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1. 发明申请

US20070299583A1 Steering Control Device for Vehicles Restricting Target Steering Angle 有权
标题翻译：车辆转向控制装置限制目标转向角
公开(公告)号：US20070299583A1
公开(公告)日：2007-12-27
申请号：US11665330
申请日：2005-10-18
申请人： Yoshitaka Fujita , Yoshiaki Tsuchiya , Takahiro Kojo , Masato Suzumura , Kenji Asano
发明人： Yoshitaka Fujita , Yoshiaki Tsuchiya , Takahiro Kojo , Masato Suzumura , Kenji Asano
IPC分类号： B62D6/00
CPC分类号： B62D5/0469 , B60T8/1755 , B60T2260/02 , B60W10/184 , B60W10/20 , B60W30/02 , B60W30/045 , B62D5/008 , B62D6/003
摘要： In a vehicle equipped with a power steering device for assisting the steering of the steered wheels by the steering wheel, when the steering angle of the steered wheels reaches the maximum steering angle, a steering control device restricts a target steering angle for operating the power steering device so that the steering angle or a reaction force acting against the power steering device does not exceed a value determined therefor, so to maintain the steering condition of the steered wheels stably without applying an excessive load on the power steering device. The target steering angle may be calculated as a value based upon rotational angle of the steering wheel and turning behavior control of the vehicle.
摘要翻译：在配备有用于辅助方向盘对转向轮的转向的动力转向装置的车辆中，当转向轮的转向角达到最大转向角时，转向控制装置限制用于操作动力转向器的目标转向角使得作用在动力转向装置上的转向角度或反作用力不超过由此确定的值，从而在不对动力转向装置施加过大负载的情况下稳定地保持转向轮的转向状态。可以将目标转向角计算为基于方向盘的旋转角度和车辆的转弯行为控制的值。

2. 发明授权

US07885741B2 Steering control device for vehicles restricting target steering angle 有权
标题翻译：用于车辆的转向控制装置限制目标转向角
公开(公告)号：US07885741B2
公开(公告)日：2011-02-08
申请号：US11665330
申请日：2005-10-18
申请人： Yoshitaka Fujita , Yoshiaki Tsuchiya , Takahiro Kojo , Masato Suzumura , Kenji Asano
发明人： Yoshitaka Fujita , Yoshiaki Tsuchiya , Takahiro Kojo , Masato Suzumura , Kenji Asano
IPC分类号： B62D6/00 , B62D5/04
CPC分类号： B62D5/0469 , B60T8/1755 , B60T2260/02 , B60W10/184 , B60W10/20 , B60W30/02 , B60W30/045 , B62D5/008 , B62D6/003
摘要： In a vehicle equipped with a power steering device for assisting the steering of the steered wheels by the steering wheel, when the steering angle of the steered wheels reaches the maximum steering angle, a steering control device restricts a target steering angle for operating the power steering device so that the steering angle or a reaction force acting against the power steering device does not exceed a value determined therefor, so to maintain the steering condition of the steered wheels stably without applying an excessive load on the power steering device. The target steering angle may be calculated as a value based upon rotational angle of the steering wheel and turning behavior control of the vehicle.
摘要翻译：在配备有用于辅助方向盘对转向轮的转向的动力转向装置的车辆中，当转向轮的转向角达到最大转向角时，转向控制装置限制用于操作动力转向器的目标转向角使得作用在动力转向装置上的转向角度或反作用力不超过由此确定的值，从而在不对动力转向装置施加过大负载的情况下稳定地保持转向轮的转向状态。可以将目标转向角计算为基于方向盘的旋转角度和车辆的转弯行为控制的值。

3. 发明授权

US08478487B2 Control device for vehicles to make rapid counter-measure against communication abnormality in communication means between calculation control devices 有权
标题翻译：用于车辆的控制装置，用于对计算控制装置之间的通信手段中的通信异常进行快速对抗
公开(公告)号：US08478487B2
公开(公告)日：2013-07-02
申请号：US11664936
申请日：2005-10-18
申请人： Takahiro Kojo , Yoshiaki Tsuchiya , Masato Suzumura , Jun Sakugawa , Kenji Asano
发明人： Takahiro Kojo , Yoshiaki Tsuchiya , Masato Suzumura , Jun Sakugawa , Kenji Asano
IPC分类号： B62D5/00
CPC分类号： B62D5/0481 , B60T8/885 , B60T2270/402 , G06F11/1641
摘要： In the control device for vehicles which executes a control of the vehicle by one calculation control device based upon a target control amount generated by another calculation control device connected to the one calculation control device by way of a communication means, the other calculation control device calculates an estimated target control amount by itself to compare it with the target control amount generated by the one calculation control device and input thereto by way of the communication means, or a third calculation control device compares the target control amounts generated by the one and the other calculation control devices and input thereto by way of the communication means, thereby to judge if an abnormality has occurred in the communication means, and to rapidly modify the control to make a counter-measure against the abnormality.
摘要翻译：在通过一个计算控制装置基于通过通信装置连接到一个计算控制装置的另一计算控制装置生成的目标控制量的车辆控制装置中，另一计算控制装置计算估计目标控制量本身将其与由一个计算控制装置产生的目标控制量进行比较并通过通信装置输入到目标控制量，或者第三计算控制装置将由一个和另一个产生的目标控制量进行比较计算控制装置，并通过通信装置输入，从而判断通信装置中是否发生异常，并迅速修改控制以对抗异常。

