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1. 发明授权

US06447076B1 Device and method for estimating physical quantity and device and method for ABS control 失效
标题翻译：用于估算物理量的装置和方法以及用于ABS控制的装置和方法
公开(公告)号：US06447076B1
公开(公告)日：2002-09-10
申请号：US09407894
申请日：1999-09-29
申请人： Shoji Ito , Eiichi Ono , Masaru Sugai , Takaji Umeno , Katsuhiro Asano , Hiroyuki Yamaguchi , Satoru Onozawa
发明人： Shoji Ito , Eiichi Ono , Masaru Sugai , Takaji Umeno , Katsuhiro Asano , Hiroyuki Yamaguchi , Satoru Onozawa
IPC分类号： B60T860
CPC分类号： B60T8/172
摘要： A wheel velocity signal for each wheel detected by a wheel velocity sensor is input to a bandpass filter. Signals from frequency bands unrelated to the unsprung resonance are then removed from the wheel velocity signal and only signals from frequency bands related to the unsprung resonance are output. A road surface &mgr; gradient estimation device uses an online identification method to identify an damping ratio of a second order resonance model similar to a suspension—tire resonance model from the signal output from the bandpass filter. The road surface &mgr; gradient is then estimated from the identified damping ratio. The damping ratio of the second order resonance model corresponds to the road surface &mgr; gradient in the following manner: when the damping ratio is identified as being small, the road surface &mgr; gradient is estimated as being large; and when the road surface &mgr; gradient is identified as being large, the damping ratio is estimated as being small.
摘要翻译：由车轮速度传感器检测到的每个车轮的车轮速度信号被输入到带通滤波器。然后从不同于簧下共振的频带发出的信号从车轮速度信号中除去，并且仅输出与非簧下共振相关的频带的信号。路面mu梯度估计装置使用在线识别方法从与带通滤波器输出的信号相似的悬挂轮胎共振模型中识别类似于二次谐振模型的阻尼比。然后根据所识别的阻尼比估计路面μm梯度。二次谐振模型的阻尼比以下列方式对应于路面μ0的梯度：当阻尼比被识别为小时，路面μ0的梯度被估计为较大; 并且当路面μm梯度被识别为大时，阻尼比被估计为小。

2. 发明授权

US06324461B1 Road surface condition estimating apparatus and variation reduction processing apparatus 失效
标题翻译：路面状态估计装置和变形减少处理装置
公开(公告)号：US06324461B1
公开(公告)日：2001-11-27
申请号：US09106342
申请日：1998-06-29
申请人： Hiroyuki Yamaguchi , Katsuhiro Asano , Eiichi Ono , Takaji Umeno , Masaru Sugai
发明人： Hiroyuki Yamaguchi , Katsuhiro Asano , Eiichi Ono , Takaji Umeno , Masaru Sugai
IPC分类号： B60T800
CPC分类号： B60T8/172 , B60T2210/12
摘要： Disclosed is a road surface condition estimating apparatus including: a converting portion having a table showing a relation among a vehicle speed, a braking force and a resonance gain for each road surface condition and converting a detected value of the input vehicle speed and braking force into a resonance gain on the basis of the table, a subtracting device for computing each of differences between the resonance gain for each road surface condition converted by each of the converting portions and the detected value of the input resonance gain, and a minimum value selecting portion selecting the minimum value among the computed values in the subtracting device and outputting an information of the road surface condition corresponding to the converting portion giving the minimum value.
摘要翻译：公开了一种路面状态估计装置，包括：转换部，具有表示车辆速度，制动力和各路面状况的共振增益之间的关系的表，并将输入车速和制动力的检测值转换为基于该表的共振增益，用于计算由每个转换部分转换的每个路面条件的共振增益与输入谐振增益的检测值之间的每个差异的减法装置，以及最小值选择部分选择减法装置中的计算值中的最小值，并输出与给出最小值的转换部分相对应的路面条件的信息。

