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    • 1. 发明授权
    • Vehicle motion control system
    • 车辆运动控制系统
    • US08761995B2
    • 2014-06-24
    • US13203424
    • 2010-03-05
    • Takashi YanagiKiyoshi WakamatsuTakayuki Seki
    • Takashi YanagiKiyoshi WakamatsuTakayuki Seki
    • B60W10/00G06F7/00B60W10/18B60W10/12B60W10/20
    • B60T8/1755B60T8/885B60T2260/08B60T2270/402B60W50/029B62D6/00
    • Provided is a vehicle motion control system that comprises a plurality of vehicle behavior control units that are controlled in a mutually coordinated manner, and is configured to operate as designed even when one of the vehicle motion control units should fail. If a RTC-ECU (61) has ceased a control action thereof owing to a failure thereof, a VSA-ECU (31) retains the last received coordination control signal from the RTC-ECU in EEPROM (37) so that the VSA-ECU (31) is enabled to continue the coordinated control according to the retained coordination control signal. At the same time, the VSA-ECU (31) transmits the coordination control signal retained in the EEPROM onto a CAN so that the transmitted coordination control signal may be used by other ECUS of other vehicle behavior control units such as an ATTS-ECU (41) and a STG-ECU (51). In this manner, the behavior of the vehicle may be optimized by the coordination control of the VSA unit and other vehicle behavior control units.
    • 提供一种车辆运动控制系统,其包括以相互协调的方式控制的多个车辆行为控制单元,并且被构造成即使当车辆运动控制单元之一失败时也被设计成运行。 如果RTC-ECU(61)由于故障而停止其控制动作,则VSA-ECU(31)将来自RTC-ECU的最后接收的协调控制信号保持在EEPROM(37)中,使得VSA-ECU (31)能够根据所保留的协调控制信号继续协调控制。 同时,VSA-ECU(31)将保存在EEPROM中的协调控制信号发送到CAN上,使得发送的协调控制信号可以被其他车辆行为控制单元(例如ATTS-ECU(其它) 41)和STG-ECU(51)。 以这种方式,可以通过VSA单元和其他车辆行为控制单元的协调控制来优化车辆的行为。
    • 2. 发明申请
    • VEHICLE MOTION CONTROL SYSTEM
    • 车辆运动控制系统
    • US20110307142A1
    • 2011-12-15
    • US13203424
    • 2010-03-05
    • Takashi YanagiKiyoshi WakamatsuTakayuki Seki
    • Takashi YanagiKiyoshi WakamatsuTakayuki Seki
    • G06F7/00
    • B60T8/1755B60T8/885B60T2260/08B60T2270/402B60W50/029B62D6/00
    • Provided is a vehicle motion control system that comprises a plurality of vehicle behavior control units that are controlled in a mutually coordinated manner, and is configured to operate as designed even when one of the vehicle motion control units should fail. If a RTC-ECU (61) has ceased a control action thereof owing to a failure thereof, a VSA-ECU (31) retains the last received coordination control signal from the RTC-ECU in EEPROM (37) so that the VSA-ECU (31) is enabled to continue the coordinated control according to the retained coordination control signal. At the same time, the VSA-ECU (31) transmits the coordination control signal retained in the EEPROM onto a CAN so that the transmitted coordination control signal may be used by other ECUS of other vehicle behavior control units such as an ATTS-ECU (41) and a STG-ECU (51). In this manner, the behavior of the vehicle may be optimized by the coordination control of the VSA unit and other vehicle behavior control units.
    • 提供一种车辆运动控制系统,其包括以相互协调的方式控制的多个车辆行为控制单元,并且被构造成即使当车辆运动控制单元之一失败时也被设计成运行。 如果RTC-ECU(61)由于故障而停止其控制动作,则VSA-ECU(31)将来自RTC-ECU的最后接收的协调控制信号保持在EEPROM(37)中,使得VSA-ECU (31)能够根据所保留的协调控制信号继续协调控制。 同时,VSA-ECU(31)将保存在EEPROM中的协调控制信号发送到CAN上,使得发送的协调控制信号可以被其他车辆行为控制单元(例如ATTS-ECU(其它) 41)和STG-ECU(51)。 以这种方式,可以通过VSA单元和其他车辆行为控制单元的协调控制来优化车辆的行为。
    • 6. 发明授权
    • Steering system for rear wheels of vehicle
    • 车辆后轮转向系统
    • US08364350B2
    • 2013-01-29
    • US12918515
    • 2009-02-10
    • Takashi YanagiYutaka HoriuchiHiroaki Sasaki
    • Takashi YanagiYutaka HoriuchiHiroaki Sasaki
    • A01B19/00
    • B62D7/159B60G7/006B60G2200/44B62D7/146
    • A steering system for rear wheels of a vehicle without a dead zone in the vicinity of the steering wheel zero. The steering system includes a steering controller and control units that control the rear wheels to be steered in accordance with the steering angle of the steering wheel. The steering system performs a reduction control to provide a smaller steering control amount for the rear wheels in a range where a steering angle becomes smaller than a predetermined value, compared to a steering control amount for the rear wheels in the other ranges of the steering angle. When an angle speed of the steering angle becomes greater than a predetermined value, the steering system performs no reduction control or the reduction control with less reduced steering control amount for the rear wheels even in the range where the steering angle becomes smaller than the predetermined value.
