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1. 发明申请

US20100057297A1 VEHICLE STATE ESTIMATING APPARATUS, SUSPENSION CONTROL APPARATUS AND SUSPENSION SYSTEM 有权
标题翻译：车辆状态估计装置，悬架控制装置和悬架系统
公开(公告)号：US20100057297A1
公开(公告)日：2010-03-04
申请号：US12548736
申请日：2009-08-27
申请人： Noriaki ITAGAKI , Nobuyuki Ichimaru , Takahide Kobayashi , Tatsuya Gankai , Takanori Fukao
发明人： Noriaki ITAGAKI , Nobuyuki Ichimaru , Takahide Kobayashi , Tatsuya Gankai , Takanori Fukao
IPC分类号： B60G17/018
CPC分类号： B60G17/0182 , B60G2400/202 , B60G2500/10 , B60G2600/182 , B60G2600/184 , B60G2600/1873 , B60G2800/916
摘要： A first observer gain of an actual damping force estimating observer 21 calculates a dynamic characteristic compensating signal, and a second observer gain of an actual vehicle model state amount estimating observer 23 calculates a vehicle model compensating signal, from an output deviation corresponding to a difference between a sprung speed (observation output) provided from a vehicle 2 and an estimated sprung speed (estimated observation output) provided from a vehicle approximation model of the actual vehicle model state amount estimating observer 23. The dynamic characteristic compensating signal is input into a dynamic characteristic providing unit of the actual vehicle model state amount estimating observer 23, and is used for adjustment of the setting of the dynamic characteristic providing unit. Therefore, it is possible to curb time lag occurrence in a control, and thereby perform a vibration control with improved accuracy.
摘要翻译：实际阻尼力估计观测器21的第一观测者增益计算动态特性补偿信号，并且实际车辆模型状态量估计观测器23的第二观测器增益根据对应于车辆模型补偿信号之间的差的输出偏差来计算车辆模型补偿信号从车辆2提供的弹簧速度（观测输出）和由实际车辆型态状态量估计观测器23的车辆近似模型提供的估计的弹簧速度（估计观测输出）。动态特性补偿信号被输入到动态特性提供实际车型状态量估计观测器23的提供单元，并且用于动态特性提供单元的设置的调整。因此，可以抑制控制中的时滞发生，从而以提高精度进行振动控制。

2. 发明授权

US08116938B2 Vehicle state estimating apparatus, suspension control apparatus and suspension system 有权
标题翻译：车辆状态估计装置，悬架控制装置和悬架系统
公开(公告)号：US08116938B2
公开(公告)日：2012-02-14
申请号：US12548736
申请日：2009-08-27
申请人： Noriaki Itagaki , Nobuyuki Ichimaru , Takahide Kobayashi , Tatsuya Gankai , Takanori Fukao
发明人： Noriaki Itagaki , Nobuyuki Ichimaru , Takahide Kobayashi , Tatsuya Gankai , Takanori Fukao
IPC分类号： B60G17/018
CPC分类号： B60G17/0182 , B60G2400/202 , B60G2500/10 , B60G2600/182 , B60G2600/184 , B60G2600/1873 , B60G2800/916
摘要： A first observer gain of an actual damping force estimating observer 21 calculates a dynamic characteristic compensating signal, and a second observer gain of an actual vehicle model state amount estimating observer 23 calculates a vehicle model compensating signal, from an output deviation corresponding to a difference between a sprung speed (observation output) provided from a vehicle 2 and an estimated sprung speed (estimated observation output) provided from a vehicle approximation model of the actual vehicle model state amount estimating observer 23. The dynamic characteristic compensating signal is input into a dynamic characteristic providing unit of the actual vehicle model state amount estimating observer 23, and is used for adjustment of the setting of the dynamic characteristic providing unit. Therefore, it is possible to curb time lag occurrence in a control, and thereby perform a vibration control with improved accuracy.
摘要翻译：实际阻尼力估计观测器21的第一观测者增益计算动态特性补偿信号，并且实际车辆模型状态量估计观测器23的第二观测器增益根据对应于车辆模型补偿信号之间的差的输出偏差来计算车辆模型补偿信号从车辆2提供的弹簧速度（观测输出）和由实际车辆型态状态量估计观测器23的车辆近似模型提供的估计的弹簧速度（估计观测输出）。动态特性补偿信号被输入到动态特性提供实际车型状态量估计观测器23的提供单元，并且用于动态特性提供单元的设置的调整。因此，可以抑制控制中的时滞发生，从而以提高精度进行振动控制。

