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1. 发明授权

US08370042B2 Vehicle speed control device and method 有权
公开(公告)号：US08370042B2
公开(公告)日：2013-02-05
申请号：US12217900
申请日：2008-07-09
申请人： Mitsuhiro Tokimasa , Hajime Kumabe , Syotarou Fukuda , Yasuhiro Nakai , Satoshi Niwa , Hiroyuki Kodama , Masayoshi Takeda , Shintaro Osaki , Kazunori Kadowaki
发明人： Mitsuhiro Tokimasa , Hajime Kumabe , Syotarou Fukuda , Yasuhiro Nakai , Satoshi Niwa , Hiroyuki Kodama , Masayoshi Takeda , Shintaro Osaki , Kazunori Kadowaki
IPC分类号： B60K31/04 , G06F17/00
CPC分类号： B60K31/00 , B60W10/06 , B60W10/184 , B60W2520/105 , B60W2520/28 , B60W2540/10 , B60W2540/12 , B60W2550/142 , B60W2550/22 , B60W2550/402
摘要： A vehicle speed control device calculates a desired axle torque for maintaining a speed of a vehicle to a set speed, and conducts cruise control. Specifically, the vehicle speed control device calculates a drive force including a feedforward component corresponding to the set speed and a travel resistance against the travel of the vehicle, and a feedback component corresponding to a deviation of the set speed from the actual speed of the vehicle as a desired axle torque. The vehicle speed control device interrupts the cruise control when a requested drive axle torque requested by an accelerator operation during the cruise control exceeds the desired axle torque, and restarts the cruise control when the requested drive axle torque becomes lower than the desired axle torque.

2. 发明申请

US20090048755A1 Vehicle speed control device and method 有权
标题翻译：车速控制装置及方法
公开(公告)号：US20090048755A1
公开(公告)日：2009-02-19
申请号：US12217900
申请日：2008-07-09
申请人： Mitsuhiro Tokimasa , Hajime Kumabe , Syotarou Fukuda , Yasuhiro Nakai , Satoshi Niwa , Hiroyuki Kodama , Masayoshi Takeda , Shintaro Osaki , Kazunori Kadowaki
发明人： Mitsuhiro Tokimasa , Hajime Kumabe , Syotarou Fukuda , Yasuhiro Nakai , Satoshi Niwa , Hiroyuki Kodama , Masayoshi Takeda , Shintaro Osaki , Kazunori Kadowaki
IPC分类号： B60K31/04 , G06F17/00
CPC分类号： B60K31/00 , B60W10/06 , B60W10/184 , B60W2520/105 , B60W2520/28 , B60W2540/10 , B60W2540/12 , B60W2550/142 , B60W2550/22 , B60W2550/402
摘要： A vehicle speed control device calculates a desired axle torque for maintaining a speed of a vehicle to a set speed, and conducts cruise control. Specifically, the vehicle speed control device calculates a drive force including a feedforward component corresponding to the set speed and a travel resistance against the travel of the vehicle, and a feedback component corresponding to a deviation of the set speed from the actual speed of the vehicle as a desired axle torque. The vehicle speed control device interrupts the cruise control when a requested drive axle torque requested by an accelerator operation during the cruise control exceeds the desired axle torque, and restarts the cruise control when the requested drive axle torque becomes lower than the desired axle torque.
摘要翻译：车辆速度控制装置计算用于将车辆的速度保持在设定速度的期望车轴转矩，并进行巡航控制。具体地，车速控制装置计算包括与设定速度相对应的前馈分量和相对于车辆行驶的行驶阻力的驱动力，以及与设定速度与车辆的实际速度的偏差相对应的反馈分量作为所需的轴转矩。当在巡航控制期间由加速器操作请求的所请求的驱动轴扭矩超过期望的轴转矩时，车辆速度控制装置中断巡航控制，并且当所请求的驱动轴转矩低于期望的轴转矩时重新开始巡航控制。