    • 用于在方向盘附近没有死区的车辆的后轮的转向系统零。 转向系统包括转向控制器和控制单元,该控制单元根据方向盘的转向角来控制后轮的转向。 与转向角的其他范围内的后轮的转向控制量相比,转向系统执行减速控制,以在转向角变得小于预定值的范围内为后轮提供较小的转向控制量 。 当转向角的角速度大于预定值时,即使在转向角小于预定值的范围内,转向系统也不执行减速控制或后轮转向控制量少的减速控制 。
    • 7. 发明授权
    • Steering system
    • 转向系统
    • US08051942B2
    • 2011-11-08
    • US12326365
    • 2008-12-02
    • Hiroaki SasakiYutaka HoriuchiTakashi Yanagi
    • Hiroaki SasakiYutaka HoriuchiTakashi Yanagi
    • B62D5/06
    • B62D7/146B62D17/00
    • The present invention improves response characteristics in turning traveling of a vehicle while traveling stability at the time of turning is kept. The present invention provides a system in which toe angles of left and right rear wheels are controlled based on a steering angular velocity, not a steering angle of a steering. In a steering system in which toe angles of left and right rear wheels are controlled independently, a steering angular velocity is calculated from a steering angle, and toe angle changers are controlled to tilt the toe angle of the right rear wheel to the left when the steering angular velocity is on the left side, and is controlled to tilt the toe angle of the left rear wheel to the left when the steering angular velocity is on the right side.
    • 本发明在保持车辆转弯时的行驶稳定性的同时提高了车辆行驶中的响应特性。 本发明提供了一种系统,其中基于转向角速度而不是转向的转向角来控制左后轮和后轮的趾角。 在独立地控制左右后轮的趾角的转向系统中,从转向角计算转向角速度,并且控制脚趾角变换器,以使右后轮的脚趾角度向左倾斜, 转向角速度在左侧,并且当转向角速度在右侧时被控制以使左后轮的脚趾角度向左倾斜。
    • 9. 发明授权
    • Steering system
    • 转向系统
    • US07954827B2
    • 2011-06-07
    • US12028279
    • 2008-02-08
    • Kouhei MaruyamaYasuhiro TeradaYutaka HoriuchiNobuo SugitaniTakashi Yanagi
    • Kouhei MaruyamaYasuhiro TeradaYutaka HoriuchiNobuo SugitaniTakashi Yanagi
    • B62D17/00B62D5/04B60G17/016
    • B62D7/146B62D5/0481B62D17/00
    • A steering controller for an electric power steering device 110 includes a base signal computing part 51 for computing a base signal DT in accordance with at least the steering torque; a damper compensation signal computing part 52 for computing a damper compensation signal in accordance with an angular velocity of an electric motor 4 or a speed of steering wheel turn; and an inertia compensation signal computing part 53 for compensating inertia and viscosity in the steering unit. The electric motor is driven by a target signal IM1 obtained by compensating the base signal with a damper compensation signal and an inertia compensation signal, to provide a steering auxiliary force. The target signal of the auxiliary torque is compensated so that a difference between a reference self-aligning torque of front wheel in a front wheel steering vehicle and a self-aligning torque of front wheel in an all-wheel steering vehicle is provided to a driver as a responsive feeling from the steering torque.
    • 用于电动助力转向装置110的转向控制器包括:基本信号计算部51,用于根据至少转向转矩计算基准信号DT; 用于根据电动机4的角速度或方向盘转动的速度计算阻尼器补偿信号的阻尼器补偿信号计算部52; 以及用于补偿转向单元中的惯性和粘度的惯性补偿信号计算部件53。 电动机由通过用阻尼器补偿信号和惯性补偿信号补偿基本信号而获得的目标信号IM1驱动,以提供转向辅助力。 辅助转矩的目标信号被补偿,使得前轮转向车辆中的前轮的参考自动对准转矩与全轮转向车辆中的前轮的自调整扭矩之间的差提供给驾驶员 作为来自转向扭矩的响应感。
    • 10. 发明申请
    • VEHICLE TOE ANGLE CONTROLLER
    • 车辆角度控制器
    • US20110035113A1
    • 2011-02-10
    • US12921916
    • 2009-03-12
    • Takashi Yanagi
    • Takashi Yanagi
    • B62D6/00
    • B62D7/159B60G7/006B60G2200/462B60G2202/42B60G2202/44B60G2204/416B62D6/02B62D7/146B62D17/00
    • It is possible to drive a motor (7) with a high output during a low-speed travel and perform steering with a high resolution during a high-speed travel. An electric power steering device (1) causes the motor (7) to generate an auxiliary torque based on the steering torque specified by a driver for operating steering wheels (9), thereby reducing the steering torque specified by the driver. A control device (10) uses the vehicle speed signal (Vs) from a vehicle speed sensor (11) so as to drive the motor (7) with a high output during a low-speed travel and perform steering with a high resolution during a high-speed travel without increasing the motor output. Moreover, during a low-speed travel, a large steering torque is required and during a high-speed travel, steering should be performed with a high resolution. Thus, the driver's feeling in steering is not affected.
    • 可以在低速行驶期间以高输出驱动电机(7),并在高速行驶期间以高分辨率执行转向。 电动助力转向装置(1)使得电动机(7)基于由用于操作方向盘(9)的驾驶员指定的转向扭矩产生辅助转矩,从而降低驾驶员指定的转向转矩。 控制装置(10)使用来自车速传感器(11)的车速信号(Vs),以便在低速行驶期间以高输出驱动电机(7),并且在 高速行驶,不增加电机输出。 此外,在低速行驶期间,需要大的转向转矩,并且在高速行驶期间,应以高分辨率进行转向。 因此,司机的转向感不受影响。