3. 发明授权

US06264292B1 Wheel condition estimating apparatus 失效
标题翻译：轮条件估计装置
公开(公告)号：US06264292B1
公开(公告)日：2001-07-24
申请号：US09118016
申请日：1998-07-17
申请人： Takaji Umeno , Katsuhiro Asano , Eiichi Ono , Hiroyuki Yamaguchi , Masaru Sugai
发明人： Takaji Umeno , Katsuhiro Asano , Eiichi Ono , Hiroyuki Yamaguchi , Masaru Sugai
IPC分类号： B60T832
CPC分类号： B60T8/172 , B60T2210/12
摘要： In a wheel condition estimating apparatus for estimating a wheel condition in a wheel resonance system including a frictional characteristic between a tire and a road surface, a transfer characteristic of the wheel resonance system from the vibration input to the output response is expressed by a transfer function including, as an unknown component of a wheel condition, a physical quantity relating to ease of a slipping between the tire and the road surface, an output response with respect to the vibration input to the wheel resonance system is detected and the unknown component which substantially satisfies the detected output response is estimated on the basis of the transfer function.
摘要翻译：在包括轮胎和路面之间的摩擦特性的车轮共振系统中估计车轮状态的车轮状态估计装置中，从振动输入到输出响应的车轮共振系统的传递特性由传递函数作为车轮状态的未知分量，涉及与轮胎和路面之间的滑动容易性相关的物理量，检测输入到车轮共振系统的振动的输出响应，并且将未知分量基本上基于传递函数估计满足检测到的输出响应。

4. 发明授权

US6122585A Anti-lock braking system based on an estimated gradient of friction torque, method of determining a starting point for anti-lock brake control, and wheel-behavior-quantity servo control means equipped with limit determination means 失效
标题翻译：基于摩擦转矩的估计梯度的防抱死制动系统，确定防抱死制动控制的起始点的方法以及配备有限制确定装置的车轮行为量伺服控制装置
公开(公告)号：US6122585A
公开(公告)日：2000-09-19
申请号：US910898
申请日：1997-08-13
申请人： Eiichi Ono , Katsuhiro Asano , Takaji Umeno , Hiroyuki Yamaguchi , Masaru Sugai
发明人： Eiichi Ono , Katsuhiro Asano , Takaji Umeno , Hiroyuki Yamaguchi , Masaru Sugai
IPC分类号： B60T8/172 , B60T8/1763 , B60T8/44 , B60T8/48 , G06F7/00 , G06F17/00
CPC分类号： B60T8/172 , B60T8/17636 , B60T8/445 , B60T8/4845 , B60T2210/12
摘要： An anti-lock braking system includes a friction torque gradient estimating unit for estimating, from a small number of parameters, the gradient of friction torque with respect to a slip speed, and controls a braking force acting on wheels on the basis of the friction torque gradient estimated by the friction torque gradient estimating unit. The friction torque gradient estimating unit may employ several types of estimating methods; e.g., a method of estimating the gradient of friction torque from only time-series data concerning a wheel speed; a method of estimating the friction torque gradient from time-series data concerning wheel deceleration as well as from braking torque or time-series data concerning physical quantities associated with the braking torque; or a method of estimating the friction torque gradient from micro-gains which are obtained when brake pressure is excited in a very small amount at the resonance frequency of a vibration system comprising a vehicle, wheels, and a road surface and which represent the characteristics of the vibration system. Further, there is also disclosed a method of determining, from the thus-estimated friction torque gradient, the limit of the characteristics of friction torque developed between the wheels and the road surface.
摘要翻译：防抱死制动系统包括：摩擦转矩梯度估计单元，用于从少数参数估计相对于滑移速度的摩擦转矩的梯度，并且基于摩擦转矩来控制作用在车轮上的制动力由摩擦转矩梯度估计单元估计出的梯度。摩擦转矩梯度估计单元可以采用几种估计方法; 例如，仅从关于车轮速度的时间序列数据估计摩擦转矩的梯度的方法; 从关于车轮减速度的时间序列数据以及关于与制动转矩相关联的物理量的制动转矩或时间序列数据估计摩擦转矩梯度的方法; 或从在包括车辆，车轮和路面的振动系统的共振频率下以非常小的量激励制动压力时获得的微增益估计摩擦转矩梯度的方法，并且其代表振动系统。此外，还公开了一种根据这样估计的摩擦转矩梯度来确定在车轮和路面之间产生的摩擦转矩的特性的极限的方法。

