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1. 发明申请

US20100161178A1 VEHICULAR STEERING CONTROL DEVICE 失效
标题翻译：车辆转向控制装置
公开(公告)号：US20100161178A1
公开(公告)日：2010-06-24
申请号：US12160495
申请日：2007-05-10
申请人： Takahiro Kodaira , Hideki Sakai , Yoji Kunihiro , Motoshi Oki , Kentaro Horiuchi , Etsuo Katsuyama
发明人： Takahiro Kodaira , Hideki Sakai , Yoji Kunihiro , Motoshi Oki , Kentaro Horiuchi , Etsuo Katsuyama
IPC分类号： G06F19/00
CPC分类号： B62D6/003 , B62D5/0472
摘要： A vehicle steering control apparatus (10) is provided with: a steering force applying device (15, 30) for applying a steering force front wheels (5, 6); and a lateral force detecting device (42) for detecting a lateral force of each of the front wheels and rear wheels (7, 8), the steering force applying device applying, to the front wheels, a convergent steering force which steers the front wheels in a direction in which yaw oscillation converges, if a ratio of the lateral force (Fr) of the rear wheels to the lateral force (Ff) of the front wheels becomes a ratio of possibly causing the yaw oscillation in a vehicle (1).
摘要翻译：一种车辆转向控制装置（10），其具有：用于施加转向力前轮（5,6）的转向力施加装置（15,30）。以及用于检测前轮和后轮（7,8）中的每一个的横向力的侧向力检测装置（42），该转向力施加装置向前轮施加收敛的转向力，该转向力使前轮如果后轮的横向力（Fr）与前轮的横向力（Ff）的比例成为可能导致车辆（1）中的偏航振动的比例，则在偏航振动收敛的方向上。

2. 发明授权

US08200392B2 Vehicular steering control device 失效
标题翻译：车辆转向控制装置
公开(公告)号：US08200392B2
公开(公告)日：2012-06-12
申请号：US12160495
申请日：2007-05-10
申请人： Takahiro Kodaira , Hideki Sakai , Yoji Kunihiro , Motoshi Oki , Kentaro Horiuchi , Etsuo Katsuyama
发明人： Takahiro Kodaira , Hideki Sakai , Yoji Kunihiro , Motoshi Oki , Kentaro Horiuchi , Etsuo Katsuyama
IPC分类号： A01B69/00 , B62D6/00 , B62D11/00
CPC分类号： B62D6/003 , B62D5/0472
摘要： A vehicle steering control apparatus (10) is provided with: a steering force applying device (15, 30) for applying a steering force front wheels (5, 6); and a lateral force detecting device (42) for detecting a lateral force of each of the front wheels and rear wheels (7, 8), the steering force applying device applying, to the front wheels, a convergent steering force which steers the front wheels in a direction in which yaw oscillation converges, if a ratio of the lateral force (Fr) of the rear wheels to the lateral force (Ff) of the front wheels becomes a ratio of possibly causing the yaw oscillation in a vehicle (1).
摘要翻译：一种车辆转向控制装置（10），其具有：用于施加转向力前轮（5,6）的转向力施加装置（15,30）。以及用于检测前轮和后轮（7,8）中的每一个的横向力的侧向力检测装置（42），该转向力施加装置向前轮施加收敛的转向力，该转向力使前轮如果后轮的横向力（Fr）与前轮的横向力（Ff）的比例成为可能导致车辆（1）中的偏航振动的比例，则在偏航振动收敛的方向上。

