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1. 发明授权

US06301540B1 System for detecting difference in road level 有权
标题翻译：检测路面差异的系统
公开(公告)号：US06301540B1
公开(公告)日：2001-10-09
申请号：US09317632
申请日：1999-05-25
申请人： Toshihisa Kato , Masaki Banno , Yasuhiro Abe , Shinji Tsugawa , Hiroyuki Matsubayashi
发明人： Toshihisa Kato , Masaki Banno , Yasuhiro Abe , Shinji Tsugawa , Hiroyuki Matsubayashi
IPC分类号： B60T858
CPC分类号： B60T8/173 , B60T8/172
摘要： The present invention is directed to a system for detecting a difference in level on a road, wherein an acceleration sensor is provided for detecting an acceleration of a vehicle, and a wheel speed sensor is provided for detecting a wheel speed of at least one wheel of the vehicle. A wheel acceleration is calculated continuously on the basis of the wheel speed detected by the wheel speed sensor. It is determined if a variation of the signal output from the acceleration sensor is greater than a predetermined range. And, it is determined if the calculated wheel acceleration varied in the same direction as that of the variation of the signal output from the acceleration sensor, and then varied in the reverse direction to exceed a predetermined reference value. On the basis of the result of each determination, it is determined if the wheel ran over the difference in level on the road. If the affirmative result is obtained in each determination, the difference in level on the road can be detected.
摘要翻译：本发明涉及一种用于检测道路上的水平差的系统，其中提供了用于检测车辆的加速度的加速度传感器，并且设置有用于检测至少一个车轮的车轮速度的车轮速度传感器机动车。基于由车轮速度传感器检测到的车轮速度连续计算车轮加速度。确定从加速度传感器输出的信号的变化是否大于预定范围。并且，确定所计算的车轮加速度是否与从加速度传感器输出的信号的变化方向相同的方向变化，然后在相反方向上变化超过预定的参考值。根据每个确定的结果，确定车轮是否超过道路上的水平差。如果在每个确定中获得肯定结果，则可以检测道路上的等级差异。

2. 发明授权

US06260935B1 Unpaved road detection system 有权
标题翻译：未铺铺道路检测系统
公开(公告)号：US06260935B1
公开(公告)日：2001-07-17
申请号：US09218621
申请日：1998-12-22
申请人： Yasuhiro Abe , Masaki Banno , Toshihisa Kato , Shinji Tsugawa , Koichi Kondo , Yasushi Kobayashi , Hiroyuki Matsubayashi
发明人： Yasuhiro Abe , Masaki Banno , Toshihisa Kato , Shinji Tsugawa , Koichi Kondo , Yasushi Kobayashi , Hiroyuki Matsubayashi
IPC分类号： B60T832
CPC分类号： B60T8/344 , B60T8/17616 , B60T2210/16
摘要： The present invention is directed to an unpaved road detection system wherein a slip rate is calculated on the basis of wheel speeds detected by wheel speed sensors and a vehicle speed detected by a vehicle speed detection device. A linear acceleration sensor is provided for detecting an acceleration of the vehicle in a longitudinal direction thereof to produce a signal linearly proportional to the detected acceleration. A variation of the signal produced by the linear acceleration sensor corresponding to the variation of the slip rate is calculated. The variation of the signal is compared with a reference value. If the variation exceeds the reference value, it is determined that the vehicle is traveling on an unpaved road. The variation may be provided by calculating a difference between a first signal detected by the linear acceleration sensor when the slip rate exceeded a first reference rate, and a second signal detected by the linear acceleration sensor when the slip rate exceeded a second reference rate.
摘要翻译：本发明涉及一种未铺设道路检测系统，其中，基于由车轮速度传感器检测到的车轮速度和由车速检测装置检测的车速来计算打滑率。提供线性加速度传感器，用于检测车辆在其纵向上的加速度，以产生与检测到的加速度成线性比例的信号。计算由对应于滑移率的变化的线性加速度传感器产生的信号的变化。将信号的变化与参考值进行比较。如果变化超过参考值，则确定车辆在未铺设的道路上行驶。可以通过当滑差率超过第一参考速率时计算由线性加速度传感器检测到的第一信号与当滑移速率超过第二参考速率时由线性加速度传感器检测到的第二信号之间的差异来提供变化。