5. 发明授权

US06182001B2 Braking estimation device, anti-lock brake controller, and braking pressure controller 失效
标题翻译：制动估计装置，防抱死制动控制器和制动压力控制器
公开(公告)号：US06182001B2
公开(公告)日：2001-01-30
申请号：US08996316
申请日：1997-12-22
申请人： Masaru Sugai , Katsuhiro Asano , Takaji Umeno , Eiichi Ono , Hiroyuki Yamaguchi
发明人： Masaru Sugai , Katsuhiro Asano , Takaji Umeno , Eiichi Ono , Hiroyuki Yamaguchi
IPC分类号： G06F700
CPC分类号： B60T8/885 , B60T2270/413
摘要： An apparatus for diagnosing a fault in a dynamic system includes a controller which controls the dynamic system through use of a control input signal and vibrates the dynamic system through use of an vibration signal irrelevant to the internal state quantity of the dynamic system; an observer for estimating, on the basis of a response output from the vibration dynamic system, total disturbance which is a sum of an internal disturbance vector stemming from a fault in the dynamic system and a vibration disturbance vector occurring in the dynamic system through vibration; a correlation calculation unit which calculates cross-correlation between the thus-estimated total disturbance and the internal state quantity of the dynamic system and separates a component related to the internal disturbance from the total disturbance; and a diagnostic unit for diagnosing a fault in the dynamic system on the basis of the thus-separated component related to the internal disturbance. Since the dynamic system is vibrated, the response output can be increased even when there exists small external disturbance. As a result, a fault or a variation in air pressure in a tire can be highly accurately diagnosed.
摘要翻译：用于诊断动态系统中的故障的装置包括控制器，其通过使用控制输入信号来控制动态系统，并通过使用与动态系统的内部状态量无关的振动信号来振动动态系统; 基于来自振动动态系统的响应输出，基于动态系统中的故障产生的内部干扰矢量与通过振动在动态系统中发生的振动干扰矢量之和的总干扰来估计观测器; 相关计算单元，其计算由此估计的总干扰与动态系统的内部状态量之间的互相关，并将与内部干扰有关的分量与全部干扰分离; 以及用于基于与内部干扰相关的如此分离的分量来诊断动态系统中的故障的诊断单元。由于动态系统振动，即使存在小的外部干扰，响应输出也可以增加。结果，可以高精度地诊断轮胎中的故障或空气压力的变化。

6. 发明授权

US5588721A Vibration analysis of the rotating wheel for controlling anti-lock braking operation 失效
标题翻译：用于控制防抱死制动操作的旋转轮的振动分析
公开(公告)号：US5588721A
公开(公告)日：1996-12-31
申请号：US519965
申请日：1995-08-28
申请人： Katsuhiro Asano , Masaru Sugai , Hiroyuki Yamaguchi , Takaji Umeno
发明人： Katsuhiro Asano , Masaru Sugai , Hiroyuki Yamaguchi , Takaji Umeno
IPC分类号： B60T8/173 , B60T8/1763 , B60T8/32 , B60T8/64 , F16D65/14 , B60T8/66
CPC分类号： B60T8/173 , B60T8/17636 , B60T8/3295 , F16D2129/12
摘要： A braking force acting on the wheel is actuated by a very small amount at a resonant frequency of a vibrating system comprised of a vehicle body, a wheel, and road surface, and the amplitude of the resonant-frequency component of the wheel speed is detected. A gain in the amplitude of the resonant-frequency component of the wheel speed with respect to the amplitude of the very small actuation of the braking force is determined. A mean braking force is controlled to decrease when the gain is smaller than a reference value, and to increase when the gain is greater than the reference value.
摘要翻译：作用在车轮上的制动力以由车体，车轮和路面组成的振动系统的共振频率的非常小的量被致动，并且检测到车轮速度的共振频率分量的振幅。确定车轮速度的共振频率分量的振幅相对于制动力非常小的致动的振幅的增益。当增益小于参考值时，平均制动力被控制为减小，并且当增益大于参考值时增加。

