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1. 发明授权

US06308123B1 Vehicle steering control system 有权
标题翻译：车辆转向控制系统
公开(公告)号：US06308123B1
公开(公告)日：2001-10-23
申请号：US09599606
申请日：2000-06-23
申请人： Manabu Ikegaya , Shinnosuke Ishida , Satoshi Kondo , Jun Tanaka
发明人： Manabu Ikegaya , Shinnosuke Ishida , Satoshi Kondo , Jun Tanaka
IPC分类号： B62D504
CPC分类号： B62D15/025 , B60T2201/08 , B60T2201/087 , B62D1/28
摘要： A vehicle steering control system for conducting a steering assistance control in which a basic steering assist torque is determined based on a structural parameter relating to the lane structure such as its curvature. In parallel, corrective steering assist torques are determined based on positional parameters of the vehicle relating to the lane such as a lateral deviation from the lane center line and a vehicle heading angle, and are added to the basic steering assist torque to correct the same. Since the positional parameters are determined based on the image information at or close to the vehicle, this enables to determine the steering assist torque adequately, thereby enhancing the accuracy of the steering assistance control.
摘要翻译：一种用于进行转向辅助控制的车辆转向控制系统，其中基于与车道结构相关的结构参数（例如曲率）来确定基本转向辅助转矩。并行地，基于与车道相关的车辆的位置参数（例如与车道中心线的横向偏离）和车辆行驶方向角度来确定校正转向辅助转矩，并将其与基本转向辅助转矩相加以校正。由于基于车辆处或车辆附近的图像信息来确定位置参数，因此能够适当地确定转向辅助转矩，从而提高转向辅助控制的精度。

2. 发明授权

US5890082A Adaptive front and rear wheel steering system 失效
标题翻译：自适应前轮和后轮转向系统
公开(公告)号：US5890082A
公开(公告)日：1999-03-30
申请号：US720083
申请日：1996-09-27
申请人： Manabu Ikegaya , Yoshimitsu Akuta , Kiyoshi Wakamatsu
发明人： Manabu Ikegaya , Yoshimitsu Akuta , Kiyoshi Wakamatsu
IPC分类号： B62D6/00 , B62D7/14 , B62D7/15
CPC分类号： B62D7/159 , B62D6/00
摘要： In a front and rear wheel steering system for steering rear wheels of a vehicle at a certain ratio to front wheels of the vehicle, the rear wheel steering angle is determined according to the steering input and/or the operating conditions of the vehicle, additionally, taking into account the kind of the particular tires that are being used. In particular, it is advantageous to distinguish between normal tires and studless tires as they demonstrate significantly different properties. The kind of tires can be identified either by computing the frictional coefficient of the road surface or by a manual switch. Thus, the handling of the vehicle can be kept unchanged without regard to the kind of the tires that are being used.
摘要翻译：在前轮和后轮转向系统中，用于以与所述车辆的前轮一定比例的方式转向车辆的后轮，根据所述车辆的转向输入和/或所述操作条件来确定所述后轮转向角，考虑到正在使用的特定轮胎的种类。特别地，区分普通轮胎和无钉轮胎是有利的，因为它们表现出显着不同的性质。可以通过计算路面的摩擦系数或通过手动开关来识别轮胎的种类。因此，车辆的处理可以保持不变，而不考虑正在使用的轮胎的种类。

