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    • 1. 发明申请
    • Vehicle steering apparatus
    • 车辆转向装置
    • US20060011404A1
    • 2006-01-19
    • US11132412
    • 2005-05-19
    • Takeshi GotoTatsuo SugitaniRyuichi KurosawaToshiyuki MikidaKenji Tozu
    • Takeshi GotoTatsuo SugitaniRyuichi KurosawaToshiyuki MikidaKenji Tozu
    • B62D5/00
    • B62D6/002
    • In a vehicle steering apparatus, front wheels are controlled to be turned by a computer program processing. A displacement/torque conversion section 51 converts a steering angle θ into a steering torque Td that is in relation of exponential function. A torque/lateral-acceleration conversion section 52, torque/yaw-rate conversion section 53 and torque/curvature conversion section 54 convert into an anticipated lateral acceleration Gd, anticipated yaw rate γd and anticipated turning curvature ρd based upon the steering torque Td. Turning angle conversion sections 55, 56 and 57 calculate target turning angles δg, δy and δp. A turning angle deciding section 58 decides a target turning angle δd among the target turning angles δg, δy and δp according to the detected vehicle speed V. A turning control section 60 controls the steered wheels to be turned into the target turning angle δd. Herewith, the vehicle steering apparatus of the present invention can turn the vehicle so as to be adapted to a man's perception characteristic in all speed areas with respect to an operation on a steering handle by a driver. Therefore, the driver can easily drive the vehicle in all speed areas.
    • 在车辆转向装置中,通过计算机程序处理来控制前轮转动。 位移/转矩转换部51将转向角θ转换为与指数函数关系的转向转矩Td。 基于转向转矩Td,转矩/横向加速度转换部分52,转矩/偏转速率转换部分53和转矩/曲率转换部分54转换成预期的横向加速度Gd,预期的横摆速度gammad和预期转弯曲率。 转角转换部分55,56和57计算目标转向角deltag,deltay和deltap。 转向角决定部58根据检测到的车速V,决定目标转向角deltag,deltay,deltap之中的目标转向角度。转弯控制部60控制转向轮转向目标转向角度deltad。 因此,本发明的车辆转向装置能够相对于驾驶员对转向手柄的操作而使车辆转向所有速度区域中的人的感知特性。 因此,司机可以轻松地在所有速度区域驾驶车辆。
    • 2. 发明授权
    • Vehicle steering apparatus
    • 车辆转向装置
    • US07359778B2
    • 2008-04-15
    • US11132412
    • 2005-05-19
    • Takeshi GotoTatsuo SugitaniRyuichi KurosawaToshiyuki MikidaKenji Tozu
    • Takeshi GotoTatsuo SugitaniRyuichi KurosawaToshiyuki MikidaKenji Tozu
    • B62D5/04
    • B62D6/002
    • In a vehicle steering apparatus, front wheels are controlled to be turned by a computer program processing. A displacement/torque conversion section 51 converts a steering angle θ into a steering torque Td that is in relation of exponential function. A torque/lateral-acceleration conversion section 52, torque/yaw-rate conversion section 53 and torque/curvature conversion section 54 convert into an anticipated lateral acceleration Gd, anticipated yaw rate γd and anticipated turning curvature ρd based upon the steering torque Td. Turning angle conversion sections 55, 56 and 57 calculate target turning angles δg, δγ and δρ. A turning angle deciding section 58 decides a target turning angle δd among the target turning angles δg, δγ and δρ according to the detected vehicle speed V. A turning control section 60 controls the steered wheels to be turned into the target turning angle δd. Herewith, the vehicle steering apparatus of the present invention can turn the vehicle so as to be adapted to a man's perception characteristic in all speed areas with respect to an operation on a steering handle by a driver. Therefore, the driver can easily drive the vehicle in all speed areas.
