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1. 发明授权

US5845222A Vehicle steering control system 失效
标题翻译：车辆转向控制系统
公开(公告)号：US5845222A
公开(公告)日：1998-12-01
申请号：US525845
申请日：1995-09-08
申请人： Yorihisa Yamamoto , Yutaka Nishi , Takashi Nishimori , Hiroyuki Tokunaga , Hideki Machino
发明人： Yorihisa Yamamoto , Yutaka Nishi , Takashi Nishimori , Hiroyuki Tokunaga , Hideki Machino
IPC分类号： B62D6/00 , B62D5/04 , B62D6/04 , G06G7/70
CPC分类号： B62D5/0472 , B62D6/003
摘要： In a vehicle steering control system, an actuating torque is applied to steerable wheels according to a steering torque applied to a steering wheel in a conventional manner, and an additional actuating torque is applied to the steering wheel by an electric motor according to lateral dynamic conditions of the vehicle so as to control the lateral stability of the vehicle even in the presence of external interferences such as crosswind. Such external interferences are detected as a lateral dynamic condition of the vehicle such as the yaw rate of the vehicle, and the steering control system produces a steering reaction which counteracts such a lateral dynamic condition by applying the additional actuating torque to the steerable wheels so that the vehicle may maintain a straight course in spite of such external interferences without requiring any intentional efforts by the vehicle operator. A torque steer arising from the drive force applied to power driven steerable wheels can be also controlled as one form of external disturbances. In particular, by amplifying the steering reaction torque when the drive force is great, it is possible to favorably control the influences of a torque steer under any operation conditions.
摘要翻译：在车辆转向控制系统中，根据以常规方式施加到方向盘的转向转矩，将致动扭矩施加到可转向车轮，并且通过电动机根据横向动态条件向方向盘施加附加的致动转矩以便即使在诸如侧风等外部干扰的情况下也可以控制车辆的横向稳定性。这种外部干扰被检测为车辆的横向动态条件，例如车辆的横摆角速度，并且转向控制系统产生转向反作用力，该转向反作用力通过向可转向车轮施加额外的致动转矩来抵消这种横向动态状态，使得尽管有这种外部干扰，车辆可能保持直线航向，而不需要车辆操作者的任何有意的努力。施加到动力转向轮的驱动力产生的扭矩转向器也可以被控制为一种形式的外部干扰。特别地，通过在驱动力大时放大转向反作用转矩，可以有利地控制转矩转矩在任何操作条件下的影响。

2. 发明授权

US5703775A Vehicle steering control system 失效
标题翻译：车辆转向控制系统
公开(公告)号：US5703775A
公开(公告)日：1997-12-30
申请号：US463969
申请日：1995-06-05
申请人： Yorihisa Yamamoto , Yutaka Nishi , Takashi Nishimori , Hiroyuki Tokunaga , Hideki Machino
发明人： Yorihisa Yamamoto , Yutaka Nishi , Takashi Nishimori , Hiroyuki Tokunaga , Hideki Machino
IPC分类号： B62D5/04 , B62D6/04 , B60K41/00
CPC分类号： B62D5/046 , B62D6/04
摘要： In a vehicle steering control system, an actuating torque is applied to steerable wheels according to a steering torque applied to a steering wheel in a conventional manner, and an additional actuating torque is applied to the steering wheel by an electric motor according to lateral dynamic conditions of the vehicle so as to control the lateral stability of the vehicle even in the presence of external interferences such as crosswind. Such external interferences are detected as a lateral dynamic condition of the vehicle such as the yaw rate of the vehicle, and the steering control system produces a steering reaction which counteracts such a lateral dynamic condition by applying the additional actuating torque to the steerable wheels so that the vehicle may maintain a straight course in spite of such external interferences without requiring any intentional efforts by the vehicle operator. By representing the vehicle with a first-order delay transfer function in regards to its lateral dynamic response for each given steering input, the vehicle operator can handle the vehicle without encountering any substantial resistance even when the steering wheel is turned briskly or at high speed.
摘要翻译：在车辆转向控制系统中，根据以常规方式施加到方向盘的转向转矩，将致动扭矩施加到可转向车轮，并且通过电动机根据横向动态条件向方向盘施加附加的致动转矩以便即使在诸如侧风等外部干扰的情况下也可以控制车辆的横向稳定性。这种外部干扰被检测为车辆的横向动态条件，例如车辆的横摆角速度，并且转向控制系统产生转向反作用力，该转向反作用力通过向可转向车轮施加额外的致动转矩来抵消这种横向动态状态，使得尽管有这种外部干扰，车辆可能保持直线航向，而不需要车辆操作者的任何有意的努力。通过以对于每个给定的转向输入的横向动态响应来表示具有一阶延迟传递函数的车辆，即使当方向盘快速或高速转动时，车辆操作者也可以处理车辆而不会遇到任何实质阻力。

