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1. 发明授权

US07699137B2 Motor-driven steering controller and automobile anti-skid controller 有权
标题翻译：电动转向控制器和汽车防滑控制器
公开(公告)号：US07699137B2
公开(公告)日：2010-04-20
申请号：US11889761
申请日：2007-08-16
申请人： Yoshiyuki Yasui , Wataru Tanaka , Yuji Muragishi , Eiichi Ono , Katsuhiro Asano , Minekazu Momiyama , Hiroaki Kato , Kenji Asano
发明人： Yoshiyuki Yasui , Wataru Tanaka , Yuji Muragishi , Eiichi Ono , Katsuhiro Asano , Minekazu Momiyama , Hiroaki Kato , Kenji Asano
IPC分类号： B62D5/04
CPC分类号： B62D5/0472 , B60T8/1755 , B60T8/1764 , B60T2220/03 , B60T2260/024 , B60W10/184 , B60W10/20 , B60W2520/10 , B60W2520/30 , B60W2720/14 , B62D5/046 , B62D6/003
摘要： A motor-driven steering controller for controlling a steering wheel of a vehicle. The controller includes a steering torque controlling unit, a braking force estimating unit, a right and left braking force difference estimating unit and an assist steering torque providing unit. The steering torque controlling unit controls a steering torque on the steering wheel depending on a steering operation. The braking force estimating unit estimates braking forces to be imposed on wheels of the vehicle. The right and left braking force difference estimating unit estimates difference between the braking forces to be imposed on the right and left wheels each estimated by the braking forces estimating unit. The assist steering torque providing unit provides an assist steering torque for the steering torque controlling unit on the basis of the difference in braking force between right and left wheels estimated by the right and left braking force difference estimating unit.
摘要翻译：一种用于控制车辆的方向盘的电动转向控制器。控制器包括转向转矩控制单元，制动力估计单元，左右制动力差推定单元和辅助转向转矩提供单元。转向转矩控制单元根据转向操作来控制方向盘上的转向转矩。制动力估计单元估计要施加在车辆的车轮上的制动力。左右制动力差推定部判定由制动力推定部估计出的施加在左右车轮上的制动力之差。辅助转向转矩提供单元基于由右和左制动力差估计单元估计的左右车轮之间的制动力的差异，为转向转矩控制单元提供辅助转向转矩。

2. 发明授权

US08997919B2 Motor-driven steering controller and automobile anti-skid controller 有权
公开(公告)号：US08997919B2
公开(公告)日：2015-04-07
申请号：US12718545
申请日：2010-03-05
申请人： Yoshiyuki Yasui , Wataru Tanaka , Yuji Muragishi , Eiichi Ono , Katsuhiro Asano , Minekazu Momiyama , Hiroaki Kato , Kenji Asano
发明人： Yoshiyuki Yasui , Wataru Tanaka , Yuji Muragishi , Eiichi Ono , Katsuhiro Asano , Minekazu Momiyama , Hiroaki Kato , Kenji Asano
IPC分类号： B62D5/04 , B60T8/1755 , B60T8/1764 , B60W10/184 , B60W10/20 , B62D6/00
CPC分类号： B62D5/0472 , B60T8/1755 , B60T8/1764 , B60T2220/03 , B60T2260/024 , B60W10/184 , B60W10/20 , B60W2520/10 , B60W2520/30 , B60W2720/14 , B62D5/046 , B62D6/003
摘要： A motor-driven steering controller for controlling a steering wheel of a vehicle. The controller includes a steering torque controlling unit, a braking force estimating unit, a right and left braking force difference estimating unit and an assist steering torque providing unit. The steering torque controlling unit controls a steering torque on the steering wheel depending on a steering operation. The braking force estimating unit estimates braking forces to be imposed on wheels of the vehicle. The right and left braking force difference estimating unit estimates difference between the braking forces to be imposed on the right and left wheels each estimated by the braking forces estimating unit. The assist steering torque providing unit provides an assist steering torque for the steering torque controlling unit on the basis of the difference in braking force between right and left wheels estimated by the right and left braking force difference estimating unit.

