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1. 发明授权

US08527175B2 Braking/driving control apparatus for vehicle 有权
标题翻译：车辆制动/驾驶控制装置
公开(公告)号：US08527175B2
公开(公告)日：2013-09-03
申请号：US13156621
申请日：2011-06-09
申请人： Masayoshi Takeda , Masaki Maruyama , Yukio Mori , Kazuya Taniguchi , Daisuke Tokumochi
发明人： Masayoshi Takeda , Masaki Maruyama , Yukio Mori , Kazuya Taniguchi , Daisuke Tokumochi
IPC分类号： B60T8/17 , F16H59/78
CPC分类号： B60T7/122 , B60T2201/06 , B60W10/06 , B60W10/188 , B60W30/18027 , B60W30/18118 , B60W2510/0657 , B60W2510/1005 , B60W2510/105 , B60W2510/182 , B60W2550/142 , Y10T477/6422
摘要： A braking/driving control apparatus for a vehicle includes a basic control unit which calculates and outputs a target axle torque based on a target acceleration and a driving resistance of the vehicle and which determines an axle torque for a power train of the vehicle and an axle torque for a braking apparatus of the vehicle based on the calculated target axle torque, a sliding-down prediction determining unit which determines whether there is a possibility that the vehicle slides down rearwards on an uphill road, and a sliding-down preventing process executing unit which performs a process for reducing a possibility that the vehicle slides down, based on a determination result of the sliding-down prediction determining unit. After the sliding-down prediction determining unit determines that there is the possibility, the sliding-down preventing process executing unit controls the basic control unit to calculate and output the target axle torque so as to reach an axle torque which is obtained by reducing a predetermined positive amount form an estimated value of an axle torque necessary for the vehicle to achieve the target acceleration against the driving resistance.
摘要翻译：一种用于车辆的制动/驱动控制装置，包括基本控制单元，该基本控制单元基于车辆的目标加速度和驾驶阻力来计算并输出目标车轴扭矩，并且确定车辆和车轴的动力传动系的车轴扭矩基于计算出的目标车轴转矩的用于车辆的制动装置的转矩，确定车辆是否存在在上坡路上向后滑动的可能性的滑落预测确定单元，以及下滑防止处理执行单元其基于滑下预测判定单元的判定结果，进行用于降低车辆下滑的可能性的处理。在滑下预测确定单元确定存在可能性之后，下滑防止处理执行单元控制基本控制单元以计算和输出目标车轴扭矩，以达到通过减少预定的正值形成车辆相对于驱动阻力实现目标加速度所需的车轴转矩的估计值。

2. 发明申请

US20130060433A1 BRAKE CONTROL DEVICE 有权
标题翻译：制动控制装置
公开(公告)号：US20130060433A1
公开(公告)日：2013-03-07
申请号：US13698496
申请日：2011-05-18
申请人： Masaki Maruyama , Masayoshi Takeda , Koji Fujiki , Daisuke Tokumochi
发明人： Masaki Maruyama , Masayoshi Takeda , Koji Fujiki , Daisuke Tokumochi
IPC分类号： B60W30/02 , B60W10/10 , B60W10/18 , B60T8/17
CPC分类号： B60T7/122 , B60T7/22 , B60T2201/06 , B60W30/18118
摘要： When the vehicle decelerates on the ascending slope, a required brake axle torque is calculated in accordance with vehicle deceleration, so that the swinging back is suppressed. At start timing after that, initial and final values of the required brake axle torque and a correction duration are determined. During the correction duration from the start timing, the required brake axle torque is decreased from the initial value to the final value. Then, based on change in a detected vehicular speed at or before a time which is a last moment of a period in which the detected vehicular speed detected based on detection signals of the wheel speed sensors are equal to or larger than a minimum detectable vehicular speed, a stop time at which an actual vehicle speed becomes zero is estimated, a period from the start time to the stop time is identified as the correction duration.
摘要翻译：当车辆在上坡上减速时，根据车辆减速度计算所需的制动轮扭矩，从而抑制回摆。在此之后的开始时刻，确定所需制动器轴转矩的初始值和最终值以及校正持续时间。在从起动时刻起的校正期间，所需的制动器轴转矩从初始值减小到最终值。然后，基于在基于车轮速度传感器的检测信号检测到的检测到的车速等于或大于最小可检测车速的时间的最后时刻之前或之前的检测到的车速的变化，估计实际车速变为零的停止时间，从开始时间到停止时间的周期被识别为校正持续时间。