4. 发明申请

US20080195275A1 Control Device for Vehicles to Make Rapid Counter-Measure Against Communication Abnormality in Communication Means Between Calculation Control Devices 有权
标题翻译：控制装置，用于对计算控制装置之间的通信手段中的通信异常进行快速对抗
公开(公告)号：US20080195275A1
公开(公告)日：2008-08-14
申请号：US11664936
申请日：2005-10-18
申请人： Takahiro Kojo , Yoshiaki Tsuchiya , Masato Suzumura , Jun Sakugawa , Kenji Asano
发明人： Takahiro Kojo , Yoshiaki Tsuchiya , Masato Suzumura , Jun Sakugawa , Kenji Asano
IPC分类号： G06F17/00
CPC分类号： B62D5/0481 , B60T8/885 , B60T2270/402 , G06F11/1641
摘要： In the control device for vehicles which executes a control of the vehicle by one calculation control device based upon a target control amount generated by another calculation control device connected to the one calculation control device by way of a communication means, the other calculation control device calculates an estimated target control amount by itself to compare it with the target control amount generated by the one calculation control device and input thereto by way of the communication means, or a third calculation control device compares the target control amounts generated by the one and the other calculation control devices and input thereto by way of the communication means, thereby to judge if an abnormality has occurred in the communication means, and to rapidly modify the control to make a counter-measure against the abnormality.
摘要翻译：在通过一个计算控制装置基于通过通信装置连接到一个计算控制装置的另一计算控制装置生成的目标控制量的车辆控制装置中，另一计算控制装置计算估计目标控制量本身将其与由一个计算控制装置产生的目标控制量进行比较并通过通信装置输入到目标控制量，或者第三计算控制装置将由一个和另一个产生的目标控制量进行比较计算控制装置，并通过通信装置输入，从而判断通信装置中是否发生异常，并迅速修改控制以对抗异常。

5. 发明授权

US08565974B2 Control system for vehicles for decreasing controlling amount by judging abnormality 有权
标题翻译：通过判断异常来减少控制量的车辆控制系统
公开(公告)号：US08565974B2
公开(公告)日：2013-10-22
申请号：US10594750
申请日：2005-10-18
申请人： Takahiro Kojo , Masato Suzumura , Yoshiaki Tsuchiya , Kenji Asano
发明人： Takahiro Kojo , Masato Suzumura , Yoshiaki Tsuchiya , Kenji Asano
IPC分类号： A01B69/00 , B62D6/00 , B63G8/20 , B63H25/04 , G05D1/00 , G06F17/00
CPC分类号： B62D5/0481 , B60T2260/02 , B60T2270/402 , B60T2270/413
摘要： In view of the matter that an abnormality occurred in an operating portion of a control system comes out in an early stage as a result of the control, while it takes a time for an abnormality occurred in the generation of a controlling amount for controlling the operation of an operating portion to come out, in ceasing the control when an abnormality has occurred in the control system the controlling amount is decreased at a higher speed when the abnormality of the controlling amount was judged than a speed at which the operation of the operating device is decreased when the abnormality of the operating device was judged.
摘要翻译：鉴于控制系统的操作部分发生异常的情况，作为控制的结果在早期出来，而在生成用于控制操作的控制量时产生异常所花费的时间当控制系统发生异常时停止控制，当控制量的异常被判断为比操作装置的操作的速度快时控制量以较高的速度降低当判断操作装置的异常时减小。