3. 发明申请

US20050027426A1 Vehicle motion control device 失效
标题翻译：车辆运动控制装置
公开(公告)号：US20050027426A1
公开(公告)日：2005-02-03
申请号：US10899117
申请日：2004-07-27
申请人： Toshihisa Kato , Junya Nagaya , Shinji Tsugawa
发明人： Toshihisa Kato , Junya Nagaya , Shinji Tsugawa
IPC分类号： B60T8/1755 , B60R16/02 , B60T8/172 , B60T8/24 , B60T8/58 , B60W40/10 , B62D37/00 , G06F19/00
CPC分类号： B60T8/17554 , B60G2800/0124 , B60G2800/215 , B60G2800/85 , B60G2800/922 , B60G2800/952 , B60T2230/03 , B60W10/184 , B60W30/04 , B60W30/18172 , B60W50/035 , B60W2030/043 , B60W2050/0094 , B60W2520/125 , B60W2710/105 , B60W2720/403
摘要： The vehicle motion control device of the invention utilizes that the detected lateral acceleration Gyd based upon the output from the lateral acceleration sensor takes a value obtained by adding a value corresponding to the roll angle to the actual lateral acceleration based upon the centrifugal force exerted on the vehicle and that the actual lateral acceleration can accurately be calculated and estimated, as the estimated lateral acceleration Gye, based upon the output from the yaw rate sensor, whereby this device judges that there is a tendency in which an excessive roll angle occurs on the vehicle to thereby execute the predetermined roll-over preventing control, when the increasing speed of the detected lateral acceleration Gyd exceeds the first predetermined value and the increasing speed of the estimated lateral acceleration Gye becomes smaller than the second predetermined value (
摘要翻译：本发明的车辆运动控制装置利用基于来自横向加速度传感器的输出的检测到的横向加速度Gyd，取得通过将对应于侧倾角的值与实际的横向加速度相加而获得的值，并且可以根据来自横摆率传感器的输出，精确地计算和估计实际的横向加速度作为估计的横向加速度Gye，由此该装置判断出存在车辆上出现过度侧倾角的倾向从而执行预定的翻滚防止控制，当检测到的横向加速度Gyd的增加速度超过第一预定值并且估计横向加速度Gye的增加速度变得小于第二预定值（<第一预定值）时，即当估计的横向加速度Gye的值为。时当检测到的横向加速度Gyd增加时，从增加状态到大致恒定状态。

4. 发明授权

US07630816B2 Motion control apparatus for vehicle 有权
标题翻译：车辆运动控制装置
公开(公告)号：US07630816B2
公开(公告)日：2009-12-08
申请号：US11594921
申请日：2006-11-09
申请人： Toshio Yasutake , Toshihisa Kato , Shinji Tsugawa
发明人： Toshio Yasutake , Toshihisa Kato , Shinji Tsugawa
IPC分类号： B60T8/58 , G06F19/00
CPC分类号： B60T8/17554 , B60T2230/03
摘要： In rollover prevention control, an inner front wheel braking force is generated only in a front wheel located on the radially inner side of a turning locus in a relatively early stage where the absolute value of actual lateral acceleration is between a first value and a second value. When the absolute value becomes greater than the second value, in addition to the inner front wheel braking force, an inner rear wheel braking force is generated in a rear wheel located on the radially inner side of the turning locus. When the absolute value becomes greater than a third value, in addition to the inner rear wheel breaking wheel, an outer wheel braking force is generated in the front wheel located on the radially outer side of the turning locus. Thus, an increase in the roll angle is suppressed, and a desired turning locus tracing performance is maintained satisfactorily.
摘要翻译：在防翻倒控制中，在实际横向加速度的绝对值处于第一值和第二值之间的相对较早的阶段中，仅在位于转动轨迹的径向内侧的前轮中产生内侧前轮制动力。当绝对值变得大于第二值时，除了内部前轮制动力之外，在位于转动轨迹的径向内侧的后轮中产生内部后轮制动力。当绝对值变得大于第三值时，除了内部后轮破坏轮之外，在位于转向轨迹的径向外侧的前轮中产生外轮制动力。因此，能够抑制侧倾角的增加，令人满意地保持理想的转弯轨迹的追踪性能。