3. 发明授权

US5576957A Control system for a front and rear wheel steering vehicle 失效
标题翻译：前轮和后轮转向车的控制系统
公开(公告)号：US5576957A
公开(公告)日：1996-11-19
申请号：US396543
申请日：1995-03-01
申请人： Nobuyoshi Asanuma , Kiyoshi Wakamatsu , Manabu Ikegaya
发明人： Nobuyoshi Asanuma , Kiyoshi Wakamatsu , Manabu Ikegaya
IPC分类号： B62D6/00 , B62D7/14 , B62D7/15 , B62D101/00 , B62D111/00 , B62D113/00 , B62D137/00 , B62D5/04
CPC分类号： B62D7/159
摘要： In a control system for a front and rear wheel steering vehicle which steers the rear wheels so as to cancel a deviation of an actual yaw rate from a standard yaw rate which can be computed from the steering input, the vehicle speed and other parameters, there is provided a feature to automatically and manually cancel the yaw rate feedback control. If the actual yaw rate continues to exceed a threshold level for more than a certain time period, the yaw rate feedback is canceled gradually so as not to cause any abrupt change in the handling of the vehicle. Alternatively, if the vehicle operator wishes to operate the vehicle under extreme conditions, he may manually cancel the yaw rate feedback control so as to avoid undesirable interference or conflict between the manual steering effort and the yaw rate feedback control action. Thus, the maneuverability of the vehicle under extreme conditions can be improved without losing the benefits of the yaw rate feedback control.
摘要翻译：在用于前轮和后轮转向车辆的控制系统中，其转向后轮以抵消实际横摆率与可从转向输入，车速和其他参数计算的标准横摆角速度的偏差，那里提供了自动和手动地消除偏航率反馈控制的特征。如果实际横摆比率持续超过阈值水平超过一定时间段，则横摆速度反馈被逐渐取消，从而不会引起车辆处理的突然改变。或者，如果车辆操作者希望在极端条件下操作车辆，则他可以手动地取消偏航率反馈控制，以避免手动转向力和横摆率反馈控制动作之间的不期望的干扰或冲突。因此，可以在极端条件下提高车辆的机动性，而不会失去偏航率反馈控制的好处。

4. 发明授权

US5869753A System for estimating the road surface friction 失效
标题翻译：用于估计路面摩擦的系统
公开(公告)号：US5869753A
公开(公告)日：1999-02-09
申请号：US697233
申请日：1996-08-21
申请人： Nobuyoshi Asanuma , Kiyoshi Wakamatsu , Yoshimitsu Akuta , Manabu Ikegaya , Nobuo Sugitani , Yukihiro Fujiwara
发明人： Nobuyoshi Asanuma , Kiyoshi Wakamatsu , Yoshimitsu Akuta , Manabu Ikegaya , Nobuo Sugitani , Yukihiro Fujiwara
IPC分类号： B60K28/16 , B60T8/172 , B62D7/15 , G01M15/00
CPC分类号： B62D7/159 , B60T8/172 , B60K28/16 , B60T2210/12
摘要： The road friction is determined from the deviation of the estimated yaw rate under a standard condition from the actually measured yaw rate. The system for determining the road friction includes a parameter identification unit which determines a parameter of a variation term defined in the transfer function of the model for the vehicle response. The variation term may consist of a zero-th order or a first-order transfer function which would not cause any large computation load, and may not depend on the vehicle speed. The determined road friction may be used for controlling the rear wheel steering angle of a four wheel steering vehicle.
摘要翻译：道路摩擦是根据标准状况下的估计横摆角速度与实际测量的横摆角速度的偏差来确定的。用于确定道路摩擦的系统包括参数识别单元，其确定在车辆响应的模型的传递函数中定义的变化项的参数。变化项可以由零级或一阶传递函数组成，其不会导致任何大的计算负载，并且可以不依赖于车辆速度。确定的道路摩擦可以用于控制四轮转向车辆的后轮转向角。

5. 发明授权

US06324452B1 Vehicle steering control system 有权
标题翻译：车辆转向控制系统
公开(公告)号：US06324452B1
公开(公告)日：2001-11-27
申请号：US09599607
申请日：2000-06-23
申请人： Manabu Ikegaya
发明人： Manabu Ikegaya
IPC分类号： B62D504
CPC分类号： B62D1/286 , B60T2201/08 , B60T2201/087
摘要： A vehicle steering control system for conducting a steering assistance control, in which it is determined whether the vehicle operator has the intention to drive the vehicle by himself. This is done by discriminating the intention using the vehicle lateral deviation, the steering torque and the steering torque change. When it is discriminated that the vehicle operator does not have the intention in two or more discriminations, it is finally determined that the vehicle operator does not have the intention and the vehicle operator is alerted and/or the steering assistance control is discontinued, thereby preventing the vehicle operator from depending on the steer assist torque control excessively.
摘要翻译：一种用于进行转向辅助控制的车辆转向控制系统，其中确定车辆驾驶员是否具有自己驾驶车辆的意图。这是通过使用车辆横向偏离，转向扭矩和转向扭矩变化来区分意图来完成的。当识别出车辆操作者不具有两个或多个鉴别中的意图时，最终确定车辆操作者不具有意图，并且警告车辆操作者和/或停止转向辅助控制，从而防止车辆操作者根据转向辅助转矩控制过大。