3. 发明申请

US20100161180A1 MOTOR-DRIVEN STEERING CONTROLLER AND AUTOMOBILE ANTI-SKID CONTROLLER 审中-公开
标题翻译：电动转向控制器和汽车防滑控制器
公开(公告)号：US20100161180A1
公开(公告)日：2010-06-24
申请号：US12718545
申请日：2010-03-05
申请人： Yoshiyuki Yasui , Wataru Tanaka , Yuji Muragishi , Eiichi Ono , Katsuhiro Asano , Minekazu Momiyama , Hiroaki Kato , Kenji Asano
发明人： Yoshiyuki Yasui , Wataru Tanaka , Yuji Muragishi , Eiichi Ono , Katsuhiro Asano , Minekazu Momiyama , Hiroaki Kato , Kenji Asano
IPC分类号： G06F19/00
CPC分类号： B62D5/0472 , B60T8/1755 , B60T8/1764 , B60T2220/03 , B60T2260/024 , B60W10/184 , B60W10/20 , B60W2520/10 , B60W2520/30 , B60W2720/14 , B62D5/046 , B62D6/003
摘要： A motor-driven steering controller for controlling a steering wheel of a vehicle. The controller includes a steering torque controlling unit, a braking force estimating unit, a right and left braking force difference estimating unit and an assist steering torque providing unit. The steering torque controlling unit controls a steering torque on the steering wheel depending on a steering operation. The braking force estimating unit estimates braking forces to be imposed on wheels of the vehicle. The right and left braking force difference estimating unit estimates difference between the braking forces to be imposed on the right and left wheels each estimated by the braking forces estimating unit. The assist steering torque providing unit provides an assist steering torque for the steering torque controlling unit on the basis of the difference in braking force between right and left wheels estimated by the right and left braking force difference estimating unit.
摘要翻译：一种用于控制车辆的方向盘的电动转向控制器。控制器包括转向转矩控制单元，制动力估计单元，左右制动力差推定单元和辅助转向转矩提供单元。转向转矩控制单元根据转向操作来控制方向盘上的转向转矩。制动力估计单元估计要施加在车辆的车轮上的制动力。左右制动力差推定部判定由制动力推定部估计出的施加在左右车轮上的制动力之差。辅助转向转矩提供单元基于由右和左制动力差估计单元估计的左右车轮之间的制动力的差异，为转向转矩控制单元提供辅助转向转矩。

4. 发明授权

US07374014B2 Motor-driven steering controller and automobile anti-skid controller 有权
标题翻译：电动转向控制器和汽车防滑控制器
公开(公告)号：US07374014B2
公开(公告)日：2008-05-20
申请号：US10408356
申请日：2003-04-08
申请人： Yoshiyuki Yasui , Wataru Tanaka , Yuji Muragishi , Eiichi Ono , Katsuhiro Asano , Minekazu Momiyama , Hiroaki Kato , Kenji Asano
发明人： Yoshiyuki Yasui , Wataru Tanaka , Yuji Muragishi , Eiichi Ono , Katsuhiro Asano , Minekazu Momiyama , Hiroaki Kato , Kenji Asano
IPC分类号： B62D5/04
CPC分类号： B62D5/0472 , B60T8/1755 , B60T8/1764 , B60T2220/03 , B60T2260/024 , B60W10/184 , B60W10/20 , B60W2520/10 , B60W2520/30 , B60W2720/14 , B62D5/046 , B62D6/003
摘要： A motor-driven steering controller for controlling a steering wheel of a vehicle. The controller includes a steering torque controlling unit, a braking force estimating unit, a right and left braking force difference estimating unit and an assist steering torque providing unit. The steering torque controlling unit controls a steering torque on the steering wheel depending on a steering operation. The braking force estimating unit estimates braking forces to be imposed on wheels of the vehicle. The right and left braking force difference estimating unit estimates difference between the braking forces to be imposed on the right and left wheels each estimated by the braking forces estimating unit. The assist steering torque providing unit provides an assist steering torque for the steering torque controlling unit on the basis of the difference in braking force between right and left wheels estimated by the right and left braking force difference estimating unit.
摘要翻译：一种用于控制车辆的方向盘的电动转向控制器。控制器包括转向转矩控制单元，制动力估计单元，左右制动力差推定单元和辅助转向转矩提供单元。转向转矩控制单元根据转向操作来控制方向盘上的转向转矩。制动力估计单元估计要施加在车辆的车轮上的制动力。左右制动力差推定部判定由制动力推定部估计出的施加在左右车轮上的制动力之差。辅助转向转矩提供单元基于由右和左制动力差估计单元估计的左右车轮之间的制动力的差异，为转向转矩控制单元提供辅助转向转矩。