3. 发明申请

US20110208392A1 VEHICLE STEERING CONTROL APPARATUS 审中-公开
标题翻译：车辆转向控制装置
公开(公告)号：US20110208392A1
公开(公告)日：2011-08-25
申请号：US12673247
申请日：2008-10-01
申请人： Takahiro Kodaira , Yoji Kunihiro
发明人： Takahiro Kodaira , Yoji Kunihiro
IPC分类号： B62D6/00
CPC分类号： B62D5/0463 , B62D5/0472
摘要： A vehicle steering control device includes a first calculation mechanism calculating a basic steering assistance force based on steering torque corresponding to steering operation by an occupant of a vehicle, an acquisition mechanism acquiring respective lateral forces of front wheels and rear wheels, a second calculation mechanism calculating, based on the lateral force on the rear wheels, a first steering correction force that reduces the basic steering assistance force and also calculating, based on the lateral force on the front wheels, a second steering correction force that increases the basic steering assistance force, and a steering force application mechanism applying a target steering assistance force to the vehicle, the target steering assistance force being obtained by adding the first and second correction steering forces to the basic steering assistance force.
摘要翻译：车辆转向控制装置包括：第一计算机构，其基于与车辆乘员的转向操作对应的转向转矩来计算基本转向辅助力;获取前轮和后轮的侧向力的获取机构;计算机构基于后轮上的横向力，能够减小基本转向辅助力的第一转向修正力，并且还基于前轮上的侧向力计算增大基本转向辅助力的第二转向修正力，以及向所述车辆施加目标转向辅助力的转向力施加机构，所述目标转向辅助力是通过将所述第一和第二校正转向力与所述基本转向辅助力相加而获得的。

4. 发明申请

US20150019082A1 CONTROL APPARATUS FOR VEHICLE 有权
标题翻译：车辆控制装置
公开(公告)号：US20150019082A1
公开(公告)日：2015-01-15
申请号：US14378379
申请日：2012-03-02
申请人： Go Inoue , Yoji Kunihiro
发明人： Go Inoue , Yoji Kunihiro
IPC分类号： B60W30/12 , B62D15/02 , B62D1/28
CPC分类号： B60W30/12 , B62D1/286 , B62D15/025
摘要： An apparatus for controlling a vehicle provided with a steering apparatus is provided with: a first target controlled variable setting device for setting a first target controlled variable regarding the steering apparatus for track control which makes a track of the vehicle follow a target track; a controlling device for performing the track control by controlling the steering apparatus on the basis of the set first target controlled variable; a specifying device for specifying magnitude of a steering input and frequency in a period of performing the track control; and a determining device for determining whether or not the steering input is overriding on the basis of the specified magnitude and frequency.
摘要翻译：一种用于控制设置有转向装置的车辆的装置，具有：第一目标控制变量设定装置，用于设定使轨道控制用的转向装置的第一目标控制变量，使得车辆的轨道跟随目标轨道; 控制装置，用于通过基于设定的第一目标控制变量控制转向装置来执行轨道控制; 用于在执行轨道控制的周期中指定转向输入和频率的大小的指定装置; 以及确定装置，用于基于指定的幅度和频率来确定转向输入是否被覆盖。

5. 发明授权

US09707996B2 Vehicle drive-control device 有权
公开(公告)号：US09707996B2
公开(公告)日：2017-07-18
申请号：US14342049
申请日：2011-08-31
申请人： Masao Ueyama , Yoji Kunihiro , Theerawat Limpibunterng , Takahiro Kojo
发明人： Masao Ueyama , Yoji Kunihiro , Theerawat Limpibunterng , Takahiro Kojo
IPC分类号： A01B69/00 , B62D6/00 , B62D11/00 , B63G8/20 , B63H25/04 , G05D1/00 , G06F17/00 , B62D15/02 , B60W10/16 , B60W10/20 , B60W30/045
CPC分类号： B62D6/002 , B60W10/16 , B60W10/20 , B60W30/045 , B62D6/003 , B62D15/02 , B62D15/0255
摘要： A vehicle drive-control device which executes trajectory control in which steered wheels are controlled so as to make the vehicle travel along a target trajectory. When the possibility exists that the travel direction of the vehicle may be changed by the trajectory control, at least one of an operation position of a steering input unit operated by a driver; a yaw angle of the vehicle; and a lateral position of the vehicle with respect to a lane is changed before a change in the travel direction is made, thereby giving occupants in the vehicle advance notice of the possibility of a change in vehicle travel direction caused by the trajectory control.