3. 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”。

4. 发明授权

US08155854B2 Vehicle automatic operation control device 有权
标题翻译：车辆自动运行控制装置
公开(公告)号：US08155854B2
公开(公告)日：2012-04-10
申请号：US12211644
申请日：2008-09-16
申请人： Shintaro Osaki , Hiroyuki Kodama , Masayoshi Takeda , Kazunori Kadowaki , Syotarou Fukuda , Hajime Kumabe , Yasuhiro Nakai , Satoshi Niwa
发明人： Shintaro Osaki , Hiroyuki Kodama , Masayoshi Takeda , Kazunori Kadowaki , Syotarou Fukuda , Hajime Kumabe , Yasuhiro Nakai , Satoshi Niwa
IPC分类号： B60T8/28
CPC分类号： B60W30/18172 , B60T7/22 , B60T8/17616 , B60T2201/02
摘要： A vehicle automatic operation control device includes a target required torque calculating part (31) which determines the target required torque from the respective calculated values of a feed-forward calculated value and a feedback calculated value, and an automatic operation control part D which causes the vehicle to operate automatically on the basis of the determined target required torque, and which performs slip suppression control that suppresses slip of the wheels when any of the wheels of the vehicle slip. In cases where slip suppression control is performed by the automatic operation control part (D), the target required torque calculating part (31) holds the feedback calculated value based on the deviation between the target acceleration and actual acceleration, and determines the target required torque from the respective calculated values of the held feedback calculated value and feed-forward calculated value.
摘要翻译：车辆自动操作控制装置包括从前馈计算值和反馈计算值的各个计算值确定目标所需扭矩的目标要求扭矩计算部（31），以及自动操作控制部D，车辆基于所确定的目标要求扭矩自动运行，并且执行滑动抑制控制，当车辆的任何车辆滑动时，抑制车轮的滑动。在由自动运转控制部（D）进行了抑制抑制的情况下，目标要求转矩运算部（31）基于目标加速度与实际加速度的偏差保持反馈计算值，并且确定目标要求转矩从所保持的反馈计算值和前馈计算值的相应计算值。

5. 发明申请

US20090024354A1 Road gradient estimating system 有权
标题翻译：道路坡度估计系统
公开(公告)号：US20090024354A1
公开(公告)日：2009-01-22
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”。

6. 发明申请

US20090076699A1 VEHICLE AUTOMATIC OPERATION CONTROL DEVICE 有权
标题翻译：车辆自动操作控制装置
公开(公告)号：US20090076699A1
公开(公告)日：2009-03-19
申请号：US12211644
申请日：2008-09-16
申请人： Shintaro OSAKI , Hiroyuki Kodama , Masayoshi Takeda , Kazunori Kadowaki , Syotarou Fukuda , Hajime Kumabe , Yasuhiro Nakai , Satoshi Niwa
发明人： Shintaro OSAKI , Hiroyuki Kodama , Masayoshi Takeda , Kazunori Kadowaki , Syotarou Fukuda , Hajime Kumabe , Yasuhiro Nakai , Satoshi Niwa
IPC分类号： B60T8/32
CPC分类号： B60W30/18172 , B60T7/22 , B60T8/17616 , B60T2201/02
摘要： It is an object of the present invention to provide a vehicle automatic operation control device that can perform automatic operation of a vehicle while the actual acceleration favorably tracks the target acceleration. The device comprises a target required torque calculating part (31) which determines the target required torque from the respective calculated values of a feed-forward calculated value and a feedback calculated value, and an automatic operation control part D which causes the vehicle to operate automatically on the basis of the determined target required torque, and which performs slip suppression control that suppresses slip of the wheels when any of the wheels of the vehicle slip. In cases where slip suppression control is performed by the automatic operation control part (D), the target required torque calculating part (31) holds the feedback calculated value based on the deviation between the target acceleration and actual acceleration, and determines the target required torque from the respective calculated values of the held feedback calculated value and feed-forward calculated value.
摘要翻译：本发明的目的是提供一种能够在实际加速有利地跟踪目标加速度的同时执行车辆的自动操作的车辆自动操作控制装置。该装置包括从前馈计算值和反馈计算值的各个计算值确定目标所需扭矩的目标所需扭矩计算部（31）以及使车辆自动运行的自动运转控制部D 基于所确定的目标要求扭矩，并且当车辆的任何一个车轮滑动时执行抑制车轮滑动的滑动抑制控制。在由自动运转控制部（D）进行了抑制抑制的情况下，目标要求转矩运算部（31）基于目标加速度与实际加速度的偏差保持反馈计算值，并且确定目标要求转矩从所保持的反馈计算值和前馈计算值的相应计算值。