6. 发明申请

US20080097671A1 Control system for vehicles for decreasing controlling amount by judging abnormality 有权
标题翻译：通过判断异常来减少控制量的车辆控制系统
公开(公告)号：US20080097671A1
公开(公告)日：2008-04-24
申请号：US10594750
申请日：2005-10-18
申请人： Takahiro Kojo , Masato Suzumura , Yoshiaki Tsuchiya , Kenji Asano
发明人： Takahiro Kojo , Masato Suzumura , Yoshiaki Tsuchiya , Kenji Asano
IPC分类号： B62D6/00 , B62D5/04 , B62D5/30
CPC分类号： B62D5/0481 , B60T2260/02 , B60T2270/402 , B60T2270/413
摘要： In view of the matter that an abnormality occurred in an operating portion of a control system comes out in an early stage as a result of the control, while it takes a time for an abnormality occurred in the generation of a controlling amount for controlling the operation of an operating portion to come out, in ceasing the control when an abnormality has occurred in the control system the controlling amount is decreased at a higher speed when the abnormality of the controlling amount was judged than a speed at which the operation of the operating device is decreased when the abnormality of the operating device was judged.
摘要翻译：鉴于控制系统的操作部分发生异常的情况，作为控制的结果在早期出来，而在生成用于控制操作的控制量时产生异常所花费的时间当控制系统发生异常时停止控制，当控制量的异常被判断为比操作装置的操作的速度快时控制量以较高的速度降低当判断操作装置的异常时减小。

7. 发明授权

US09079607B2 Vehicle steering control apparatus 有权
标题翻译：车辆转向控制装置
公开(公告)号：US09079607B2
公开(公告)日：2015-07-14
申请号：US13990958
申请日：2010-12-01
申请人： Mitsutaka Tanimoto , Takahiro Kojo , Yoshiaki Tsuchiya , Yoshitaka Fujita
发明人： Mitsutaka Tanimoto , Takahiro Kojo , Yoshiaki Tsuchiya , Yoshitaka Fujita
IPC分类号： B62D5/04 , B62D15/02
CPC分类号： B62D5/0466 , B62D5/046 , B62D5/0481 , B62D5/049 , B62D15/0245
摘要： A vehicle steering control apparatus in a vehicle including an apparatus changing a tire steer angle independently of steering wheel operation; a detecting device detecting a tire steer angle equivalent value corresponding to the tire steer angle; and a controller is provided. The controller is configured to learn a steering wheel angle neutral point; determine if the detecting device is in an abnormal state; disregard the learned steering wheel angle neutral point if the detecting device is in the abnormal state; control the apparatus such that the tire steer angle is returned to a tire steer angle neutral point if the detecting device is in the abnormal state; initialize the detecting device after the tire steer angle is returned to the tire steer angle neutral point; and restart the learning of the steering wheel angle after the detecting device is initialized.
摘要翻译：一种车辆中的车辆转向控制装置，其包括独立于方向盘操作而改变轮胎转向角的装置; 检测装置，其检测与所述轮胎转向角对应的轮胎转向角度当量值; 并提供控制器。控制器配置为学习方向盘角度中性点; 确定检测装置是否处于异常状态; 如果检测装置处于异常状态，则忽略学习的方向盘角度中性点; 控制装置使得如果检测装置处于异常状态，轮胎转向角度返回到轮胎转向角中性点; 在轮胎转向角度返回到轮胎转向角中性点之后初始化检测装置; 并且在检测装置被初始化之后重新启动方向盘角度的学习。

8. 发明申请

US20130311045A1 VEHICLE STEERING CONTROL APPARATUS 有权
标题翻译：车辆转向控制装置
公开(公告)号：US20130311045A1
公开(公告)日：2013-11-21
申请号：US13990958
申请日：2010-12-01
申请人： Mitsutaka Tanimoto , Takahiro Kojo , Yoshiaki Tsuchiya , Yoshitaka Fujita
发明人： Mitsutaka Tanimoto , Takahiro Kojo , Yoshiaki Tsuchiya , Yoshitaka Fujita
IPC分类号： B62D5/04
CPC分类号： B62D5/0466 , B62D5/046 , B62D5/0481 , B62D5/049 , B62D15/0245
摘要： A vehicle steering control apparatus in a vehicle, which is provided with: a tire steer angle varying apparatus which is configured to change a tire steer angle independently of steering wheel operation; and a tire steer angle equivalent value detecting device which is configured to detect a tire steer angle equivalent value corresponding to the tire steer angle, is provided with: a learning device which is configured to learn a steering wheel angle neutral point; an abnormality determining device which is configured to determine whether or not the tire steer angle equivalent value detecting device is in an abnormal state; a disregarding device which is configured to disregard the learned steering wheel angle neutral point if it is determined that the tire steer angle equivalent value detecting device is in the abnormal state; a controlling device which is configured to control the tire steer angle varying apparatus such that the tire steer angle is returned to a tire steer angle neutral point if it is determined that the tire steer angle equivalent value detecting device is in the abnormal state; and an initializing device which is configured to initialize the tire steer angle equivalent value detecting device after the tire steer angle is returned to the tire steer angle neutral point, wherein the leaning device restarts the learning of the steering wheel angle after the tire steer angle equivalent value detecting device is initialized.
摘要翻译：一种车辆中的车辆转向控制装置，其具备：轮胎转向角变化装置，其被配置为独立于方向盘操作而改变轮胎转向角度; 以及轮胎转向角度等效值检测装置，其被配置为检测与轮胎转向角相对应的轮胎转向角度当量值，所述轮胎转向角度等效值检测装置具有：学习装置，被配置为学习方向盘角度中性点; 异常判定装置，其被配置为确定轮胎转向角等效值检测装置是否处于异常状态; 如果确定轮胎转向角等效值检测装置处于异常状态，则忽视装置被配置为忽略所学习的方向盘角度中性点; 如果确定轮胎转向角等效值检测装置处于异常状态，则被配置为控制轮胎转向角变化装置使得轮胎转向角度返回到轮胎转向中性点的控制装置; 以及初始化装置，其被配置为在轮胎转向角度返回到轮胎转向中立点之后初始化轮胎转向角等效值检测装置，其中，在轮胎转向角等效之后，倾斜装置重新开始学习方向盘角度初始化值检测装置。