3. 发明授权

US6108599A Vehicle steering control system 失效
标题翻译：车辆转向控制系统
公开(公告)号：US6108599A
公开(公告)日：2000-08-22
申请号：US525844
申请日：1995-09-08
申请人： Yorihisa Yamamoto , Yutaka Nishi , Takashi Nishimori , Hiroyuki Tokunaga , Hideki Machino
发明人： Yorihisa Yamamoto , Yutaka Nishi , Takashi Nishimori , Hiroyuki Tokunaga , Hideki Machino
IPC分类号： B62D5/04 , B62D6/00 , G06F7/00
CPC分类号： B62D6/00
摘要： In a vehicle steering control system, a manual steering input is assisted by a powered actuating steering torque which is given by K(.gamma.-t.sub.d .multidot.d .gamma./dt), where y is a detected yaw rate, K and t.sub.d are coefficients which depend on a vehicle speed, and d/dt denotes a time derivative. The detected yaw rate contributes to reducing the yaw rate of the vehicle. In particular, the coefficient t.sub.d is positive in value in a low speed range, and substantially linearly decreases with the vehicle speed, becoming negative at a certain intermediate vehicle speed. Thus, in a high speed range, when the vehicle is steered in one direction either by external disturbances or by a manual steering input, the detected yaw rate and the change rate of the yaw rate both contribute to the reduction of the yaw rate. However, in a low speed range, when the vehicle is steered in one direction, the detected yaw rate contributes to the reduction of the yaw rate but the change rate of the yaw rate contributes to the increase of the yaw rate. Thus, in a high speed range, the vehicle is made highly immune against external disturbances and the effort required for the manual steering of the vehicle is increased with the increase in the change rate of the yaw rate. Conversely, in a low speed range, the stability of the vehicle is of no concern, and the effort required for the manual steering of the vehicle is decreased with the increase in the change rate of the yaw rate.
摘要翻译：在车辆转向控制系统中，手动转向输入由由K（γ-DTXDγ/ dt）给出的动力执行转向转矩辅助，其中y是检测到的横摆率，K和td是依赖于车速，d / dt表示时间导数。检测到的横摆率有助于降低车辆的横摆角速度。特别地，系数td在低速范围内的值为正值，并且随着车速大致线性地减小，在某一中间车速下变为负值。因此，在高速范围内，当车辆通过外部干扰或手动转向输入在一个方向转向时，所检测到的横摆率和偏航率的变化率都有助于减小偏航率。然而，在低速范围内，当车辆沿一个方向转向时，检测到的横摆率有助于降低横摆率，但偏航率的变化率有助于偏航率的增加。因此，在高速范围内，使车辆高度免受外部干扰的影响，随着横摆率的变化率的增加，车辆的手动转向所需的努力也增加。相反，在低速范围内，车辆的稳定性是不必要的，车辆的手动转向所需的努力随着偏航率的变化率的增加而降低。

4. 发明授权

US5774819A Vehicle steering control system 失效
标题翻译：车辆转向控制系统
公开(公告)号：US5774819A
公开(公告)日：1998-06-30
申请号：US485484
申请日：1995-06-07
申请人： Yorihisa Yamamoto , Yutaka Nishi , Takashi Nishimori , Hiroyuki Tokunaga , Hideki Machino
发明人： Yorihisa Yamamoto , Yutaka Nishi , Takashi Nishimori , Hiroyuki Tokunaga , Hideki Machino
IPC分类号： B62D6/00 , B62D5/04 , B62D6/04 , B62D101/00 , B62D111/00 , B62D113/00 , B62D117/00 , B62D119/00 , B62D137/00
CPC分类号： B62D6/003 , B62D6/008
摘要： In a vehicle steering control system, an actuating torque is applied to steerable wheels according to a steering torque applied to a steering wheel in a conventional manner, and an additional actuating torque is applied to the steering wheel by an electric motor according to lateral dynamic conditions of the vehicle so as to control the lateral stability of the vehicle even in the presence of external interferences such as crosswind. Such external interferences are detected as a lateral dynamic condition of the vehicle such as the yaw rate of the vehicle, and the steering control system produces a steering reaction which counteracts such a lateral dynamic condition by applying the additional actuating torque to the steerable wheels so that the vehicle may maintain a straight course in spite of such external interferences without requiring any intentional efforts by the vehicle operator. In particular, by suppressing the additional actuating torque in an understeer condition, the handling of the vehicle can be improved.
摘要翻译：在车辆转向控制系统中，根据以常规方式施加到方向盘的转向转矩，将致动扭矩施加到可转向车轮，并且通过电动机根据横向动态条件向方向盘施加附加的致动转矩以便即使在诸如侧风等外部干扰的情况下也可以控制车辆的横向稳定性。这种外部干扰被检测为车辆的横向动态条件，例如车辆的横摆角速度，并且转向控制系统产生转向反作用力，该转向反作用力通过向可转向车轮施加额外的致动转矩来抵消这种横向动态状态，使得尽管有这种外部干扰，车辆可能保持直线航向，而不需要车辆操作者的任何有意的努力。特别地，通过在不足转向条件下抑制附加的动作转矩，能够提高车辆的搬运。