3. 发明授权

US08086377B2 Suspension control apparatus 有权
标题翻译：悬架控制装置
公开(公告)号：US08086377B2
公开(公告)日：2011-12-27
申请号：US12468321
申请日：2009-05-19
申请人： Noriaki Itagaki , Nobuyuki Ichimaru , Takahide Kobayashi , Tatsuya Gankai , Takanori Fukao
发明人： Noriaki Itagaki , Nobuyuki Ichimaru , Takahide Kobayashi , Tatsuya Gankai , Takanori Fukao
IPC分类号： G05D3/12
CPC分类号： B60G17/08 , B60G2400/102 , B60G2400/20 , B60G2400/252 , B60G2500/104 , B60G2600/02 , B60G2600/184 , B60G2600/187 , B60G2600/1872
摘要： The present invention provides a suspension control apparatus capable of an excellent vibration control by a model thereof designed to incorporate nonlinearity and a time-lag element of a control damper. The present invention employs the backstepping method which is one of nonlinear control methods, and is designed so as to incorporate the nonlinearity of a damper 4. In addition, a nonlinear controller 5 uses a damping force Fu obtained by expressing the dynamics of a damping force characteristic variable portion [damping force Fu(v, i)] by a first-order lag system, so as to compensate the dynamics of the damper 4, whereby a control system is formed so as to incorporate the time-lag element of the control damper. As a result, it is possible to reduce time lag, and to practically adjust a control force according to the characteristics of the control damper.
摘要翻译：本发明提供了一种悬架控制装置，其能够通过其设计为包含非线性的模型和控制阻尼器的时滞元件而具有优异的振动控制。本发明采用作为非线性控制方法之一的后退方法，并且被设计成结合阻尼器4的非线性。另外，非线性控制器5使用通过表示阻尼力的动力学获得的阻尼力Fu 特征可变部分[阻尼力Fu（v，i）]，以便补偿阻尼器4的动力学，由此形成控制系统以便并入控制器的时滞元件阻尼器。结果，可以减少时间滞后，并且根据控制阻尼器的特性实际调节控制力。

4. 发明授权

US08103451B2 Vehicle safety control apparatus for avoiding collision 失效
标题翻译：用于避免碰撞的车辆安全控制装置
公开(公告)号：US08103451B2
公开(公告)日：2012-01-24
申请号：US11655195
申请日：2007-01-19
申请人： Taisetsu Tanimichi , Tatsuya Yoshida , Mikio Ueyama , Shinya Ohtsuji , Isa Ismet Khumaedi , Takahide Kobayashi , Koji Fukui , Nobuyuki Ichimaru , Yoichi Kumemura , Shuichiro Kuroiwa , Masaaki Uchiyama , Tatsuya Gankai , Ryusuke Hirao
发明人： Taisetsu Tanimichi , Tatsuya Yoshida , Mikio Ueyama , Shinya Ohtsuji , Isa Ismet Khumaedi , Takahide Kobayashi , Koji Fukui , Nobuyuki Ichimaru , Yoichi Kumemura , Shuichiro Kuroiwa , Masaaki Uchiyama , Tatsuya Gankai , Ryusuke Hirao
IPC分类号： G08G1/16
CPC分类号： G08G1/161 , B60W10/18 , B60W10/22 , B60W30/085
摘要： A collision between a vehicle and an obstacle is estimated, and based on the estimation result, vehicle deceleration control is performed by a brake actuator to reduce the collision and vehicle wheel load is controlled by a suspension actuator.
摘要翻译：估计车辆和障碍物之间的碰撞，并且基于估计结果，通过制动致动器执行车辆减速控制以减少碰撞并且车轮负载由悬架致动器控制。