5. 发明申请

US20070294011A1 Motor-driven steering controller and automobile anti-skid controller 有权
标题翻译：电动转向控制器和汽车防滑控制器
公开(公告)号：US20070294011A1
公开(公告)日：2007-12-20
申请号：US11889761
申请日：2007-08-16
申请人： Yoshiyuki Yasui , Wataru Tanaka , Yuji Muragishi , Eiichi Ono , Katsuhiro Asano , Minekazu Momiyama , Hiroaki Kato , Kenji Asano
发明人： Yoshiyuki Yasui , Wataru Tanaka , Yuji Muragishi , Eiichi Ono , Katsuhiro Asano , Minekazu Momiyama , Hiroaki Kato , Kenji Asano
IPC分类号： B62D6/04 , B60T8/1764 , B60T8/62
CPC分类号： B62D5/0472 , B60T8/1755 , B60T8/1764 , B60T2220/03 , B60T2260/024 , B60W10/184 , B60W10/20 , B60W2520/10 , B60W2520/30 , B60W2720/14 , B62D5/046 , B62D6/003
摘要： A motor-driven steering controller for controlling a steering wheel of a vehicle. The controller includes a steering torque controlling unit, a braking force estimating unit, a right and left braking force difference estimating unit and an assist steering torque providing unit. The steering torque controlling unit controls a steering torque on the steering wheel depending on a steering operation. The braking force estimating unit estimates braking forces to be imposed on wheels of the vehicle. The right and left braking force difference estimating unit estimates difference between the braking forces to be imposed on the right and left wheels each estimated by the braking forces estimating unit. The assist steering torque providing unit provides an assist steering torque for the steering torque controlling unit on the basis of the difference in braking force between right and left wheels estimated by the right and left braking force difference estimating unit.
摘要翻译：一种用于控制车辆的方向盘的电动转向控制器。控制器包括转向转矩控制单元，制动力估计单元，左右制动力差推定单元和辅助转向转矩提供单元。转向转矩控制单元根据转向操作来控制方向盘上的转向转矩。制动力估计单元估计要施加在车辆的车轮上的制动力。左右制动力差推定部判定由制动力推定部估计出的施加在左右车轮上的制动力之差。辅助转向转矩提供单元基于由右和左制动力差估计单元估计的左右车轮之间的制动力的差异，为转向转矩控制单元提供辅助转向转矩。