    • 在车辆转向装置中,通过计算机程序处理来控制前轮转动。 位移/转矩转换部51将转向角θ转换为与指数函数关系的转向转矩Td。 基于转向转矩Td,转矩/横向加速度转换部分52,转矩/偏转速率转换部分53和转矩/曲率转换部分54转换成预期的横向加速度Gd,预期的横摆速度gammad和预期转弯曲率。 转角转换部分55,56和57计算目标转向角deltag,deltagamma和deltarho。 转向角决定部58根据检测到的车速V来判定目标转向角deltag,deltagamma和deltarho之间的目标转向角度。转向控制部60将转向轮转换为目标转向角deltad。 因此,本发明的车辆转向装置能够相对于驾驶员对转向手柄的操作而使车辆转向所有速度区域中的人的感知特性。 因此,司机可以在所有速度区域轻松驾驶车辆。
    • 3. 发明授权
    • Anti-skid control system
    • 防滑控制系统
    • US5375918A
    • 1994-12-27
    • US128757
    • 1993-09-30
    • Kazutaka KuwanaKuniaki OkamotoTsuyoshi YoshidaHiroyuki IchikawaMasaru KamikadoNobuyasu NakanishiTatsuo SugitaniKazunori Sakai
    • Kazutaka KuwanaKuniaki OkamotoTsuyoshi YoshidaHiroyuki IchikawaMasaru KamikadoNobuyasu NakanishiTatsuo SugitaniKazunori Sakai
    • B60T8/66B60T8/1763B60T8/64B60T8/70
    • B60T8/17636
    • The anti-skid control system is capable of performing highly reliable anti-skid control through its accurate estimation of the vehicle speed and proper compensatory control even when sharp braking occurs or in the brake fluid pressure control on road surfaces with a low coefficient of friction likely to cause considerable fluctuations in wheel acceleration. The anti-skid control system is provided with a fluid pressure generating device, a fluid pressure controlling device, a wheel velocity detecting device, a standard speed setting device, a fluid pressure controlling mode setting device which sets either the pressure decrease mode or the pressure hold mode when the wheel velocity declines to a level lower than the standard speed and sets the pressure increase mode when the wheel velocity is equal to or higher than the standard speed. A maximum inflection point detecting device detects the maximum inflection point indicating the maximum value for the shift of the wheel velocity mentioned above from an increase to a decrease when the wheel velocity is not any lower than the standard speed. A fluid pressure controlling mode correcting device switches from the pressure increase mode mentioned above to either the pressure hold mode or the pressure decrease mode when the wheel velocity becomes equal to or higher than the standard speed and also becomes equal to or higher than the wheel velocity at the maximum inflection point.
    • 防滑控制系统能够通过对车速的准确估计和适当的补偿控制来进行高度可靠的防滑控制,即使在发生急剧制动时或者在具有低摩擦系数的路面上的制动液压力控制 引起车轮加速度的相当大的波动。 防滑控制系统设置有流体压力生成装置,流体压力控制装置,车轮速度检测装置,标准速度设定装置,设定压力降低模式或压力的流体压力控制模式设定装置 当车轮速度下降到低于标准速度的水平时设定保持模式,并且当车轮速度等于或高于标准速度时设定压力增加模式。 最大拐点检测装置,当车轮速度不低于标准速度时,检测指示上述车轮速度的最大值从增加到减小的最大拐点。 当车轮速度等于或高于标准速度时,流体压力控制模式校正装置从上述压力增加模式切换到压力保持模式或压力降低模式,并且也变得等于或高于车轮速度 在最大拐点处。
    • 4. 发明授权
    • Vehicle wheel slip control system
    • 车轮滑移控制系统
    • US5019984A
    • 1991-05-28
    • US366656
    • 1989-06-15
    • Syouichi MasakiHiromi MaehataKazunori SakaiTatsuo Sugitani
    • Syouichi MasakiHiromi MaehataKazunori SakaiTatsuo Sugitani
    • B60T8/172B60T8/1755B60T8/58B60T8/66
    • B60T8/172B60T8/58B60T2250/04
    • Sensors detect rotational speeds of respective vehicle wheels. A slip detection reference value is calculated from the detected rotational speeds of the vehicle wheels. Acceptable slip ranges for the respective vehicle wheels are determined in accordance with the calculated slip detection reference value. The rotational speeds of the vehicle wheels are compared with the corresponding acceptable slip ranges respectively. Slip controls of the respective vehicle wheels are performed when the rotational speeds of the vehicle wheels reside outside the corresponding acceptable slip ranges respectively. The highest of at least two of the rotational speeds of the vehicle wheels is selected. Differences between the respective rotational speeds of the vehicle wheels and the selected highest vehicle wheel rotational speed are calculated. The slip detection reference value is corrected in accordance with the respective calculated differences.
