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1. 发明授权

US08180543B2 Movement stabilizing apparatus for combination vehicle 有权
标题翻译：组合车辆运动稳定装置
公开(公告)号：US08180543B2
公开(公告)日：2012-05-15
申请号：US12163182
申请日：2008-06-27
申请人： Tomoyuki Futamura , Takeshi Kojima , Kazuaki Miyata
发明人： Tomoyuki Futamura , Takeshi Kojima , Kazuaki Miyata
IPC分类号： G06F7/70
CPC分类号： B60T8/1755 , B60T8/1708 , B60T2230/06 , B60T2250/06
摘要： A movement stabilizing control ECU 25 includes a differential unit 25a, a cycle calculation unit 25b, a time constant/gain setting portion 25c, a first-order lag processing unit 25d, a pendulum movement detection unit 25e, a control amount calculation portion 25f and a control amount output unit 25g. The time constant/gain setting portion 25c sets a time constant τ and a gain K used at the time of subjecting a yaw acceleration ω′ which is a time-differential value of a yaw rate ω to the first-order lag processing at the first-order lag processing unit 25d, with reference to a function or data of a look-up table, for example, depending on the cycle or the frequency of the yaw acceleration ω′ due to the pendulum movement. The control amount calculation portion 25f multiplies the amplitude of a yaw acceleration ωd′ outputted from the first-order lag processing unit 25d by a predetermined constant to calculate a yaw control amount with a phase in opposite to that of the yaw acceleration ωd′ and outputs the yaw control amount to the control amount output unit 25g.
摘要翻译：运动稳定控制ECU25包括差动单元25a，周期计算单元25b，时间常数/增益设定部25c，一阶滞后处理单元25d，摆动检测单元25e，控制量计算部25f和控制量输出单元25g。时间常数/增益设定部25c将作为偏航率ω的时差微分值的偏航加速度ω'和第一级滞后处理中使用的增益K设定为时间常数τ和增益K. 例如，根据摆动运动引起的偏航加速度ω'的周期或频率，参考查询表的功能或数据，进行时滞处理单元25d。控制量计算部分25f将从一级滞后处理单元25d输出的横摆加速度ωd'的振幅乘以预定常数以计算与偏航加速度ωd'相反的相位的偏航控制量，并输出到控制量输出单元25g的偏航控制量。

2. 发明申请

US20090005946A1 MOVEMENT STABILIZING APPARATUS FOR COMBINATION VEHICLE 有权
标题翻译：运动稳定装置组合车辆
公开(公告)号：US20090005946A1
公开(公告)日：2009-01-01
申请号：US12163182
申请日：2008-06-27
申请人： Tomoyuki Futamura , Takeshi Kojima , Kazuaki Miyata
发明人： Tomoyuki Futamura , Takeshi Kojima , Kazuaki Miyata
IPC分类号： B60T8/1755
CPC分类号： B60T8/1755 , B60T8/1708 , B60T2230/06 , B60T2250/06
摘要： A movement stabilizing control ECU 25 includes a differential unit 25a, a cycle calculation unit 25b, a time constant/gain setting portion 25c, a first-order lag processing unit 25d, a pendulum movement detection unit 25e, a control amount calculation portion 25f and a control amount output unit 25g. The time constant/gain setting portion 25c sets a time constant τ and a gain K used at the time of subjecting a yaw acceleration ω′ which is a time-differential value of a yaw rate ω to the first-order lag processing at the first-order lag processing unit 25d, with reference to a function or data of a look-up table, for example, depending on the cycle or the frequency of the yaw acceleration ω′ due to the pendulum movement. The control amount calculation portion 25f multiplies the amplitude of a yaw acceleration ωd′ outputted from the first-order lag processing unit 25d by a predetermined constant to calculate a yaw control amount with a phase in opposite to that of the yaw acceleration ωd′ and outputs the yaw control amount to the control amount output unit 25g.
摘要翻译：运动稳定控制ECU25包括差动单元25a，周期计算单元25b，时间常数/增益设定部25c，一阶滞后处理单元25d，摆动检测单元25e，控制量计算部25f和控制量输出单元25g。时间常数/增益设定部分25c将作为第一级滞后处理的偏航率ω的时间差值的偏航加速度ω''所使用的时间常数τ和增益K设定为第一阶滞后处理例如，根据由摆锤运动引起的偏航加速度ω''的周期或频率，参考查询表的功能或数据， - 阶滞后处理单元25d。控制量计算部分25f将从一级滞后处理单元25d输出的偏航加速度ωgad'的振幅乘以预定常数以计算与偏航加速度ωgad'相反的相位的偏航控制量，并且输出到控制量输出单元25g的偏航控制量。