9. 发明授权

US06896091B2 Vehicular steering control apparatus and method 有权
标题翻译：车辆转向控制装置及方法
公开(公告)号：US06896091B2
公开(公告)日：2005-05-24
申请号：US10611925
申请日：2003-07-03
申请人： Takahiro Kojo , Junji Kawamuro , Masatoshi Nakatsu , Masato Suzumura
发明人： Takahiro Kojo , Junji Kawamuro , Masatoshi Nakatsu , Masato Suzumura
IPC分类号： B62D6/00 , B60T8/1764 , B60T8/58 , B62D6/04 , B62D113/00 , B62D117/00 , B62D137/00 , B62D5/04
CPC分类号： B62D6/003 , B62D5/008
摘要： A vehicular steering control apparatus controls the wheel steering amount of wheels based on a steering angle and an assist angle obtained by multiplying a steering speed by a gain. If the amount of power control differs between the left wheel and the right wheel, the value of gain is increased. The amount of power control includes, for example, the amount of braking control and the amount of drive control. If the assist angle is increased by increasing the gain, the magnitude of the wheel steering amount relative to the steering angle increases, so that a driver can correct the orientation of the vehicle body by performing a small amount of steering operation.
摘要翻译：车辆转向控制装置基于通过将转向速度乘以增益而获得的转向角和辅助角来控制车轮的转向量。如果左轮和右轮之间的功率控制量不同，则增益增加。功率控制量例如包括制动控制量和驱动控制量。如果通过增加增益来增加辅助角度，则相对于转向角度的车轮转向量的大小增加，使得驾驶员可以通过执行少量的转向操作来校正车体的方位。

10. 发明授权

US09321480B2 Vehicle steering control apparatus 有权
标题翻译：车辆转向控制装置
公开(公告)号：US09321480B2
公开(公告)日：2016-04-26
申请号：US13811697
申请日：2011-06-01
申请人： Yoshiaki Suzuki , Theerawat Limpibunterng , Toru Takashima , Takahiro Kojo , Taro Hirose , Yoshiaki Tsuchiya , Masahiro Miyata , Susumu Fujii
发明人： Yoshiaki Suzuki , Theerawat Limpibunterng , Toru Takashima , Takahiro Kojo , Taro Hirose , Yoshiaki Tsuchiya , Masahiro Miyata , Susumu Fujii
IPC分类号： B62D6/00 , B62D5/00 , B62D5/04 , B62D7/15
CPC分类号： B62D6/00 , B62D5/008 , B62D5/0481 , B62D7/159
摘要： A vehicle steering control apparatus (100) in a vehicle (10), which is provided with: a steering system including at least a rudder angle varying device (400, 700) capable of changing a relation between a steering angle, which is a rotation angle of a steering wheel (12), and a rudder angle of steered wheels and a steering torque assisting device (500) capable of assisting a driver steering torque; and a power supply source (800) for supplying electric power to the steering system, is provided with: a limiting device for limiting electric current consumption of the steering torque assisting device if a consumption current value of the steering system is greater than a maximum allowable current value in a case where supply capacity of supplying an electric current in the power supply source is reduced with respect to a reference; and a controlling device for matching a neutral position of the steering wheel with a neutral position of the steered wheels in a situation in which the electric current consumption of the steering torque assisting device is limited.
摘要翻译：一种车辆（10）中的车辆转向控制装置（100），其设置有：至少包括舵角变化装置（400,700）的转向系统，其能够改变作为旋转的转向角方向盘（12）的角度以及转向轮的方向舵角度和能够辅助驾驶员转向转矩的转向转矩辅助装置（500）; 以及用于向转向系统供电的供电源（800）设置有限制装置，用于限制转向系统的消耗电流值大于最大允许值的转向助力装置的电流消耗在供电源供给电力相对于基准的情况下减小电流值的电流值; 以及用于在转向转矩辅助装置的电流消耗受到限制的情况下将方向盘的空档位置与转向轮的空档位置相匹配的控制装置。

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