7. 发明授权

US07248958B2 Road surface state estimating apparatus, road surface friction state estimating apparatus, road surface state physical quantity calculating apparatus, and road surface state announcing apparatus 失效
标题翻译：路面状态估计装置，路面摩擦状态估计装置，路面状态物理量计算装置以及路面状态通知装置
公开(公告)号：US07248958B2
公开(公告)日：2007-07-24
申请号：US10702492
申请日：2003-11-07
申请人： Yoshitoshi Watanabe , Katsuhiro Asano , Takaji Umeno , Shu Asami , Masaru Sugai
发明人： Yoshitoshi Watanabe , Katsuhiro Asano , Takaji Umeno , Shu Asami , Masaru Sugai
IPC分类号： G06F19/00
CPC分类号： B60T8/1725 , B60T2210/12 , B60W40/068 , B60W2420/54
摘要： A tire-generated sound detection sensor detects a tire-generated sound that is generated from a tire while the vehicle is running. A wheel rotation sensor detects a wheel rotation speed. A preprocessor calculates feature quantities corresponding to a road surface state and tire-generated sound sources. A feature vector generator generates a feature vector having, as components, the feature quantities calculated by the preprocessor and the detected wheel rotation speed. A judgment processor estimates a state of a road surface on which the vehicle is running on the basis of the feature vector generated by the feature vector generator and feature vectors that are stored in a judgment map memory so as to be correlated with a plurality of road surface states, respectively, and each of which corresponds to a road surface state and tire-generated sound sources.
摘要翻译：轮胎产生的声音检测传感器检测在车辆行驶时从轮胎产生的轮胎产生的声音。车轮旋转传感器检测车轮转速。预处理器计算对应于路面状态和轮胎产生的声源的特征量。特征向量生成器生成特征向量，该特征向量具有由预处理器计算的特征量和检测到的轮转速的组件。判断处理器基于由特征矢量生成器生成的特征向量和存储在判断图存储器中的特征向量来估计车辆行驶的路面的状态，以便与多个道路相关联表面状态，并且其中的每一个对应于路面状态和轮胎产生的声源。

8. 发明授权

US07010990B2 Force detecting apparatus 失效
标题翻译：力检测装置
公开(公告)号：US07010990B2
公开(公告)日：2006-03-14
申请号：US10757465
申请日：2004-01-15
申请人： Takaji Umeno , Katsuhiro Asano , Yoshitoshi Watanabe , Masaru Sugai , Shu Asami
发明人： Takaji Umeno , Katsuhiro Asano , Yoshitoshi Watanabe , Masaru Sugai , Shu Asami
IPC分类号： G01L3/02
CPC分类号： G01M17/02 , G01L5/164 , G01N19/02
摘要： In a detecting apparatus, a resolver generates signals whose magnitudes vary periodically in accordance with a positional change of a fixed element side rotating shaft, which is a base for rotation of a rotator and whose position is offset when force of a component parallel to a rotation plane is applied thereto, and in accordance with a rotational state of the tire. An R/D converter generates pulses whose periods correspond to a rotational angle of the rotator and to positional offset of the rotating shaft. From the pulses, a computer detects a characteristic amount which varies in accordance with the positional offset of the shaft. On the basis of the detected amount and a relationship which is determined in advance on the basis of stiffness of the shaft and the amount, the computer detects a moment applied to the shaft, and computes a force generated at the tire.
摘要翻译：在检测装置中，旋转变压器根据作为旋转体的旋转基准的固定元件侧旋转轴的位置变化而周期性地变化其大小的信号，并且当平行于旋转的分量的力时位置偏移并且根据轮胎的旋转状态施加平面。 R / D转换器产生其周期对应于旋转体的旋转角度和旋转轴的位置偏移的脉冲。根据脉冲，计算机检测根据轴的位置偏移而变化的特征量。基于检测量和基于轴的刚度和量的预先确定的关系，计算机检测施加到轴的力矩，并计算在轮胎处产生的力。