6. 发明授权

US09540039B2 Vehicle steering control device 有权
标题翻译：车辆转向控制装置
公开(公告)号：US09540039B2
公开(公告)日：2017-01-10
申请号：US14413542
申请日：2012-07-09
申请人： Yoji Kunihiro , Takahiro Kojo
发明人： Yoji Kunihiro , Takahiro Kojo
IPC分类号： A01B69/00 , B62D6/00 , B62D11/00 , B62D12/00 , B63G8/20 , B63H25/04 , G05D1/00 , G06F7/00 , G06F17/00 , G06F19/00 , B62D5/00 , B62D7/15 , B62D6/02 , B62D6/04
CPC分类号： B62D6/003 , B62D5/008 , B62D6/02 , B62D6/04 , B62D7/159
摘要： A vehicle steering control device includes a turning angle varying device serving as a first turn response change device for changing a gain of yaw rate of a vehicle with respect to steering operation, and a rear wheel steering device serving as a second turn response change device for changing a gain of lateral acceleration of the vehicle with respect to the steering operation. Under a state in which magnitude of curvature of a travel path is equal to or less than a first reference value, at least one of the turning angle varying and rear wheel steering devices is controlled so that a ratio of the gain of the lateral acceleration to the gain of the yaw rate increases when a width of the travel path is small compared with when the width of the travel path is large.
摘要翻译：车辆转向控制装置包括：转向角变更装置，其作为用于改变车辆相对于转向操作的偏航率的增益的第一转弯响应变更装置，以及用作第二转向响应变更装置的后轮转向装置，相对于转向操作改变车辆的横向加速度的增益。在行驶路径的曲率大小等于或小于第一基准值的状态下，控制转向角变化和后轮转向装置中的至少一个，使得横向加速度的增益与当行进路径的宽度比行驶路径的宽度大时，横摆率的增益增加。

7. 发明授权

US09187092B2 Control apparatus for vehicle 有权
标题翻译：车辆控制装置
公开(公告)号：US09187092B2
公开(公告)日：2015-11-17
申请号：US14378379
申请日：2012-03-02
申请人： Go Inoue , Yoji Kunihiro
发明人： Go Inoue , Yoji Kunihiro
IPC分类号： B62D6/00 , B60W30/12 , B62D1/28 , B62D15/02
CPC分类号： B60W30/12 , B62D1/286 , B62D15/025
摘要： An apparatus for controlling a vehicle provided with a steering apparatus is provided with: a first target controlled variable setting device for setting a first target controlled variable regarding the steering apparatus for track control which makes a track of the vehicle follow a target track; a controlling device for performing the track control by controlling the steering apparatus on the basis of the set first target controlled variable; a specifying device for specifying magnitude of a steering input and frequency in a period of performing the track control; and a determining device for determining whether or not the steering input is overriding on the basis of the specified magnitude and frequency.
摘要翻译：一种用于控制设置有转向装置的车辆的装置，具有：第一目标控制变量设定装置，用于设定使轨道控制用的转向装置的第一目标控制变量，使得车辆的轨道跟随目标轨道; 控制装置，用于通过基于设定的第一目标控制变量控制转向装置来执行轨道控制; 用于在执行轨道控制的周期中指定转向输入和频率的大小的指定装置; 以及确定装置，用于基于指定的幅度和频率来确定转向输入是否被覆盖。

8. 发明授权

US09050998B2 Vehicle travel control device 有权
标题翻译：车辆行驶控制装置
公开(公告)号：US09050998B2
公开(公告)日：2015-06-09
申请号：US13703558
申请日：2011-06-09
申请人： Takeshi Goto , Yoji Kunihiro , Junro Yamamoto , Mitsuyuki Ouchi , Shuji Fujita , Keitaro Niki , Tomihide Masuda
发明人： Takeshi Goto , Yoji Kunihiro , Junro Yamamoto , Mitsuyuki Ouchi , Shuji Fujita , Keitaro Niki , Tomihide Masuda
IPC分类号： B62D6/00 , B62D5/00
CPC分类号： B62D6/002 , B62D5/008
摘要： A travel control device for a vehicle has a steered angle varying device 14 or a by-wire type steering device 96 which modifies a relationship of steered angle of steerable wheels to steering operation amount by a driver. When the control device decides that vehicle trajectory control is to be initiated or renewed, it calculates a target steered angle of the steerable wheels for driving the vehicle along a target trajectory which is required for the vehicle to arrive at a target arrival position in a target traveling direction on the basis of steering operation amount by a driver and vehicle speed at a time point of the decision. The control device controls the steered angle of the steerable wheels according to the target steered angle in feed-forward or feed-back manner.
摘要翻译：用于车辆的行驶控制装置具有转向角度变化装置14或绕线式转向装置96，其通过驾驶员改变可转向轮的转向角度与转向操作量的关系。当控制装置决定要开始或更新车辆轨迹控制时，它计算用于驾驶车辆的可转向车轮的目标转向角，该目标转向角沿着车辆到达目标到达目标位置所需的目标轨迹在驾驶员的转向操作量的基础上的行驶方向和车辆速度在决定的时间点。控制装置根据目标转向角以前馈或反馈方式控制可转向车轮的转向角度。