3. 发明授权

US09260096B2 Brake fluid pressure control apparatus for vehicle 有权
标题翻译：车辆制动液压力控制装置
公开(公告)号：US09260096B2
公开(公告)日：2016-02-16
申请号：US13401205
申请日：2012-02-21
申请人： Kazuaki Miyata , Takeshi Kojima , Tomoyuki Futamura
发明人： Kazuaki Miyata , Takeshi Kojima , Tomoyuki Futamura
IPC分类号： B60T8/1755 , B60T13/66 , B60T7/04 , B60T13/68
CPC分类号： B60T8/17554 , B60T7/042 , B60T13/662 , B60T13/686 , B60T2230/03
摘要： A brake fluid pressure control apparatus for a vehicle includes a parameter calculation unit configured to calculate a rollover detection parameter; and a steering maneuver determination unit configured to determine whether an abrupt steering maneuver is made. The parameter calculation unit is configured to calculate a first composition roll angle as the rollover detection parameter, by combining at a predetermined weight assignment ratio a first roll angle equivalent to an actual roll angle with a second roll angle obtained using a parameter which changes with a phase earlier than the first roll angle, and to calculate the first composition roll angle by changing the weight assignment ratio such that a weight of the second roll angle is higher when the steering maneuver determination unit determines that an abrupt steering maneuver is made than when the steering maneuver determination unit determines that the abrupt steering maneuver is not made.
摘要翻译：一种用于车辆的制动液压控制装置，包括：参数计算单元，被配置为计算翻转检测参数; 以及被配置为确定是否进行突然的转向操纵的转向操纵确定单元。参数计算单元被配置为计算第一组合滚动角度作为翻转检测参数，通过以预定的重量分配比结合与实际滚动角度相等的第一滚动角度与使用以下变化的参数获得的第二滚动角度并且通过改变重量分配比率来计算第一组合滚动角度，使得当转向操纵确定单元确定进行突然的转向操纵时第二滚动角度的重量高于当第二滚动角度的重量时转向机动确定单元确定没有进行突然的转向操纵。

4. 发明授权

US08666626B2 Turning control device for vehicle 有权
标题翻译：车辆控制装置
公开(公告)号：US08666626B2
公开(公告)日：2014-03-04
申请号：US13582415
申请日：2011-03-04
申请人： Tomoyuki Futamura , Takeshi Kojima , Kazutaka Ohmura
发明人： Tomoyuki Futamura , Takeshi Kojima , Kazutaka Ohmura
IPC分类号： B60T8/00 , B60T8/1755 , B60W40/114 , G05D1/08
CPC分类号： B60T8/1755
摘要： A turning control device for a vehicle which generates a yaw moment in the body of a vehicle includes: a steering wheel turning amount detection device which detects a steering wheel turning amount of the vehicle; a vehicle speed detection device which detects a vehicle speed of the vehicle; a feedforward control amount calculation unit which calculates a feedforward control amount based on at least the steering wheel turning amount; a braking force control amount calculation unit which determines a braking force control amount based on the feedforward control amount; a braking control device which controls the braking force based on the braking force control amount; and a steering direction determination device which determines whether a steering direction is an incremental steering direction or a returning-steering direction. The feedforward control amount calculation unit includes a feedforward control amount correction unit which corrects the feedforward control amount.
摘要翻译：一种车辆的转向控制装置，其在车体中产生横摆力矩，包括：方向盘转动量检测装置，其检测车辆的方向盘转动量; 检测车辆的车速的车速检测装置; 前馈控制量计算单元，至少基于所述方向盘转动量来计算前馈控制量; 制动力控制量计算单元，其基于前馈控制量确定制动力控制量; 制动控制装置，其基于制动力控制量来控制制动力; 以及确定转向方向是增量转向方向还是返回转向方向的转向方向确定装置。前馈控制量计算单元包括校正前馈控制量的前馈控制量校正单元。

