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1. 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。

2. 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。

3. 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。

4. 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。

5. 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。

6. 发明授权

US08348283B2 Suspension control apparatus and vehicle control apparatus 有权
标题翻译：悬架控制装置和车辆控制装置
公开(公告)号：US08348283B2
公开(公告)日：2013-01-08
申请号：US13071824
申请日：2011-03-25
申请人： Naofumi Harada , Yoichi Kumemura , Tatsuya Gankai
发明人： Naofumi Harada , Yoichi Kumemura , Tatsuya Gankai
IPC分类号： B60G17/06 , B60W10/22 , B60W30/02
CPC分类号： B60T8/1755 , B60G17/08 , B60G2400/102 , B60G2400/202 , B60G2400/252 , B60G2400/39 , B60G2400/518 , B60G2400/5182 , B60G2500/10 , B60G2500/104 , B60G2800/94 , B60T2260/06
摘要： A suspension control apparatus selectively performs at least one of: compression-stroke control performed when a wheel load is increased, for setting a damping-force characteristic of at least one of damping-force variable dampers, which is provided on a side of at least one wheel whose wheel load is to be increased among a plurality of wheels, to a hard side in an early stage of a compression stroke and switching the damping-force characteristic to a soft side in a latter stage of the compression stroke; extension-stroke control performed when the wheel load is increased, for setting the damping-force characteristic to the soft side in an early stage of an extension stroke and switching the damping-force characteristic to the hard side in a latter stage of the extension stroke; compression-stroke control performed when the wheel load is reduced, for setting the damping-force characteristic of at least one of the damping-force variable dampers, which is provided on a side of at least one wheel whose wheel load is to be reduced, to the soft side in the early stage of the compression stroke and switching the damping-force characteristic to the hard side in the latter stage of the compression stroke; and extension-stroke control performed when the wheel load is reduced, for setting the damping-force characteristic to the hard side in the early stage of the extension stroke and switching the damping-force characteristic to the soft side in the latter stage of the extension stroke.
摘要翻译：悬架控制装置选择性地执行以下至少一个：当车轮负载增加时执行的压缩行程控制，用于设定至少一个阻尼力变量阻尼器的阻尼力特性，所述阻尼力特性至少设置在至少一侧在压缩行程的早期阶段，在多个车轮之间增加车轮负载的一个轮到硬侧，并且在压缩冲程的后期将阻尼力特性切换到软侧; 在车轮负载增加时执行的延伸行程控制，用于在延伸行程的早期阶段将阻尼力特性设定到软侧，并且在延伸行程的后期将阻尼力特性切换到硬侧 ; 为了设定设置在要减小轮负载的至少一个轮的一侧的阻尼力可变阻尼器中的至少一个的阻尼力特性，减小了车轮负载时执行的压缩冲程控制，在压缩冲程的早期阶段向软侧切换，并且在压缩冲程的后期将阻尼力特性切换到硬侧; 并且当车轮负载减小时执行的延伸行程控制，用于将延迟行程的早期的阻尼力特性设定到硬侧，并且在延伸的后期将阻尼力特性切换到软侧行程。

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