5. 发明申请

US20050017578A1 Vehicle motion control device 失效
标题翻译：车辆运动控制装置
公开(公告)号：US20050017578A1
公开(公告)日：2005-01-27
申请号：US10895117
申请日：2004-07-21
申请人： Toshihisa Kato , Junya Nagaya , Shinji Tsugawa
发明人： Toshihisa Kato , Junya Nagaya , Shinji Tsugawa
IPC分类号： B60T8/1755 , B60T8/00 , B60T8/24 , B60T8/48 , B60T8/58 , B60T8/60
CPC分类号： B60T8/4836 , B60G2800/0124 , B60G2800/922 , B60T8/17554 , B60T2230/03
摘要： This device sets, upon executing only a roll-over preventing control, roll-over preventing braking force exerted on a front wheel at the outer side of the turning direction based upon a table value obtained through an absolute value |Gy| of an actual lateral acceleration and a predetermined table, and sets, upon executing only an US restraining control, US restraining braking force exerted on a rear wheel at the inner side of the turning direction based upon a table value obtained through an absolute value |ΔGy| of a lateral acceleration deviation, that is a deviation between a target lateral acceleration and the actual lateral acceleration, and a predetermined table. In case where the roll-over preventing control and the US restraining control are simultaneously executed, the roll-over preventing braking force is similarly set and the US restraining braking force is set based upon a value obtained by multiplying the value based upon the table value by a predetermined US restraining braking force damping factor α(0≦α≦1), thereby giving priority to the roll-over preventing control.
摘要翻译：该装置在仅执行防翻倒控制时，基于通过绝对值| Gy |获得的表值，设定施加在转向外侧的前轮上的防翻倒制动力。实际横向加速度和预定表，并且在仅执行美国限制控制时，基于通过绝对值| DeltaGy获得的表值，设定施加在转向内侧的后轮上的美制约力 | 横向加速度偏差，即目标横向加速度和实际横向加速度之间的偏差，以及预定表格。在同时进行防翻倒控制和美制抑制控制的情况下，同样地设定防翻制动力，并且基于根据表值乘以该值而获得的值来设定美制限制制动力通过预定的美制限制制动力阻尼因子α（0 <α1= 1），从而优先考虑防翻倒控制。

6. 发明授权

US07392127B2 Vehicle motion control device 失效
标题翻译：车辆运动控制装置
公开(公告)号：US07392127B2
公开(公告)日：2008-06-24
申请号：US10899117
申请日：2004-07-27
申请人： Toshihisa Kato , Junya Nagaya , Shinji Tsugawa
发明人： Toshihisa Kato , Junya Nagaya , Shinji Tsugawa
IPC分类号： G06F19/00 , B60T8/24
CPC分类号： B60T8/17554 , B60G2800/0124 , B60G2800/215 , B60G2800/85 , B60G2800/922 , B60G2800/952 , B60T2230/03 , B60W10/184 , B60W30/04 , B60W30/18172 , B60W50/035 , B60W2030/043 , B60W2050/0094 , B60W2520/125 , B60W2710/105 , B60W2720/403
摘要： The vehicle motion control device of the invention utilizes that the detected lateral acceleration Gyd based upon the output from the lateral acceleration sensor takes a value obtained by adding a value corresponding to the roll angle to the actual lateral acceleration based upon the centrifugal force exerted on the vehicle and that the actual lateral acceleration can accurately be calculated and estimated, as the estimated lateral acceleration Gye, based upon the output from the yaw rate sensor, whereby this device judges that there is a tendency in which an excessive roll angle occurs on the vehicle to thereby execute the predetermined roll-over preventing control, when the increasing speed of the detected lateral acceleration Gyd exceeds the first predetermined value and the increasing speed of the estimated lateral acceleration Gye becomes smaller than the second predetermined value (
摘要翻译：本发明的车辆运动控制装置利用基于来自横向加速度传感器的输出的检测到的横向加速度Gyd，取得通过将对应于侧倾角的值与实际的横向加速度相加而获得的值，并且可以根据来自横摆率传感器的输出，精确地计算和估计实际的横向加速度作为估计的横向加速度Gye，由此该装置判断出存在车辆上出现过度侧倾角的倾向从而执行预定的翻滚防止控制，当检测到的横向加速度Gyd的增加速度超过第一预定值并且估计横向加速度Gye的增加速度变得小于第二预定值（<第一预定值）时，即当估计的横向加速度Gye的值为。时当检测到的横向加速度Gyd增加时，从增加状态到大致恒定状态。