6. 发明授权

US06925371B2 Vehicle motion control apparatus 有权
标题翻译：车辆运动控制装置
公开(公告)号：US06925371B2
公开(公告)日：2005-08-02
申请号：US10420832
申请日：2003-04-23
申请人： Yoshiyuki Yasui , Wataru Tanaka , Eiichi Ono , Yuji Muragishi , Katsuhiro Asano , Minekazu Momiyama , Hiroaki Kato , Kenji Asano , Yuzo Imoto
发明人： Yoshiyuki Yasui , Wataru Tanaka , Eiichi Ono , Yuji Muragishi , Katsuhiro Asano , Minekazu Momiyama , Hiroaki Kato , Kenji Asano , Yuzo Imoto
IPC分类号： B62D6/00 , B60R16/02 , B60T8/172 , B60T8/1755 , B60T8/58 , B60W10/00 , B60W10/04 , B60W10/06 , B60W10/10 , B60W10/18 , B60W10/188 , B60W10/20 , B60W30/00 , B60W30/02 , B60W40/06 , B60W40/10 , B62D5/00 , B62D5/04 , B62D6/04 , B62D101/00 , B62D111/00 , B62D113/00 , B62D119/00 , B62D137/00 , F02D29/02
CPC分类号： B60W10/184 , B60T8/17551 , B60T2210/12 , B60T2260/02 , B60W10/20 , B60W40/101 , B60W2530/20 , B60W2550/148 , B62D5/008 , B62D6/003 , B62D6/04
摘要： The present invention is directed to a vehicle motion control apparatus, which includes a steering factor detection unit for detecting at least one of steering factors including a steering torque and steering effort applied to a steering system, an aligning torque estimation unit for estimating an aligning torque produced on at least a wheel of the vehicle on the basis of the steering factor, a vehicle state variable detection unit for detecting a state variable of the vehicle, a wheel factor estimation unit for estimating at least one of wheel factors including a side force and slip angle applied to the wheel on the basis of the vehicle state variable, and a grip factor estimation unit for estimating a grip factor of at least a tire of the wheel, in accordance with the estimated alignment torque and the estimated wheel factor. The apparatus further includes a first control unit for performing a closed loop control on the basis of the grip factor, and a second control unit for performing a closed loop control on the basis of a deviation between a detected actual vehicle behavior and a desired vehicle behavior set on the basis of the vehicle state variable.
摘要翻译：本发明涉及一种车辆运动控制装置，其包括：转向因子检测单元，用于检测包括转向转矩和转向系统的转向力的转向因素中的至少一个;对准转矩估计单元，用于估计对准转矩基于转向系数在车辆的至少一个车轮上产生的车辆状态变量检测单元，用于检测车辆的状态变量的车辆状态变量检测单元，用于估计包括侧力和基于车辆状态变量施加到车轮的滑移角，以及用于根据估计的对准扭矩和估计的车轮因数估计车轮的至少轮胎的抓地系数的抓地系数估计单元。该装置还包括：第一控制单元，用于基于夹紧系数执行闭环控制;以及第二控制单元，用于基于检测到的实际车辆行为和期望的车辆行为之间的偏差执行闭环控制根据车辆状态变量设定。

7. 发明授权

US06895317B2 Wheel grip factor estimation apparatus 有权
标题翻译：车轮牵引因子估计装置
公开(公告)号：US06895317B2
公开(公告)日：2005-05-17
申请号：US10420826
申请日：2003-04-23
申请人： Yoshiyuki Yasui , Wataru Tanaka , Eiichi Ono , Yuji Muragishi , Katsuhiro Asano , Minekazu Momiyama , Syoji Ogawa , Kenji Asano , Yuzo Imoto , Hiroaki Kato
发明人： Yoshiyuki Yasui , Wataru Tanaka , Eiichi Ono , Yuji Muragishi , Katsuhiro Asano , Minekazu Momiyama , Syoji Ogawa , Kenji Asano , Yuzo Imoto , Hiroaki Kato
IPC分类号： B60G17/0195 , B60T8/172 , B60W30/02 , B60W40/06 , B60T8/58 , B60C19/00
CPC分类号： B60W30/02 , B60G17/0195 , B60G2400/0523 , B60G2400/106 , B60G2400/822 , B60G2800/24 , B60G2800/702 , B60G2800/95 , B60T8/172 , B60T2210/12 , B60W40/064 , B60W40/101 , B60W2050/0028 , B60W2510/20 , B60W2510/22 , B60W2520/125 , B60W2520/14 , B60W2520/20 , B60W2530/20 , B60W2550/148 , B60W2900/00
摘要： The present invention is directed to a wheel grip factor estimation apparatus, which includes a steering factor detection unit for detecting at least one of steering factors including a steering torque and steering effort applied to a steering system extending from a steering wheel to a suspension of a vehicle, an aligning torque estimation unit for estimating an aligning torque produced on at least a wheel of the vehicle on the basis of the steering factor detected by the steering factor detection unit, and a vehicle state variable detection unit for detecting a state variable of the vehicle. The apparatus further includes a wheel factor estimation unit for estimating at least one of wheel factors including a side force and slip angle applied to the wheel on the basis of the vehicle state variable, and a grip factor estimation unit for estimating a grip factor of at least a tire of the wheel, in accordance with a relationship between the estimated alignment torque and the estimated wheel factor.
摘要翻译：本发明涉及一种车轮牵引因子估计装置，其包括转向因子检测单元，用于检测转向因素中的至少一个，所述转向因素包括转向转矩和施加到从方向盘延伸到转向系统车辆，用于基于由转向因子检测单元检测到的转向因子来估计在车辆的至少车轮上产生的对准转矩的对准转矩估计单元，以及用于检测车辆状态变量检测单元车辆。该装置还包括车轮因素估计单元，用于基于车辆状态变量估计包括施加到车轮的侧力和滑移角的车轮因数中的至少一个，以及用于估计车辆状态变量的抓地系数的抓地系数估计单元根据估计的对准转矩和估计的车轮因子之间的关系，至少轮胎轮胎。