5. 发明授权

US5481457A Vehicle steering system 失效
标题翻译：车辆转向系统
公开(公告)号：US5481457A
公开(公告)日：1996-01-02
申请号：US218116
申请日：1994-03-25
申请人： Yorihisa Yamamoto , Yutaka Nishi , Takashi Nishimori , Hiroyuki Tokunaga
发明人： Yorihisa Yamamoto , Yutaka Nishi , Takashi Nishimori , Hiroyuki Tokunaga
IPC分类号： B62D6/00 , B62D5/04 , B62D6/04 , B62D101/00 , B62D111/00 , B62D113/00 , B62D117/00 , B62D137/00
CPC分类号： B62D5/0463 , B62D6/04
摘要： Provided is a vehicle steering system which can substantially stabilize the lateral dynamic behavior of a vehicle with a simple control logic over the entire range of the vehicle speed. A steering torque proportional to a yaw rate and/or a lateral acceleration of the vehicle is applied to the steerable wheels to counteract a lateral deviation of the vehicle. To avoid the oscillatory or overshooting behavior of the control system, a damping torque is applied to the steering wheel. Thus, the counteracting steering torque is given as a mathematical function including a sum of a first term consisting of a product of a yaw rate and/or the lateral acceleration of the vehicle and a first coefficient, and a second term consisting of a product of an angular speed of the steering wheel and a second coefficient. In particular, the first coefficient and second coefficient are variable in a mutually proportional relationship so that the optimum selection of the first and second conditions can be done without any complication.
摘要翻译：提供一种车辆转向系统，其能够在车辆速度的整个范围上以简单的控制逻辑基本上稳定车辆的横向动态特性。与车辆的偏航率和/或横向加速度成比例的转向扭矩被施加到可转向轮以抵消车辆的横向偏差。为了避免控制系统的振荡或过冲行为，向方向盘施加阻尼扭矩。因此，反作用转向扭矩被给出为数学函数，其包括由横摆率和/或车辆的横向加速度的乘积和第一系数组成的第一项的和和由第一项组成的第二项，方向盘的角速度和第二系数。特别地，第一系数和第二系数可以相互成比例的关系变化，从而可以在没有任何复杂性的情况下进行第一和第二条件的最佳选择。

6. 发明授权

US5448482A Vehicle steering system 失效
标题翻译：车辆转向系统
公开(公告)号：US5448482A
公开(公告)日：1995-09-05
申请号：US218134
申请日：1994-03-25
申请人： Yorihisa Yamamoto , Yutaka Nishi , Takashi Nishimori , Hiroyuki Tokunaga
发明人： Yorihisa Yamamoto , Yutaka Nishi , Takashi Nishimori , Hiroyuki Tokunaga
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D113/00 , B62D117/00 , B62D137/00
CPC分类号： B62D5/0466
摘要： In a powered vehicle steering system which produces a steering reaction for controlling the lateral movement of the vehicle, the steering reaction including a yaw rate reaction component and a steering wheel damping component, when the vehicle operator is firmly holding the steering wheel or actually turning the steering wheel, the damping component is reduced so that the effort required for turning the steering wheel may be reduced, and the vehicle operator may turn the steering wheel without any substantial effort. Conversely, if the vehicle operator is not firmly holding the steering wheel, and the steering wheel is allowed to move freely, the damping component is increased so that the lateral movement of the vehicle may be stabilized even when the vehicle is subjected to disturbances such as crosswind. Thus, the stability of the lateral movement of the vehicle and the responsiveness of the vehicle steering system can be ensured at the same time.
摘要翻译：在产生用于控制车辆的横向运动的转向反作用的动力车辆转向系统中，当车辆操作者牢固地保持方向盘或实际转动时，转向反作用包括偏航率反应部件和方向盘阻尼部件方向盘，阻尼部件被减少，从而可以减少转向方向盘所需的力量，并且车辆操作者可以没有任何实质的努力转动方向盘。相反，如果车辆操作者没有牢固地握住方向盘，并且方向盘被允许自由移动，则阻尼部件增加，使得即使当车辆受到干扰时，车辆的横向移动也可以被稳定，例如侧风。因此，可以同时确保车辆的横向运动的稳定性和车辆转向系统的响应性。