7. 发明申请

US20090005945A1 VEHICLE SPEED CONTROL SYSTEM 失效
标题翻译：车速控制系统
公开(公告)号：US20090005945A1
公开(公告)日：2009-01-01
申请号：US12146045
申请日：2008-06-25
申请人： Masayoshi Takeda , Kazunori Kadowaki , Shintaro Osaki , Syotarou Fukuda , Yasuhiro Nakai , Satoshi Niwa , Hajime Kumabe
发明人： Masayoshi Takeda , Kazunori Kadowaki , Shintaro Osaki , Syotarou Fukuda , Yasuhiro Nakai , Satoshi Niwa , Hajime Kumabe
IPC分类号： B60K31/00
CPC分类号： B60T7/22 , B60T2201/02 , B60T2201/16 , B60W2520/10 , B60W2520/28 , B60W2540/12 , B60W2550/143 , B60W2550/148 , B60W2550/402 , B60W2720/106
摘要： A vehicle speed control system starts an automatic decelerating operation with a maximum permissible decelerating physical amount “Gmax”, when an electronic control unit determines that a necessary decelerating physical amount for decreasing a vehicle speed “v” to a target vehicle speed “vt” at a curve starting point becomes larger than the maximum permissible decelerating physical amount “Gmax”. The vehicle speed control system terminates the automatic decelerating operation, when required decelerating physical amount by a braking operation during the automatic decelerating operation becomes larger than an actual control decelerating physical amount for the automatic decelerating operation. The electronic control unit calculates the necessary decelerating physical amount “Gref” based on a distance “d” to the curve starting point and the vehicle speed “v”, in order to re-start an automatic decelerating operation with the decelerating physical amount “Gref”, when the required decelerating physical amount becomes lower than the decelerating physical amount “Gref”.
摘要翻译：当电子控制单元确定将用于将车辆速度“v”降低到目标车速“vt”所需的减速物理量设定在车速控制系统时，以最大允许减速物理量“Gmax”开始自动减速操作曲线起点变得大于最大允许减速物理量“Gmax”。当自动减速操作期间通过制动操作所需的减速物理量变得大于用于自动减速操作的实际控制减速物理量时，车速控制系统终止自动减速操作。电子控制单元基于与曲线起点和车速“v”的距离“d”计算必要的减速物理量“Gref”，以便以减速物理量“Gref”重新启动自动减速操作 “，当所需的减速物理量变得低于减速物理量”Gref“时。

8. 发明授权

US08180542B2 Vehicle speed control system 失效
标题翻译：车速控制系统
公开(公告)号：US08180542B2
公开(公告)日：2012-05-15
申请号：US12146045
申请日：2008-06-25
申请人： Masayoshi Takeda , Kazunori Kadowaki , Shintaro Osaki , Syotarou Fukuda , Yasuhiro Nakai , Satoshi Niwa , Hajime Kumabe
发明人： Masayoshi Takeda , Kazunori Kadowaki , Shintaro Osaki , Syotarou Fukuda , Yasuhiro Nakai , Satoshi Niwa , Hajime Kumabe
IPC分类号： G08G1/16 , B60K31/00
CPC分类号： B60T7/22 , B60T2201/02 , B60T2201/16 , B60W2520/10 , B60W2520/28 , B60W2540/12 , B60W2550/143 , B60W2550/148 , B60W2550/402 , B60W2720/106
摘要： A vehicle speed control system starts an automatic decelerating operation with a maximum permissible decelerating physical amount “Gmax”, when an electronic control unit determines that a necessary decelerating physical amount for decreasing a vehicle speed “v” to a target vehicle speed “vt” at a curve starting point becomes larger than the maximum permissible decelerating physical amount “Gmax”. The vehicle speed control system terminates the automatic decelerating operation, when required decelerating physical amount by a braking operation during the automatic decelerating operation becomes larger than an actual control decelerating physical amount for the automatic decelerating operation. The electronic control unit calculates the necessary decelerating physical amount “Gref” based on a distance “d” to the curve starting point and the vehicle speed “v”, in order to re-start an automatic decelerating operation with the decelerating physical amount “Gref”, when the required decelerating physical amount becomes lower than the decelerating physical amount “Gref”.
摘要翻译：当电子控制单元确定将用于将车辆速度“v”降低到目标车速“vt”所需的减速物理量设定在车速控制系统时，以最大允许减速物理量“Gmax”开始自动减速操作曲线起点变得大于最大允许减速物理量“Gmax”。当自动减速操作期间通过制动操作所需的减速物理量变得大于用于自动减速操作的实际控制减速物理量时，车速控制系统终止自动减速操作。电子控制单元基于与曲线起点和车速“v”的距离“d”计算必要的减速物理量“Gref”，以便以减速物理量“Gref”重新启动自动减速操作 “，当所需的减速物理量变得低于减速物理量”Gref“时。