6. 发明授权

US5627754A Method for controlling a front and rear wheel steering vehicle 失效
标题翻译：用于控制前轮和后轮转向车的方法
公开(公告)号：US5627754A
公开(公告)日：1997-05-06
申请号：US398138
申请日：1995-03-03
申请人： Nobuyoshi Asanuma , Kiyoshi Wakamatsu , Manabu Ikegaya
发明人： Nobuyoshi Asanuma , Kiyoshi Wakamatsu , Manabu Ikegaya
IPC分类号： B62D6/00 , B62D7/14 , B62D7/15
CPC分类号： B62D7/159
摘要： To the end of ensuring a brisk maneuverability of a front and rear wheel steering vehicle without causing any unstable behavior of the vehicle, the rear wheels are steered in an opposite phase relationship to the front wheels to offset an under-steer tendency of the vehicle when a lateral acceleration acting on the vehicle is between a first prescribed value and a second prescribed value higher than the first prescribed value, and the vehicle would otherwise demonstrate an under-steer tendency, and in a same phase relationship to the front wheels to prevent an excessive slip angle from developing in the rear wheels when the detected lateral acceleration is greater than the second prescribed value, and the slip angle of the rear wheels would otherwise develop an excessive slip angle. In other words, the rear wheels are steered in an opposite phase relationship to the front wheels so long as a lateral acceleration acting on the vehicle is within a range which would not give rise to any excessive slip angle of the rear wheels.
摘要翻译：为了确保前轮和后轮转向车辆的轻松的机动性而不会引起车辆的不稳定行为，尾轮以与前轮相反的相位关系转向，以抵消车辆的转向倾向，作用在车辆上的横向加速度处于高于第一规定值的第一规定值和第二规定值之间，并且车辆否则将表现出转向倾向，并且以与前轮相同的相位关系来防止当检测到的横向加速度大于第二规定值时，在后轮中产生过大的滑移角，否则后轮的滑移角度将产生过大的滑移角。换句话说，只要作用在车辆上的横向加速度在不会产生后轮的任何过大的滑移角的范围内，则后轮与前轮成相反的相位关系。

7. 发明授权

US5448481A Control system for a front and rear wheel steering vehicle 失效
标题翻译：前轮和后轮转向车的控制系统
公开(公告)号：US5448481A
公开(公告)日：1995-09-05
申请号：US161139
申请日：1993-12-02
申请人： Nobuyoshi Asanuma , Kiyoshi Wakamatsu , Manabu Ikegaya
发明人： Nobuyoshi Asanuma , Kiyoshi Wakamatsu , Manabu Ikegaya
IPC分类号： B62D6/00 , B62D7/14 , B62D7/15 , B62D101/00 , B62D111/00 , B62D113/00 , B62D137/00 , B62D5/04
CPC分类号： B62D7/159 , B60T2260/022
摘要： A steering angle of rear wheels are steered according to a deviation between an ideal yaw rate response and an actual yaw rate response to the given steering wheel input. By combining feedback control and feed forward control, immunity from external disturbances and lateral stability can be both ensured each at a high level over the entire range of vehicle speed. By appropriately selecting the transfer function of the control system, it is possible to achieve desired responsiveness and stability. Furthermore, the vehicle response in the range where the cornering force of tires tends to saturate can be improved, and it is therefore possible to neutralize the steering property over the entire vehicle speed range.
摘要翻译：根据对给定的方向盘输入的理想横摆率响应和实际横摆率响应之间的偏差，后轮的转向角被转向。通过组合反馈控制和前馈控制，可以在车速的整个范围内以高水平确保每个外部扰动和横向稳定性的抗扰度。通过适当地选择控制系统的传递功能，可以实现期望的响应性和稳定性。此外，可以提高在轮胎的转弯力饱和的范围内的车辆响应，因此可以在整个车速范围内中和转向性。

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