5. 发明申请

US20120330526A1 TURNING CONTROL DEVICE FOR VEHICLE 审中-公开
标题翻译：车辆转向控制装置
公开(公告)号：US20120330526A1
公开(公告)日：2012-12-27
申请号：US13582137
申请日：2011-03-04
申请人： Tomoyuki Futamura , Takeshi Kojima , Kazutaka Ohmura
发明人： Tomoyuki Futamura , Takeshi Kojima , Kazutaka Ohmura
IPC分类号： B60T8/1755
CPC分类号： B60T8/1755
摘要： A turning control device for a vehicle includes: a first braking force control amount calculation unit that determines a first braking force control amount on the basis of detection signals of a steering amount detection unit and a detection unit, a second braking force control amount calculation unit that calculates a yaw rate deviation between a standard yaw rate and an actual yaw rate detected by the yaw rate detection unit and determines a second braking force control amount so as to cancel out the yaw rate deviation, and a braking control unit that controls the braking force on the basis of a total braking force control amount acquired by either adding or multiplying the first braking force control amount and the second braking force control amount.
摘要翻译：车辆的转向控制装置包括：第一制动力控制量计算单元，其基于转向量检测单元和检测单元的检测信号确定第一制动力控制量;第二制动力控制量计算单元计算由横摆率检测单元检测到的标准横摆率和实际横摆角速度之间的偏航率偏差，并且确定第二制动力控制量以抵消偏航率偏差;以及制动控制单元，其控制制动基于通过增加或乘以第一制动力控制量和第二制动力控制量而获得的总制动力控制量的基础上的力。

6. 发明申请

US20120316733A1 VEHICLE TURNING CONTROL DEVICE 审中-公开
标题翻译：车辆转向控制装置
公开(公告)号：US20120316733A1
公开(公告)日：2012-12-13
申请号：US13580759
申请日：2011-03-02
申请人： Tomoyuki Futamura , Takeshi Kojima , Kazutaka Ohmura
发明人： Tomoyuki Futamura , Takeshi Kojima , Kazutaka Ohmura
IPC分类号： B60T8/1755 , B62D6/00
CPC分类号： B60T8/1755
摘要： A vehicle turning control device of the present invention includes: a correcting section that decides a correction amount for correcting a first standard yaw rate in a direction of increase, and calculates a second standard yaw rate from the first standard yaw rate in accordance with this correction amount; a braking force control amount operating section that calculates a yaw rate deviation between the second standard yaw rate and the actual detected yaw rate, and decides a braking force control amount in a direction which cancels out the yaw rate deviation; and a braking control device that controls the braking force based on the braking force control amount. The correcting section is provided with a plurality of correction regulating sections that, when they determine that a vehicle is in a predetermined running state, decrease the correction amount.
摘要翻译：本发明的车辆转向控制装置包括：校正部，其判定在增大方向上校正第一标准横摆率的校正量，并根据该校正从第一标准横摆角速度计算第二标准横摆角速度量; 制动力控制量操作部，其计算所述第二标准横摆率与所述实际检测到的横摆率之间的横摆率偏差，并且决定在偏离所述偏航率偏差的方向上的制动力控制量; 以及制动控制装置，其基于制动力控制量来控制制动力。校正部设有多个校正限制部，当判定车辆处于预定的行驶状态时，减少校正量。

7. 发明申请

US20120316745A1 TURNING CONTROL DEVICE FOR VEHICLE 有权
标题翻译：车辆转向控制装置
公开(公告)号：US20120316745A1
公开(公告)日：2012-12-13
申请号：US13580798
申请日：2011-03-04
申请人： Tomoyuki Futamura , Takeshi Kojima , Kazutaka Ohmura
发明人： Tomoyuki Futamura , Takeshi Kojima , Kazutaka Ohmura
IPC分类号： B60T8/1755
CPC分类号： B60T8/1755
摘要： A turning control device for a vehicle includes: a first standard yaw rate calculation unit that calculates a first standard yaw rate on the basis of detection signals of the lateral acceleration detection unit and the vehicle speed detection unit, a correction unit that corrects the first standard yaw rate, in an increasing direction on the basis of detection signals of a steering amount detection unit and the vehicle speed detection unit, and calculates a second standard yaw rate, a braking force control amount calculation unit that calculates a yaw rate deviation that is a deviation between the second standard yaw rate and an actual yaw rate, which is detected by the yaw rate detection unit, and determines a braking force control amount so as to cancel out the yaw rate deviation, and a braking control unit that controls the braking force on the basis of the braking force control amount determined by the braking force control amount calculation unit.
摘要翻译：一种用于车辆的转向控制装置包括：第一标准横摆率计算单元，其基于横向加速度检测单元和车辆速度检测单元的检测信号计算第一标准横摆角速度;校正单元，其校正第一标准基于转向量检测单元和车速检测单元的检测信号在增加的方向上的偏航率，并计算第二标准横摆率;制动力控制量计算单元，其计算作为由横摆率检测单元检测到的第二标准横摆率与实际横摆角速度之间的偏差，并且确定制动力控制量以抵消偏航率偏差;以及制动控制单元，其控制制动力基于由制动力控制量计算单元确定的制动力控制量。