3. 发明授权

US08914208B2 Brake control device 有权
标题翻译：制动控制装置
公开(公告)号：US08914208B2
公开(公告)日：2014-12-16
申请号：US13698496
申请日：2011-05-18
申请人： Masaki Maruyama , Masayoshi Takeda , Koji Fujiki , Daisuke Tokumochi
发明人： Masaki Maruyama , Masayoshi Takeda , Koji Fujiki , Daisuke Tokumochi
IPC分类号： B60W30/02 , B60W10/10 , B60W10/18 , B60T8/17 , B60T7/12 , B60T7/22 , B60W30/18
CPC分类号： B60T7/122 , B60T7/22 , B60T2201/06 , B60W30/18118
摘要： When the vehicle decelerates on the ascending slope, a required brake axle torque is calculated in accordance with vehicle deceleration, so that the swinging back is suppressed. At start timing after that, initial and final values of the required brake axle torque and a correction duration are determined. During the correction duration from the start timing, the required brake axle torque is decreased from the initial value to the final value. Then, based on change in a detected vehicular speed at or before a time which is a last moment of a period in which the detected vehicular speed detected based on detection signals of the wheel speed sensors are equal to or larger than a minimum detectable vehicular speed, a stop time at which an actual vehicle speed becomes zero is estimated, a period from the start time to the stop time is identified as the correction duration.
摘要翻译：当车辆在上坡上减速时，根据车辆减速度计算所需的制动轮扭矩，从而抑制回摆。在此之后的开始时刻，确定所需制动器轴转矩的初始值和最终值以及校正持续时间。在从起动时刻起的校正期间，所需的制动器轴转矩从初始值减小到最终值。然后，基于在基于车轮速度传感器的检测信号检测到的检测到的车速等于或大于最小可检测车速的时间的最后时刻之前或之前的检测到的车速的变化，估计实际车速变为零的停止时间，从开始时间到停止时间的周期被识别为校正持续时间。

4. 发明授权

US08694209B2 Apparatus for controlling motion of vehicle 有权
标题翻译：用于控制车辆运动的装置
公开(公告)号：US08694209B2
公开(公告)日：2014-04-08
申请号：US12931385
申请日：2011-01-31
申请人： Mitsuhiro Tokimasa , Yoshihisa Ogata , Daisuke Tokumochi , Masatoshi Hanzawa , Masayoshi Takeda
发明人： Mitsuhiro Tokimasa , Yoshihisa Ogata , Daisuke Tokumochi , Masatoshi Hanzawa , Masayoshi Takeda
IPC分类号： B60T8/34 , G06F17/00 , G06F19/00 , B60T8/58 , B60K31/02
CPC分类号： B60W10/184 , B60W10/20 , B60W30/09 , B60W2720/14
摘要： A vehicle motion controlling apparatus has an allocating unit for selecting steering or braking control mainly performed in cooperative control, receiving a desired value of vehicle turning motion, allocating steering and braking controls for the motion, determining main yaw rate from vehicle conditions, and determining a non-main yaw rate from difference between the desired value and the main yaw rate. Setting units set assist torque corresponding to the main yaw rate and braking torque corresponding to the non-main yaw rate when the steering control is selected and set braking torque corresponding to the main yaw rate and assist torque corresponding to the non-main yaw rate when the braking control is selected. The assist torque is generated for assisting a change of steering angle of vehicle in steering control. The braking torque is generated for applying braking force to wheel of vehicle in braking control.
摘要翻译：车辆运动控制装置具有分配单元，用于选择主要在协同控制中执行的转向或制动控制，接收车辆转向运动的期望值，分配用于运动的转向和制动控制，从车辆状态确定主偏航率，以及确定非主要偏航率由所需值与主偏航率之间的差异决定。当选择转向控制时，设定单位设定对应于与主非偏航率对应的主偏航率和制动转矩的辅助转矩，并且设定对应于对应于非主偏摆率的主偏航率和辅助转矩的制动转矩，选择制动控制。生成用于辅助转向控制中的车辆的转向角的变化的辅助转矩。在制动控制中产生用于对车辆的车轮施加制动力的制动转矩。