7. 发明申请

US20070112498A1 Motion control apparatus for vehicle 有权
标题翻译：车辆运动控制装置
公开(公告)号：US20070112498A1
公开(公告)日：2007-05-17
申请号：US11594921
申请日：2006-11-09
申请人： Toshio Yasutake , Toshihisa Kato , Shinji Tsugawa
发明人： Toshio Yasutake , Toshihisa Kato , Shinji Tsugawa
IPC分类号： B60T8/24
CPC分类号： B60T8/17554 , B60T2230/03
摘要： In rollover prevention control, an inner front wheel braking force is generated only in a front wheel located on the radially inner side of a turning locus in a relatively early stage where the absolute value of actual lateral acceleration is between a first value and a second value. When the absolute value becomes greater than the second value, in addition to the inner front wheel braking force, an inner rear wheel braking force is generated in a rear wheel located on the radially inner side of the turning locus. When the absolute value becomes greater than a third value, in addition to the inner rear wheel breaking wheel, an outer wheel braking force is generated in the front wheel located on the radially outer side of the turning locus. Thus, an increase in the roll angle is suppressed, and a desired turning locus tracing performance is maintained satisfactorily.
摘要翻译：在防翻倒控制中，在实际横向加速度的绝对值处于第一值和第二值之间的相对较早的阶段中，仅在位于转动轨迹的径向内侧的前轮中产生内侧前轮制动力。当绝对值变得大于第二值时，除了内部前轮制动力之外，在位于转动轨迹的径向内侧的后轮中产生内部后轮制动力。当绝对值变得大于第三值时，除了内部后轮破坏轮之外，在位于转向轨迹的径向外侧的前轮中产生外轮制动力。因此，能够抑制侧倾角的增加，令人满意地保持理想的转弯轨迹的追踪性能。

8. 发明授权

US07066560B2 Vehicle motion control device 失效
标题翻译：车辆运动控制装置
公开(公告)号：US07066560B2
公开(公告)日：2006-06-27
申请号：US10895117
申请日：2004-07-21
申请人： Toshihisa Kato , Junya Nagaya , Shinji Tsugawa
发明人： Toshihisa Kato , Junya Nagaya , Shinji Tsugawa
IPC分类号： B60T8/58
CPC分类号： B60T8/4836 , B60G2800/0124 , B60G2800/922 , B60T8/17554 , B60T2230/03
摘要： This device sets, upon executing only a roll-over preventing control, roll-over preventing braking force exerted on a front wheel at the outer side of the turning direction based upon a table value obtained through an absolute value |Gy| of an actual lateral acceleration and a predetermined table, and sets, upon executing only an US restraining control, US restraining braking force exerted on a rear wheel at the inner side of the turning direction based upon a table value obtained through an absolute value |ΔGy| of a lateral acceleration deviation, that is a deviation between a target lateral acceleration and the actual lateral acceleration, and a predetermined table. In case where the roll-over preventing control and the US restraining control are simultaneously executed, the roll-over preventing braking force is similarly set and the US restraining braking force is set based upon a value obtained by multiplying the value based upon the table value by a predetermined US restraining braking force damping factor α (0≦α≦1), thereby giving priority to the roll-over preventing control.
摘要翻译：该装置在仅执行防翻倒控制时，基于通过绝对值| Gy |获得的表值，设定施加在转向外侧的前轮上的防翻倒制动力。实际横向加速度和预定表，并且在仅执行美国限制控制时，基于通过绝对值| DeltaGy获得的表值，设定施加在转向内侧的后轮上的美制约力 | 横向加速度偏差，即目标横向加速度和实际横向加速度之间的偏差，以及预定表格。在同时进行防翻倒控制和美制抑制控制的情况下，同样地设定防翻制动力，并且基于根据表值乘以该值而获得的值来设定美制限制制动力通过预定的美制限制制动力阻尼因子α（0 <α1= 1），从而优先考虑防翻倒控制。