9. 发明授权

US06871530B2 Physical quantity estimating apparatus and tire state determining apparatus, and estimating method of same and determination method of same 失效
标题翻译：物理量估计装置和轮胎状态判定装置及其估计方法及其判定方法
公开(公告)号：US06871530B2
公开(公告)日：2005-03-29
申请号：US10410166
申请日：2003-04-10
申请人： Masaru Sugai , Katsuhiro Asano , Takaji Umeno
发明人： Masaru Sugai , Katsuhiro Asano , Takaji Umeno
IPC分类号： B60R16/02 , B60C19/00 , B60C23/06 , G01M17/02
CPC分类号： B60C23/061 , B60C11/246 , B60T8/172 , B60T2210/12 , B60T2240/04 , G01M17/02
摘要： A physical quantity estimating apparatus and method that detects an acceleration and deceleration rate of a vehicle body and a rotational velocity of a wheel, estimates at least one of a tire radius of each wheel, a road surface μ gradient, and a spring constant of a combination spring which combines spring elements, with a distribution ratio of braking force and driving force to a front and rear wheel and a distribution ratio of a load on each wheel that is corrected according to the detected acceleration and deceleration rate, as known values, based on a wheel speed difference of any two wheels, during acceleration and deceleration of a vehicle, of an ideal vehicle model that takes into consideration a tire torsional spring element and a suspension longitudinal spring element and estimates a tire type based on the estimated road surface μ gradient and spring constant.
摘要翻译：检测车身的加速和减速率以及车轮的旋转速度的物理量估计装置和方法，估计每个车轮的轮胎半径，路面μul梯度和弹簧常数中的至少一个组合弹簧，其组合弹簧元件，制动力的分配比和前轮和后轮的驱动力以及根据检测到的加速和减速率校正的每个车轮上的负载的分配比，作为已知值，考虑到轮胎扭转弹簧元件和悬挂纵向弹簧元件的理想车辆模型，基于车辆的加速和减速期间的任何两个车轮的车轮速度差，并且基于估计的路面mu估计轮胎类型梯度和弹簧常数。

10. 发明授权

US06640623B2 Road surface state estimating device 失效
公开(公告)号：US06640623B2
公开(公告)日：2003-11-04
申请号：US09976163
申请日：2001-10-15
申请人： Eiichi Ono , Takaji Umeno , Masaru Sugai , Akira Tanaka , Yoshiyuki Yasui , Mamoru Sawada
发明人： Eiichi Ono , Takaji Umeno , Masaru Sugai , Akira Tanaka , Yoshiyuki Yasui , Mamoru Sawada
IPC分类号： E01C2300
CPC分类号： G01N19/02 , B60T8/172 , B60T8/173 , B60T2210/12
摘要： In order to estimate a braking force gradient in a low slip region including a steady travelling region, there is provided a device comprising a wheel speed sensor for detecting a wheel speed in a predetermined sampling period and outputting time series data of the wheel speed as a wheel speed signal, a break point frequency estimating section for estimating a break point frequency in a gain diagram that represents a frequency response of a first order lag model that approximates a transmission characteristics from road surface disturbances to wheel speed, and a braking force gradient estimating section for estimating a braking force gradient with respect to the estimated break point frequency on the basis of the map showing a relationship between braking force gradient and break point frequency stored in advance.

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