    • 传感器检测各车轮的转速。 根据检测到的车轮的转速来计算滑移检测基准值。 根据计算出的滑移检测基准值确定各车轮的可接受的滑移范围。 将车轮的转速分别与相应的可接受的滑移范围进行比较。 当车轮的转速分别位于相应的可接受滑移范围之外时,执行各车轮的滑动控制。 选择车轮的至少两个转速中的最高值。 计算车轮的相应转速与所选择的最高车轮转速之间的差异。 滑差检测基准值根据各自计算的差异被校正。
    • 6. 发明授权
    • Anti-skid control system for an automotive vehicle
    • 汽车防滑控制系统
    • US5267162A
    • 1993-11-30
    • US946776
    • 1992-09-18
    • Hiroyuki IchikawaKazutaka KuwanaKuniaki OkamotoTsuyoshi YoshidaMasaru KamikadoNobuyasu NakanishiTatsuo SugitaniKazunori Sakai
    • Hiroyuki IchikawaKazutaka KuwanaKuniaki OkamotoTsuyoshi YoshidaMasaru KamikadoNobuyasu NakanishiTatsuo SugitaniKazunori Sakai
    • B60T8/1763B60T8/32B60T8/34B60T8/40B60T8/42B60T8/70
    • B60T8/17636B60T8/328B60T8/344B60T8/4054B60T8/4225
    • An anti-skid control system for an automotive vehicle is provided with an actuator which is disposed in a hydraulic circuit between a pressure generator and a wheel brake cylinder. The actuator is arranged to control the hydraulic braking pressure applied to the wheel brake cylinder. In response to a wheel speed detected by a wheel speed detector, it is determined in an electronic control unit whether a condition for decreasing the braking pressure is effected. When this condition is effected, the decrease mode is provided in the control unit. When a predetermined period of time lapses after the decrease mode is initiated, the decrease mode is turned to a pressure control mode for applying the braking pressure to prevent the road wheel from being locked. When the condition is not effected during the predetermined period of time after the decrease mode is initiated, the decrease mode is turned to a direct supply mode for directly communicating the pressure generator with the wheel brake cylinder. Consequently, the lack of braking force caused by the delay of timing for decreasing the hydraulic braking pressure due to an erroneous detection of a locking condition of the road wheel on a rough road is effectively prevented.
    • 一种用于机动车辆的防滑控制系统设置有致动器,该致动器设置在压力发生器和车轮制动缸之间的液压回路中。 致动器被布置成控制施加到车轮制动缸的液压制动压力。 响应于由车轮速度检测器检测到的车轮速度,在电子控制单元中确定是否实现用于降低制动压力的条件。 当该条件成立时,在控制单元中提供减小模式。 当在减小模式开始之后经过预定的时间段时,将减小模式转到用于施加制动压力的压力控制模式以防止公路被锁定。 当在开始减速模式之后的预定时间段内不影响条件时,减速模式转为用于将压力发生器与车轮制动缸直接连通的直接供给模式。 因此,有效地防止了由于在粗糙路面上错误地检测到车轮的锁定状况而导致的用于降低液压制动压力的定时延迟所引起的制动力的不足。