9. 发明申请

US20090055068A1 VEHICLE DRIVE CONTROL DEVICE 失效
标题翻译：车辆驾驶控制装置
公开(公告)号：US20090055068A1
公开(公告)日：2009-02-26
申请号：US12196698
申请日：2008-08-22
申请人： Shintaro OSAKI , Hiroyuki Kodama , Masayoshi Takeda , Kazunori Kadowaki , Yasuhiro Nakai , Hajime Kumabe , Shotaro Fukuda
发明人： Shintaro OSAKI , Hiroyuki Kodama , Masayoshi Takeda , Kazunori Kadowaki , Yasuhiro Nakai , Hajime Kumabe , Shotaro Fukuda
IPC分类号： G05D13/66 , G06F19/00
CPC分类号： B60K28/16 , B60T8/175 , B60T2240/06 , B60W2520/26 , B60W2530/10 , B60W2550/148 , B60W2720/106 , B60W2720/30
摘要： A vehicle drive control device includes an initially determined request acceleration calculation means for calculating an initially determined request acceleration, an automatic drive control means for receiving the initially determined request acceleration and applying a predetermined torque to each wheel, a torque calculation means for calculating an allowable torque not causing a slip at each wheel when the allowable torque is applied thereto, on the basis of a vertical load applied to thereto and a friction coefficient of a road surface, a limit acceleration calculation means for calculating a limit acceleration acting on the vehicle in a case where the calculated allowable torque is applied to each wheel, and a request acceleration determination means for obtaining a request acceleration on the basis of the limit acceleration and the initially determined request acceleration, and for outputting the request acceleration, replacing the initially determined request acceleration, to the automatic drive control means.
摘要翻译：一种车辆驱动控制装置，包括用于计算初始确定的请求加速度的初始确定的请求加速度计算装置，用于接收初始确定的请求加速度并向每个车轮施加预定扭矩的自动驱动控制装置，用于计算允许基于对其施加的垂直载荷和路面的摩擦系数，在施加允许扭矩的情况下，在每个车轮处不产生滑动的扭矩;极限加速度计算装置，用于计算作用在车辆上的极限加速度对每个车轮施加计算出的允许转矩的情况，以及根据极限加速度和最初确定的要求加速度求出请求加速度的请求加速度判定单元，输出请求加速度，将最初确定的请求加速，到t 他自动驾驶控制手段。

10. 发明申请

US20090048751A1 Method and apparatus for controlling acceleration of a vehicle 有权
标题翻译：用于控制车辆加速度的方法和装置
公开(公告)号：US20090048751A1
公开(公告)日：2009-02-19
申请号：US12222389
申请日：2008-08-07
申请人： Yasuhiro Nakai , Hajime Kumabe , Shotaro Fukuda , Satoshi Niwa , Hiroyuki Kodama , Kazunori Kadowaki , Shintaro Osaki
发明人： Yasuhiro Nakai , Hajime Kumabe , Shotaro Fukuda , Satoshi Niwa , Hiroyuki Kodama , Kazunori Kadowaki , Shintaro Osaki
IPC分类号： G06F7/00
CPC分类号： B60W10/06 , B60W10/11 , B60W10/184 , B60W30/16 , B60W2710/0666 , B60W2710/10 , B60W2710/105 , B60W2710/182 , B60W2720/106 , Y02T10/56
摘要： A control apparatus controls acceleration of a vehicle provided with a motive power generation apparatus and brake apparatuses. For the control, the control apparatus comprises calculation and actuating blocks. The calculation block calculates torque to be requested, based on a difference between an actual value of the acceleration and a target value thereof and a gain for feedback controlling the actual value of the acceleration to the target value thereof. The gain is differentiated in value between in a first case in which the brake apparatuses are used for the feedback control and a second case in which the brake apparatuses are not used for the feedback control. The actuating block actuates the motive power generation apparatus and the brake apparatuses based on the calculated torque. The value of the gain in the first case is made larger than the value of the gain in the second case.
摘要翻译：控制装置控制设置有动力发电装置和制动装置的车辆的加速。为了控制，控制装置包括计算和执行块。计算块基于加速度的实际值和目标值之间的差异以及将加速度的实际值反馈到其目标值的反馈增益来计算要请求的转矩。在将制动装置用于反馈控制的第一种情况与其中制动装置不用于反馈控制的第二种情况之间，增益的差别是不同的。驱动块基于计算出的扭矩来致动动力发电装置和制动装置。第一种情况下的增益值大于第二种情况下的增益值。

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