5. 发明申请

US20110196579A1 Apparatus for controlling motion of vehicle 有权
标题翻译：用于控制车辆运动的装置
公开(公告)号：US20110196579A1
公开(公告)日：2011-08-11
申请号：US12931385
申请日：2011-01-31
申请人： Mitsuhiro Tokimasa , Yoshihisa Ogata , Daisuke Tokumochi , Masatoshi Hanzawa , Masayoshi Takeda
发明人： Mitsuhiro Tokimasa , Yoshihisa Ogata , Daisuke Tokumochi , Masatoshi Hanzawa , Masayoshi Takeda
IPC分类号： B60W10/00 , G06F19/00 , B60W10/20 , B60W10/18 , B60W30/00
CPC分类号： B60W10/184 , B60W10/20 , B60W30/09 , B60W2720/14
摘要： A vehicle motion controlling apparatus has an allocating unit for selecting steering or braking control mainly performed in cooperative control, receiving a desired value of vehicle turning motion, allocating steering and braking controls for the motion, determining main yaw rate from vehicle conditions, and determining a non-main yaw rate from difference between the desired value and the main yaw rate. Setting units set assist torque corresponding to the main yaw rate and braking torque corresponding to the non-main yaw rate when the steering control is selected and set braking torque corresponding to the main yaw rate and assist torque corresponding to the non-main yaw rate when the braking control is selected. The assist torque is generated for assisting a change of steering angle of vehicle in steering control. The braking torque is generated for applying braking force to wheel of vehicle in braking control.
摘要翻译：车辆运动控制装置具有分配单元，用于选择主要在协同控制中执行的转向或制动控制，接收车辆转向运动的期望值，分配用于运动的转向和制动控制，从车辆状况确定主偏航率，以及确定非主要偏航率由所需值与主偏航率之间的差异决定。当选择转向控制时，设定单位设定对应于与主非偏航率对应的主偏航率和制动转矩的辅助转矩，并且设定对应于对应于非主偏摆率的主偏航率和辅助转矩的制动转矩，选择制动控制。生成用于辅助转向控制中的车辆的转向角的变化的辅助转矩。在制动控制中产生用于对车辆的车轮施加制动力的制动转矩。

6. 发明授权

US08335626B2 Apparatus for controlling acceleration of vehicle 有权
标题翻译：用于控制车辆加速度的装置
公开(公告)号：US08335626B2
公开(公告)日：2012-12-18
申请号：US12614627
申请日：2009-11-09
申请人： Shotaro Fukuda , Yasuhiro Nakai , Satoshi Niwa , Hajime Kumabe , Motoaki Umakoshi , Masayoshi Takeda , Yukio Mori
发明人： Shotaro Fukuda , Yasuhiro Nakai , Satoshi Niwa , Hajime Kumabe , Motoaki Umakoshi , Masayoshi Takeda , Yukio Mori
IPC分类号： B60T8/32
CPC分类号： B60W30/188 , B60W30/16 , B60W2520/105 , B60W2520/28 , B60W2530/16 , B60W2540/10 , B60W2540/12
摘要： An apparatus is provided for controlling acceleration of a vehicle to a target acceleration. In the apparatus, a target acceleration calculator calculates the target acceleration. A provisional acceleration setting unit sets a provisional target acceleration such that a change rate of the provisional target acceleration is limited to a target limitation value. The provisional target acceleration is used during a step during which the acceleration of the vehicle is changed to the target acceleration. A drive power calculator calculates a drive power to obtain the provisional target acceleration. In the provisional acceleration setting unit, an initial value of the provisional target acceleration depends on a running state of the vehicle.
摘要翻译：提供一种用于将车辆的加速度控制为目标加速度的装置。在该装置中，目标加速度计算器计算目标加速度。临时加速度设定单元将临时目标加速度设定为使临时目标加速度的变化率被限制为目标限制值。临时目标加速度在车辆的加速度变为目标加速度的步骤期间使用。驱动功率计算器计算驱动力以获得临时目标加速度。在临时加速度设定单元中，临时目标加速度的初始值取决于车辆的行驶状态。