5. 发明申请

US20070192030A1 Vehicle safety control apparatus for avoiding collision 失效
标题翻译：用于避免碰撞的车辆安全控制装置
公开(公告)号：US20070192030A1
公开(公告)日：2007-08-16
申请号：US11655195
申请日：2007-01-19
申请人： Taisetsu Tanimichi , Tatsuya Yoshida , Mikio Ueyama , Shinya Ohtsuji , Isa Ismet Khumaedi , Takahide Kobayashi , Koji Fukui , Nobuyuki Ichimaru , Yoichi Kumemura , Shuichiro Kuroiwa , Masaaki Uchiyama , Tatsuya Gankai , Ryusuke Hirao
发明人： Taisetsu Tanimichi , Tatsuya Yoshida , Mikio Ueyama , Shinya Ohtsuji , Isa Ismet Khumaedi , Takahide Kobayashi , Koji Fukui , Nobuyuki Ichimaru , Yoichi Kumemura , Shuichiro Kuroiwa , Masaaki Uchiyama , Tatsuya Gankai , Ryusuke Hirao
IPC分类号： G08G1/16
CPC分类号： G08G1/161 , B60W10/18 , B60W10/22 , B60W30/085
摘要： A collision between a vehicle and an obstacle is estimated, and based on the estimation result, vehicle deceleration control is performed by a brake actuator to reduce the collision and vehicle wheel load is controlled by a suspension actuator.
摘要翻译：估计车辆和障碍物之间的碰撞，并且基于估计结果，通过制动致动器执行车辆减速控制以减少碰撞并且车轮负载由悬架致动器控制。

6. 发明授权

US06434460B1 Suspension control system 有权
标题翻译：悬架控制系统
公开(公告)号：US06434460B1
公开(公告)日：2002-08-13
申请号：US09911617
申请日：2001-07-25
申请人： Toru Uchino , Nobuyuki Ichimaru , Masaaki Uchiyama , Takahide Kobayashi
发明人： Toru Uchino , Nobuyuki Ichimaru , Masaaki Uchiyama , Takahide Kobayashi
IPC分类号： B60G17015
CPC分类号： B60G17/01933 , B60G2202/40 , B60G2400/10 , B60G2400/40 , B60G2400/61 , B60G2500/10 , Y10S180/902
摘要： By passing the vertical acceleration through a phase adjusting filter and a gain adjusting filter, the phase of the vertical acceleration is advanced by 49 degrees so that the phase difference with respect to the actual relative velocity becomes 180 degrees in the neighborhood of the vehicle body resonance point, thereby making the phase of the vertical acceleration, in effect, coincident with the phase of the relative velocity. In the neighborhood of the vehicle body resonance point (1 Hz), the gain of the estimated relative velocity takes a small value. In frequency regions other than the neighborhood of the vehicle body resonance point, the gain of the estimated relative velocity is increased. Consequently, the controlled variable in the neighborhood of the vehicle body resonance point increases, and the controlled variable in higher frequency regions decreases. Damping force is adjusted in correspondence to the controlled variable. Thus, it is possible to improve ride quality in the neighborhood of the vehicle body resonance point (1 Hz).
摘要翻译：通过使垂直加速度通过相位调整滤波器和增益调整滤波器，垂直加速度的相位提前49度，使得相对于实际相对速度的相位差在车身谐振附近变为180度点，从而使垂直加速度的相位实际上与相对速度的相位一致。在车体共振点（1Hz）附近，估计的相对速度的增益取小值。在车体共振点附近的频率区域中，估计的相对速度的增益增加。因此，车体共振点附近的受控变量增大，高频区域的受控变量减小。阻尼力相应于受控变量进行调整。因此，能够提高车体共振点附近的乘坐质量（1Hz）。

7. 发明申请

US20110127127A1 SUSPENSION CONTROL APPARATUS FOR VEHICLE AND CONTROL APPARATUS FOR DAMPING-FORCE ADJUSTABLE SHOCK ABSORBER 审中-公开
标题翻译：用于阻尼力可调减震器的车辆和控制装置的悬架控制装置
公开(公告)号：US20110127127A1
公开(公告)日：2011-06-02
申请号：US12955153
申请日：2010-11-29
申请人： Ryusuke HIRAO , Takashi Nezu , Nobuyuki Ichimaru , Takahide Kobayashi
发明人： Ryusuke HIRAO , Takashi Nezu , Nobuyuki Ichimaru , Takahide Kobayashi
IPC分类号： B60G17/08 , F16F9/516 , F16F9/50 , G06F19/00 , B60G17/0165
CPC分类号： B60G17/08 , B60G17/016 , B60G2400/102 , B60G2400/252 , B60G2500/10
摘要： Provided is a suspension control apparatus for a vehicle comprising a damping-force adjustable shock absorber interposed between a vehicle body and a wheel of a vehicle, and a controller for variably controlling damping-force characteristics of the damping-force adjustable shock absorber between hard and soft, wherein the controller is configured to switch the damping-force characteristics to a soft side when a direction of a stroke of the damping-force adjustable shock absorber is reversed between an extension stroke and a contraction stroke.
摘要翻译：本发明提供一种车辆用悬架控制装置，其特征在于，具备：设置在车身与车辆车轮之间的阻尼力可调减震器;以及控制器，其可变地控制所述阻尼力可调减震器的阻尼力特性，柔软的，其中所述控制器被配置为当所述阻尼力可调减震器的行程的方向在延伸行程和收缩行程之间相反时将阻尼力特性切换到软侧。