7. 发明授权

US6018691A Vehicle steering system 失效
标题翻译：车辆转向系统
公开(公告)号：US6018691A
公开(公告)日：2000-01-25
申请号：US218135
申请日：1994-03-25
申请人： Yorihisa Yamamoto , Yutaka Nishi , Takashi Nishimori , Hiroyuki Tokunaga
发明人： Yorihisa Yamamoto , Yutaka Nishi , Takashi Nishimori , Hiroyuki Tokunaga
IPC分类号： B62D5/04 , B62D6/00 , B62D6/04 , B62D101/00 , B62D111/00 , B62D113/00 , B62D119/00 , B62D5/06 , G06F7/70
CPC分类号： B62D5/0463 , B62D5/0484 , B62D6/008
摘要： According to the invention, there is provided is a vehicle steering system which can improve the resistance of a vehicle against external disturbances such as crosswind, and can prevent the operability of the steering system from being seriously affected by a failure in a part of the system related to the generation of steering reaction such as a lateral acceleration sensor, a yaw rate sensor or a reaction control unit. Because the assisting steering torque continues to be produced even when a failure has occurred in a part related to the generation of steering reaction. Therefore, a fail-safe feature can be obtained, and unnecessary loss of the operability of the steering system can be avoided. By reducing the assisting steering torque from the normal level, which is effective when the sensors are operating normally, at such a time, the driveability of the steering system similar to that under the normal condition can be ensured.
摘要翻译：根据本发明，提供了一种车辆转向系统，其可以改善车辆抵抗诸如侧风等外部干扰的阻力，并且可以防止转向系统的可操作性受到系统的一部分中的故障的严重影响与侧向加速度传感器，横摆率传感器或反应控制单元等的转向反应的产生有关。因为即使在与转向反作用的产生相关的部分中发生故障，继续产生辅助转向转矩。因此，可以获得故障保护功能，并且可以避免转向系统的可操作性的不必要的损失。通过将辅助转向扭矩从正常水平减小，这在传感器正常运行时有效，可以确保与正常情况下相似的转向系统的驾驶性能。

8. 发明授权

US5528497A Vehicle steering control system 失效
标题翻译：车辆转向控制系统
公开(公告)号：US5528497A
公开(公告)日：1996-06-18
申请号：US122615
申请日：1993-09-16
申请人： Yorihisa Yamamoto , Yutaka Nishi , Takashi Nishimori
发明人： Yorihisa Yamamoto , Yutaka Nishi , Takashi Nishimori
IPC分类号： B62D5/04 , B62D6/04 , B60K41/00
CPC分类号： B62D5/0463 , B62D6/04
摘要： In a vehicle steering control system, an actuating torque is applied to steerable wheels according to a steering torque applied to a steering wheel in a conventional manner, and an additional actuating torque is applied to the steering wheel by an electric motor according to lateral dynamic conditions of the vehicle so as to control the lateral stability of the vehicle even in the presence of external interferences such as crosswind. Such external interferences are detected as a lateral dynamic condition of the vehicle such as the yaw rate of the vehicle, and the steering control system produces a steering reaction which counteracts such a lateral dynamic condition by applying the additional actuating torque to the steerable wheels so that the vehicle may maintain a straight course in spite of such external interferences without requiring any intentional efforts by the vehicle operator. By appropriate selection of the gain of the system for generating the additional actuating torque, this advantage can be gained without causing any excessive reaction when the vehicle is undergoing a normal turning maneuver.
摘要翻译：在车辆转向控制系统中，根据以常规方式施加到方向盘的转向转矩，将致动扭矩施加到可转向车轮，并且通过电动机根据横向动态条件向方向盘施加附加的致动转矩以便即使在诸如侧风等外部干扰的情况下也可以控制车辆的横向稳定性。这种外部干扰被检测为车辆的横向动态条件，例如车辆的横摆角速度，并且转向控制系统产生转向反作用力，该转向反作用力通过向可转向车轮施加额外的致动转矩来抵消这种横向动态状态，使得尽管有这种外部干扰，车辆可能保持直线航向，而不需要车辆操作者的任何有意的努力。通过适当地选择用于产生额外的致动扭矩的系统的增益，当车辆正在进行正常的转向操作时，可以获得这种优点而不引起任何过度的反应。