7. 发明授权

US08292784B2 Vehicle control device 有权
标题翻译：车辆控制装置
公开(公告)号：US08292784B2
公开(公告)日：2012-10-23
申请号：US12458485
申请日：2009-07-14
申请人： Motoaki Umakoshi , Shotaro Fukuda , Hajime Kumabe , Masayoshi Takeda , Yukio Mori
发明人： Motoaki Umakoshi , Shotaro Fukuda , Hajime Kumabe , Masayoshi Takeda , Yukio Mori
IPC分类号： F16D48/06 , B60W10/04 , G06F7/00 , B60T7/12 , B60T8/60 , B60K31/00 , B60K31/18 , B60K31/04
CPC分类号： B60W30/16 , B60T13/662 , B60T2201/02 , B60T2230/04 , B60W10/06 , B60W10/10 , B60W10/184 , B60W30/18109 , B60W2520/105 , B60W2720/106 , Y10T477/639 , Y10T477/677 , Y10T477/688
摘要： In a vehicle control device, a brake feedback control unit calculates a brake feedback torque Tfb-BK using a PID control model when a current state is a brake feedback use state. The brake feedback control unit stops the calculation of the brake feedback torque Tfb-BK when the current state is a brake feedback limitation state, and stores as an output value the brake feedback torque Tfb-BK that is output at a brake limitation start timing. At a brake limitation release timing, the brake feedback control unit restarts the feedback control using the stored brake feedback torque Tfb-BK as an initial value. The brake mechanism can thereby generate a predetermined brake torque of not more than 0 [N·m] immediately after the brake limitation release timing.
摘要翻译：在车辆控制装置中，当当前状态是制动反馈使用状态时，制动反馈控制单元使用PID控制模型来计算制动反馈转矩Tfb-BK。当当前状态为制动反馈限制状态时，制动反馈控制单元停止制动反馈转矩Tfb-BK的计算，并将制动限制开始定时输出的制动反馈转矩Tfb-BK存储为输出值。在制动限制释放时刻，制动反馈控制单元使用所存储的制动反馈转矩Tfb-BK作为初始值重新启动反馈控制。因此，制动机构能够在制动限制解除正时之后立即产生不大于0 [N·m]的预定制动转矩。

8. 发明申请

US20100009807A1 Vehicle control device 有权
标题翻译：车辆控制装置
公开(公告)号：US20100009807A1
公开(公告)日：2010-01-14
申请号：US12458485
申请日：2009-07-14
申请人： Motoaki Umakoshi , Shotaro Fukuda , Hajime Kumabe , Masayoshi Takeda , Yukio Mori
发明人： Motoaki Umakoshi , Shotaro Fukuda , Hajime Kumabe , Masayoshi Takeda , Yukio Mori
IPC分类号： B60W10/10
CPC分类号： B60W30/16 , B60T13/662 , B60T2201/02 , B60T2230/04 , B60W10/06 , B60W10/10 , B60W10/184 , B60W30/18109 , B60W2520/105 , B60W2720/106 , Y10T477/639 , Y10T477/677 , Y10T477/688
摘要： In a vehicle control device, a brake feedback control unit calculates a brake feedback torque Tfb-BK using a PID control model when a current state is a brake feedback use state. The brake feedback control unit stops the calculation of the brake feedback torque Tfb-BK when the current state is a brake feedback limitation state, and stores as an output value the brake feedback torque Tfb-BK that is output at a brake limitation start timing. At a brake limitation release timing, the brake feedback control unit restarts the feedback control using the stored brake feedback torque Tfb-BK as an initial value. The brake mechanism can thereby generate a predetermined brake torque of not more than 0 [N·m] immediately after the brake limitation release timing.
摘要翻译：在车辆控制装置中，当当前状态是制动反馈使用状态时，制动反馈控制单元使用PID控制模型来计算制动反馈转矩Tfb-BK。当当前状态为制动反馈限制状态时，制动反馈控制单元停止制动反馈转矩Tfb-BK的计算，并将制动限制开始定时输出的制动反馈转矩Tfb-BK存储为输出值。在制动限制释放时刻，制动反馈控制单元使用所存储的制动反馈转矩Tfb-BK作为初始值重新启动反馈控制。因此，在制动限制解除时刻之后，制动机构能够产生不大于0 [N·m]的预定制动转矩。