8. 发明授权

US10106009B2 Suspension control apparatus for vehicle and control apparatus for damping-force adjustable shock absorber 有权
公开(公告)号：US10106009B2
公开(公告)日：2018-10-23
申请号：US12955153
申请日：2010-11-29
申请人： Ryusuke Hirao , Takashi Nezu , Nobuyuki Ichimaru , Takahide Kobayashi
发明人： Ryusuke Hirao , Takashi Nezu , Nobuyuki Ichimaru , Takahide Kobayashi
IPC分类号： B60G17/08 , B60G17/016 , B60G17/015
摘要： A suspension control apparatus for a vehicle including a damping-force adjustable shock absorber interposed between a vehicle body and a wheel of a vehicle, and a controller for variably controlling damping-force characteristics of the damping-force adjustable shock absorber between hard and soft. The controller is configured to switch the damping-force characteristics to a soft side when a direction of a stroke of the damping-force adjustable shock absorber is reversed between an extension stroke and a contraction stroke.

9. 发明授权

US08296010B2 Suspension control apparatus 有权
标题翻译：悬架控制装置
公开(公告)号：US08296010B2
公开(公告)日：2012-10-23
申请号：US12765241
申请日：2010-04-22
申请人： Ryusuke Hirao , Masaaki Uchiyama , Nobuyuki Ichimaru , Takahide Kobayashi
发明人： Ryusuke Hirao , Masaaki Uchiyama , Nobuyuki Ichimaru , Takahide Kobayashi
IPC分类号： B60G17/016
CPC分类号： B60G17/06 , B60G2400/0512 , B60G2400/0521 , B60G2400/104 , B60G2400/208 , B60G2500/10 , B60G2500/30
摘要： A suspension control apparatus enabling a driver to obtain an excellent driving feeling. The suspension control apparatus controls an actuator disposed between a vehicle body and a wheel of a vehicle. The suspension control apparatus includes a lateral acceleration detector operable to detect a lateral acceleration, a lateral jerk detector operable to detect a lateral jerk, and a suspension controller operable to control the actuator to change a pitch of the vehicle based the detected lateral acceleration and lateral jerk.
摘要翻译：一种悬架控制装置，使得驾驶员能够获得良好的驾驶感觉。悬架控制装置控制设置在车身与车辆车轮之间的致动器。悬架控制装置包括可操作以检测横向加速度的横向加速度检测器，可操作以检测横向加速度的横向加速度检测器，以及悬架控制器，其可操作以基于检测到的横向加速度和侧向力来控制致动器改变车辆的俯仰混蛋

10. 发明申请

US20110035089A1 SUSPENSION CONTROL APPARATUS 有权
标题翻译：悬挂控制装置
公开(公告)号：US20110035089A1
公开(公告)日：2011-02-10
申请号：US12765241
申请日：2010-04-22
申请人： Ryusuke Hirao , Masaaki Uchiyama , Nobuyuki Ichimaru , Takahide Kobayashi
发明人： Ryusuke Hirao , Masaaki Uchiyama , Nobuyuki Ichimaru , Takahide Kobayashi
IPC分类号： B60G17/016 , B60G17/019
CPC分类号： B60G17/06 , B60G2400/0512 , B60G2400/0521 , B60G2400/104 , B60G2400/208 , B60G2500/10 , B60G2500/30
摘要： The present invention provides a suspension control apparatus enabling a driver to obtain an excellent driving feeling. A suspension control apparatus according to the present invention controls an actuator disposed between a vehicle body and a wheel of a vehicle. The suspension control apparatus comprises a lateral acceleration detector operable to detect a lateral acceleration, a lateral jerk detector operable to detect a lateral jerk, and a suspension controller operable to control the actuator to change a pitch of the vehicle based the detected lateral acceleration and lateral jerk.
摘要翻译：本发明提供一种能够使驾驶员获得良好驾驶感的悬架控制装置。根据本发明的悬架控制装置控制设置在车身与车辆的车轮之间的致动器。悬架控制装置包括可操作以检测横向加速度的侧向加速度检测器，可操作以检测横向加速度的侧向加速度检测器，以及悬架控制器，其可操作以基于检测到的横向加速度和侧向力来控制致动器改变车辆的俯仰混蛋

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