8. 发明授权

US09233674B2 Turning control device for vehicle 有权
标题翻译：车辆控制装置
公开(公告)号：US09233674B2
公开(公告)日：2016-01-12
申请号：US13580798
申请日：2011-03-04
申请人： Tomoyuki Futamura , Takeshi Kojima , Kazutaka Ohmura
发明人： Tomoyuki Futamura , Takeshi Kojima , Kazutaka Ohmura
IPC分类号： A01B69/00 , B62D6/00 , B62D11/00 , B62D12/00 , B63G8/20 , B63H25/04 , G05D1/00 , G06F7/00 , G06F17/00 , G06F19/00 , B60T8/1755
CPC分类号： B60T8/1755
摘要： A turning control device for a vehicle includes: a first standard yaw rate calculation unit that calculates a first standard yaw rate on the basis of detection signals of the lateral acceleration detection unit and the vehicle speed detection unit, a correction unit that corrects the first standard yaw rate, in an increasing direction on the basis of detection signals of a steering amount detection unit and the vehicle speed detection unit, and calculates a second standard yaw rate, a braking force control amount calculation unit that calculates a yaw rate deviation that is a deviation between the second standard yaw rate and an actual yaw rate, which is detected by the yaw rate detection unit, and determines a braking force control amount so as to cancel out the yaw rate deviation, and a braking control unit that controls the braking force on the basis of the braking force control amount determined by the braking force control amount calculation unit.
摘要翻译：一种用于车辆的转向控制装置包括：第一标准横摆率计算单元，其基于横向加速度检测单元和车辆速度检测单元的检测信号计算第一标准横摆角速度;校正单元，其校正第一标准基于转向量检测单元和车速检测单元的检测信号在增加的方向上的偏航率，并计算第二标准横摆率;制动力控制量计算单元，其计算作为由横摆率检测单元检测到的第二标准横摆率与实际横摆角速度之间的偏差，并且确定制动力控制量以抵消偏航率偏差;以及制动控制单元，其控制制动力基于由制动力控制量计算单元确定的制动力控制量。

9. 发明申请

US20120323458A1 TURNING CONTROL DEVICE FOR VEHICLE 有权
标题翻译：车辆转向控制装置
公开(公告)号：US20120323458A1
公开(公告)日：2012-12-20
申请号：US13582415
申请日：2011-03-04
申请人： Tomoyuki Futamura , Takeshi Kojima , Kazutaka Ohmura
发明人： Tomoyuki Futamura , Takeshi Kojima , Kazutaka Ohmura
IPC分类号： B60T8/1755
CPC分类号： B60T8/1755
摘要： A turning control device for a vehicle which generates a yaw moment in the body of a vehicle includes: a steering wheel turning amount detection device which detects a steering wheel turning amount of the vehicle; a vehicle speed detection device which detects a vehicle speed of the vehicle; a feedforward control amount calculation unit which calculates a feedforward control amount based on at least the steering wheel turning amount; a braking force control amount calculation unit which determines a braking force control amount based on the feedforward control amount; a braking control device which controls the braking force based on the braking force control amount; and a steering direction determination device which determines whether a steering direction is an incremental steering direction or a returning-steering direction. The feedforward control amount calculation unit includes a feedforward control amount correction unit which corrects the feedforward control amount.
摘要翻译：一种车辆的转向控制装置，其在车体中产生横摆力矩，包括：方向盘转动量检测装置，其检测车辆的方向盘转动量; 检测车辆的车速的车速检测装置; 前馈控制量计算单元，至少基于所述方向盘转动量来计算前馈控制量; 制动力控制量计算单元，其基于前馈控制量确定制动力控制量; 制动控制装置，其基于制动力控制量来控制制动力; 以及确定转向方向是增量转向方向还是返回转向方向的转向方向确定装置。前馈控制量计算单元包括校正前馈控制量的前馈控制量校正单元。

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