9. 发明授权

US08626426B2 Engine automatic stop and restart control apparatus 有权
标题翻译：发动机自动停机重启控制装置
公开(公告)号：US08626426B2
公开(公告)日：2014-01-07
申请号：US13185628
申请日：2011-07-19
申请人： Yosuke Ohmori , Masayoshi Takeda , Tatsuya Saito , Takashi Satoh
发明人： Yosuke Ohmori , Masayoshi Takeda , Tatsuya Saito , Takashi Satoh
IPC分类号： G06F7/70 , F02D28/00
CPC分类号： B60T13/662 , B60T7/122 , F02N11/0818
摘要： An engine automatic stop and restart control apparatus is provided. The apparatus includes a control unit which stops and restarts an engine, an actual axle torque change speed calculation unit which calculates change speed in actual axle torque that is actually generated when the engine is restarted, an ideal axle torque change speed calculation unit which calculates change speed in ideal axle torque that corresponds to engine torque generated by the engine, a change speed difference calculation unit which calculates a change speed difference that is a difference between the change speed in actual axle torque and the change speed in ideal axle torque, and a vibration suppression control unit which executes a vibration suppression control for applying braking torque based on the change speed difference.
摘要翻译：提供一种发动机自动停止和重启控制装置。该装置包括：停止再起动发动机的控制单元，计算发动机重起时实际产生的实际转矩的变化速度的实际车轴转矩变化速度计算单元，计算变更时的理想轴转矩变化速度运算单元对应于由发动机产生的发动机扭矩的理想轴转矩的速度;变化速度差计算单元，其计算作为实际车轴转矩的变化速度与理想轴转矩的变化速度之间的差的变化速度差，以及振动抑制控制单元，其基于变化速度差执行用于施加制动转矩的振动抑制控制。

10. 发明授权

US07765085B2 Road gradient estimating system 有权
标题翻译：道路坡度估计系统
公开(公告)号：US07765085B2
公开(公告)日：2010-07-27
申请号：US12219303
申请日：2008-07-18
申请人： Shintaro Osaki , Hiroyuki Kodama , Masayoshi Takeda , Kazunori Kadowaki , Hajime Kumabe , Yasuhiro Nakai , Satoshi Niwa , Syotarou Fukuda
发明人： Shintaro Osaki , Hiroyuki Kodama , Masayoshi Takeda , Kazunori Kadowaki , Hajime Kumabe , Yasuhiro Nakai , Satoshi Niwa , Syotarou Fukuda
IPC分类号： G01C9/00
CPC分类号： G01C9/00 , B60W30/143 , B60W40/072 , B60W40/076 , B60W2550/142
摘要： An estimated gradient value of a road is calculated based on a vehicle acceleration “A” and a time varying portion “A′” of a wheel speed. In a case that an acceleration corresponding value “Ggrad0” for the estimated gradient value is not regarded as indicating an exact figure, due to influences of disturbances, the acceleration corresponding value “Ggrad0” is corrected by a limiting value for rate-of-change with regard to the road gradient depending on respective vehicle speed, and by a limiting value for the road gradient. As a result, the acceleration corresponding value “Ggrad” for the estimated gradient value can be more exactly obtained.
摘要翻译：基于车速“A”和车轮速度的时变部“A”来计算道路的估计坡度值。在由于扰动的影响而将推定斜率值的加速度对应值“Ggrad0”视为不精确的情况下，通过变化率的限制值来校正加速度对应值“Ggrad0” 关于相应车速的道路坡度，以及道路坡度的限制值。结果，可以更精确地获得用于估计梯度值的加速度对应值“Ggrad”。

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