摆率的变化率之间的偏差。并且，当偏差超过预定值时，提供限制单元用于致动液压制动压力控制装置，以通过对至少一个车轮施加制动力来限制实际横摆率的变化率。限制单元可以被构造成将制动力施加到位于车辆路径中的曲线外侧的车轮的前轮。

10. 发明授权

US5857754A Vehicle motion control system 失效
标题翻译：车辆运动控制系统
公开(公告)号：US5857754A
公开(公告)日：1999-01-12
申请号：US791884
申请日：1997-01-31
申请人： Masanobu Fukami , Kenji Tozu , Yoshiyuki Yasui , Takayuki Itoh , Norio Yamazaki
发明人： Masanobu Fukami , Kenji Tozu , Yoshiyuki Yasui , Takayuki Itoh , Norio Yamazaki
IPC分类号： B60T8/24 , B60T8/1755 , B60T8/1764 , B60T8/34
CPC分类号： B60T8/1764 , B60T8/1755
摘要： The present invention is directed to a vehicle motion control system for maintaining vehicle stability by controlling the braking force applied to at least one of the driven wheels and non-driven wheels of a vehicle. A vehicle motion control is performed by applying the braking force to at least one wheel, on the basis of a condition of the vehicle in motion and irrespective of depression of a brake pedal. The braking force is applied to at least one wheel so as to cause an increase in turning radius, when an excessive oversteer occurs during vehicle motion. Whereas, the braking force is applied to at least one wheel so as to cause a decrease in turning radius, when an excessive understeer occurs during vehicle motion. In the case where an excessive braking to at least one of the driven wheels is detected, when an engine brake is exerted on the vehicle, a correction control is performed to increase the braking force applied to at least one of the non-driven wheels. For example, when an excessive slip rate of at least one of the driven wheels is detected, a desired slip rate of at least one of the non-driven wheels is corrected.
摘要翻译：本发明涉及一种用于通过控制施加到车辆的从动轮和非从动轮中的至少一个的制动力来维持车辆稳定性的车辆运动控制系统。基于车辆的运动状态并且与制动踏板的下压无关地对至少一个车轮施加制动力来执行车辆运动控制。当在车辆运动期间发生过度转向时，制动力被施加到至少一个车轮，以便使转弯半径增加。而在车辆运动时发生过大的转向不足时，制动力被施加到至少一个车轮，从而导致转弯半径的减小。在检测到至少一个从动轮的过度制动的情况下，当发动机制动被施加在车辆上时，执行校正控制以增加施加到至少一个非从动轮的制动力。例如，当检测到至少一个从动轮的过度滑移率时，校正至少一个非从动轮的期望的滑移率。

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