9. 发明授权

US06217134B1 Anti-skid control system for an automotive vehicle 有权
标题翻译：汽车防滑控制系统
公开(公告)号：US06217134B1
公开(公告)日：2001-04-17
申请号：US09407948
申请日：1999-09-29
申请人： Toshihisa Kato , Yasuhiro Abe , Shinsuke Sakane
发明人： Toshihisa Kato , Yasuhiro Abe , Shinsuke Sakane
IPC分类号： B60T866
CPC分类号： B60T8/17616
摘要： The present invention is directed to an anti-skid control system wherein at least a pressure decrease mode for decreasing a hydraulic braking pressure and a pulse pressure increase mode for intermittently increasing the hydraulic braking pressure, with a pressure increasing signal provided in accordance with the braking condition of a vehicle. Peaks of the wheel speed in the pulse pressure increase mode are detected continuously on the basis of a variation of a wheel acceleration relative to a vehicle acceleration. Then, the time when each peak of the wheel speed was detected is set as a rise timing of the pressure increasing signal in the pulse pressure increase mode, and a time period for which the pressure increasing signal outputs is adjusted, on the basis of a variation of the rotating condition of the wheel at the time when the peak of the wheel speed was detected. The time period for which the pressure increasing signal outputs may be set on the basis of a ratio of a first integrated value of a difference obtained by subtracting the vehicle acceleration from the wheel acceleration, to a second integrated value of a difference obtained by subtracting the wheel acceleration from the vehicle acceleration.
摘要翻译：本发明涉及一种防滑控制系统，其中至少一个用于降低液压制动压力的压力降低模式和用于间歇地增加液压制动压力的脉冲压力增加模式，其中根据制动提供的增压信号车辆状况基于相对于车辆加速度的车轮加速度的变化，连续地检测脉压增加模式中的车轮速度的峰值。然后，将检测到车轮速度的每个峰值的时间设定为脉冲压力增加模式中的增压信号的上升时刻，并且调整增压信号输出的时间段，基于检测到车轮速度的峰值时的车轮的旋转状态的变化。可以基于通过从车轮加速度减去车辆加速度而获得的差的第一积分值与通过从车轮加速度减去车辆加速度而得到的差的第二积分值的比率来设定增压信号输出的时间段车轮加速度从车辆加速度。

10. 发明授权

US5868473A Hydrulic braking pressure control system for an automotive vehicle 失效
标题翻译：汽车用液压制动压力控制系统
公开(公告)号：US5868473A
公开(公告)日：1999-02-09
申请号：US942900
申请日：1997-10-02
申请人： Toshihisa Kato , Yasuhiro Abe , Noritaka Yamada
发明人： Toshihisa Kato , Yasuhiro Abe , Noritaka Yamada
IPC分类号： B60T8/94 , B60T8/88
CPC分类号： B60T8/885 , B60T2270/403
摘要： The invention is directed to a hydraulic braking pressure control system which includes wheel brake cylinders, a pressure generator for supplying a hydraulic braking pressure to the wheel cylinders through two hydraulic pressure circuits, and a pressure control device disposed in the two circuits, between the pressure generator and the wheel cylinders, for controlling the hydraulic pressure in each of the wheel cylinders. The system further includes wheel speed sensors for detecting wheel speeds of the road wheels, respectively, and a braking force controller which controls the braking force by actuating the pressure control device in accordance with control modes provided in response to output signals of the wheel speed sensors. A circuit malfunction detection unit is provided for detecting malfunction caused in either one of the two hydraulic circuits on the basis of output signals of the wheel speed sensors, and a control mode changeover unit is provided for changing over a control mode to another control mode, when the circuit malfunction detection unit detects the malfunction. For example, a wheel speed comparison unit compares the wheel speed in one of the two circuits with the wheel speed in the other circuit, and the circuit malfunction detection unit detects the malfunction on the basis of the compared result of the wheel speed comparison unit.
摘要翻译：本发明涉及一种液压制动压力控制系统，其包括车轮制动缸，用于通过两个液压回路向轮缸提供液压制动压力的压力发生器，以及设置在两个回路中的压力控制装置之间的压力发电机和轮缸，用于控制每个轮缸中的液压。该系统还包括用于分别检测车轮的车轮速度的车轮速度传感器和制动力控制器，该制动力控制器根据响应于车轮速度传感器的输出信号提供的控制模式来致动压力控制装置来控制制动力。提供一种电路故障检测单元，用于根据车轮速度传感器的输出信号检测在两个液压回路中的任一个中引起的故障，并且提供控制模式转换单元，用于将控制模式转换到另一个控制模式，当电路故障检测单元检测到故障时。例如，轮速比较单元将两个回路中的一个中的车轮速度与另一回路中的车轮速度进行比较，并且电路故障检测单元基于车轮速度比较单元的比较结果来检测故障。

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