9. 发明授权

US5765119A Method and device for estimating hydroplaning-occuring vehicle speed and method and device for detecting possibility of occurence of hydroplaning 失效
标题翻译：用于估计滑水车速的方法和装置，以及用于检测滑水发生可能性的方法和装置
公开(公告)号：US5765119A
公开(公告)日：1998-06-09
申请号：US579274
申请日：1995-12-27
申请人： Makoto Otabe , Ichiro Harada , Yuuichi Okada , Atsushi Itagaki , Yorihisa Yamamoto
发明人： Makoto Otabe , Ichiro Harada , Yuuichi Okada , Atsushi Itagaki , Yorihisa Yamamoto
IPC分类号： G01P3/00 , B60T8/172 , G01M17/007 , G01N29/14 , G01N29/44 , G01P3/56 , G01N19/02
CPC分类号： G01N29/4481 , B60T8/172 , G01N29/14 , B60G2400/8222 , B60G2400/91 , B60G2800/702 , B60T2210/13
摘要： The hydroplaning-occurring speed of a vehicle is estimated by detecting an amount of water on a wet road surface on which the vehicle is traveling, and estimating a speed of the vehicle at and above which a hydroplaning phenomenon can occur, based on the detected amount of water. The possibility of occurrence of a hydroplaning phenomenon of a vehicle is detected by detecting an amount of water on a wet road surface on which the vehicle is traveling, detecting the speed of the vehicle, and determining whether there is a possibility that a hydroplaning phenomenon can occur, based on the detected amount of water and the detected speed of the vehicle.
摘要翻译：通过检测车辆行驶的湿路面上的水量来估计车辆的滑水速度，并且基于检测到的量来估计可能发生滑水现象的车辆的速度的水。通过检测车辆行驶的湿路面上的水量，检测车辆的速度来检测车辆的滑水现象的可能性，并且判断是否存在滑水现象可能基于检测到的水量和车辆的检测速度发生。

10. 发明授权

US5251135A Vehicle steering control system 失效
标题翻译：车辆转向控制系统
公开(公告)号：US5251135A
公开(公告)日：1993-10-05
申请号：US764728
申请日：1991-09-24
申请人： Mitsuya Serizawa , Yorihisa Yamamoto
发明人： Mitsuya Serizawa , Yorihisa Yamamoto
IPC分类号： B62D6/00 , B62D5/00 , B62D5/04 , B62D6/04 , B62D7/15 , B62D101/00 , B62D113/00 , B62D117/00 , B62D119/00 , B62D131/00 , B62D137/00
CPC分类号： B62D6/003 , B62D5/001 , B62D6/002
摘要： In a "steer-by-wire" vehicle steering control system which steers steerable wheels with a powered actuator according to an input signal obtained from a sensor associated with a steering wheel, to the end of achieving an optimum vehicle response to a steering input, a compensatory transfer function is introduced between the steering wheel and the powered steering actuator. The compensatory transfer function can be obtained by suitable manipulation of the transfer functions of the hardware involved and a desired overall transfer function. The frequency domain compensatory transfer function is transformed into a time-domain input-output relationship, and the steering mechanism is actuated accordingly as a real time operation. By suitable selection of the desired overall transfer function, it is possible to achieve a vehicle response both stable and favorable.
摘要翻译：在“线控转向”车辆转向控制系统中，根据从与方向盘相关联的传感器获得的输入信号，通过动力传动装置转向可转向轮，直至达到对转向输入的最佳车辆响应，在方向盘和动力转向致动器之间引入补偿传递函数。补偿传递函数可以通过适当地操纵所涉及的硬件的传递函数和期望的总体传递函数来获得。频域补偿传递函数被转换为时域输入输出关系，并且转向机构作为实时操作相应地被致动。通过适当地选择所需的整体传递函数，可以实现稳定和有利的车辆响应。

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