9. 发明申请

US20140257640A1 VEHICLE TRAVEL TRACK CONTROL DEVICE 有权
标题翻译：车辆行驶跟踪控制装置
公开(公告)号：US20140257640A1
公开(公告)日：2014-09-11
申请号：US14351303
申请日：2011-11-08
申请人： Hisanori Mitsumoto , Takahiro Kojo , Yoji Kunihiro , Toru Takashima
发明人： Hisanori Mitsumoto , Takahiro Kojo , Yoji Kunihiro , Toru Takashima
IPC分类号： B62D15/02 , B60W30/12
CPC分类号： B62D15/025 , B60W10/20 , B60W30/10 , B60W30/12 , B60W40/101 , B60W2420/42 , B60W2550/10 , B60W2710/207
摘要： A vehicle travel track control device which includes a forward image capture device which captures an image ahead of a vehicle, and side image capture devices which capture an image on the left side and/or the right side of the vehicle. When it is possible to properly execute a travel track control on the basis of captured forward image information ahead of the vehicle, the travel track control is executed on the basis of the captured forward image information sent from the forward image capture device, and when it is not possible to properly execute a travel track control on the basis of the captured forward image information, the travel track control is executed on the basis of at least captured side image information sent from the side image capture devices.
摘要翻译：一种车辆行驶轨迹控制装置，其包括拍摄车辆前方的图像的前方摄像装置和拍摄车辆左侧和/或右侧的图像的侧面摄像装置。当可以基于在车辆前方的所捕获的前向图像信息来适当地执行行驶轨道控制时，基于从前向图像捕获装置发送的所捕获的前向图像信息执行行驶轨道控制，并且当它基于所捕获的前向图像信息不可能适当地执行行驶轨道控制，基于从侧面图像捕获装置发送的至少所捕获的侧面图像信息来执行行驶轨迹控制。

10. 发明授权

US08738230B2 Steering control apparatus for vehicle 有权
标题翻译：车辆转向控制装置
公开(公告)号：US08738230B2
公开(公告)日：2014-05-27
申请号：US13139730
申请日：2009-10-23
申请人： Keitaro Niki , Yoji Kunihiro , Yoshiaki Suzuki
发明人： Keitaro Niki , Yoji Kunihiro , Yoshiaki Suzuki
IPC分类号： B62D6/00
CPC分类号： B62D6/003 , B60T2201/08 , B60T2201/087 , B62D5/046 , B62D5/0466 , B62D5/0472 , B62D15/025
摘要： A coordinate-control-gain calculation section 61 calculates a coordinate-control final control torque T_C required to properly control the traveling behavior of a vehicle, and determines a coordinate control gain Kg on the basis of the magnitude of this torque T_C. An arbitration-request determination section 62 determines the value of an arbitration request flag FRG_A on the basis of the magnitude of the torque T_C and the value of a flag FRG_L output so as to properly control the traveling behavior of a vehicle. On the basis of the value of the flag FRG_A and the magnitude of the coordinate-control arbitration torque Tr determined by use of the gain Kg, an arbitration section 63 selects the torque T_C or the torque Tr to be output as a post-arbitration control torque T_F. A post-arbitration drive control section 64 supplies to an electric motor a drive current corresponding to the determined torque T_F.
摘要翻译：坐标控制增益计算部61计算适当地控制车辆的行驶行为所需的坐标控制最终控制扭矩T_C，并基于该转矩T_C的大小来确定坐标控制增益Kg。仲裁请求确定部分62基于转矩T_C的大小和输出的标志FRG_L的值来确定仲裁请求标志FRG_A的值，以便适当地控制车辆的行驶行为。基于标志FRG_A的值和通过使用增益Kg确定的坐标控制仲裁转矩Tr的大小，仲裁部63选择要输出的转矩T_C或转矩Tr作为仲裁后控制扭矩T_F。后置仲裁驱动控制部64向电动机提供与所确定的转矩T_F对应的驱动电流。

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