8. 发明授权

US07055645B2 Method and device for controlling maneuverability of vehicle 有权
标题翻译：控制车辆机动性的方法和装置
公开(公告)号：US07055645B2
公开(公告)日：2006-06-06
申请号：US10507374
申请日：2003-04-21
申请人： Hiroaki Kato , Minekazu Momiyama , Yoshiyuki Yasui , Wataru Tanaka , Kenji Asano , Yuzou Imoto , Eiichi Ono , Yuji Muragishi
发明人： Hiroaki Kato , Minekazu Momiyama , Yoshiyuki Yasui , Wataru Tanaka , Kenji Asano , Yuzou Imoto , Eiichi Ono , Yuji Muragishi
IPC分类号： B62D5/04
CPC分类号： B62D15/0235 , B62D5/008
摘要： In accordance with a vehicle motion control apparatus, a steering angle (θh) of a steering wheel is determined on the basis of a rotation angle (θpm) of an assist motor (24m) detected by a rotation angle sensor (24s) and a rotation angle (θvm) of a gear ratio variable motor (32m) detected by a rotation angle sensor (32s), and a VGRS control process (40a) of a gear ratio variable mechanism is executed on the basis of the determined steering angle (θh). Accordingly, since the steering angle (θh) of the steering wheel is determined on the basis of the rotation angle (θvm) used for the VGRS control process (40a) of the gear ratio variable mechanism and the rotation angle (θpm) used for an EPS control process (30a) of an EPS actuator, it is possible to obtain the steering angle (θh) of the steering wheel without a steering angle sensor. Therefore, it is possible to reduce the number of the parts of a vehicle motion control apparatus.
摘要翻译：根据车辆运动控制装置，基于由旋转角度传感器（24s）检测到的辅助马达（24m）的旋转角度（ttm）来确定方向盘的转向角（thetah），并且通过旋转角度传感器（32s）检测到的齿轮比可变马达（32m）的旋转角（tavm）和齿轮比可变机构的VGRS控制处理（40a），基于所确定的转向角（thetah）。因此，由于根据用于变速比可变机构的VGRS控制处理（40a）的旋转角（tavm）和用于变速比可变机构的旋转角度（ttm）来确定方向盘的转向角（thetah） EPS致动器的EPS控制过程（30a），可以获得没有转向角传感器的方向盘的转向角（thetah）。因此，可以减少车辆运动控制装置的部件的数量。

9. 发明申请

US20050216155A1 Steering device 审中-公开
标题翻译：转向装置
公开(公告)号：US20050216155A1
公开(公告)日：2005-09-29
申请号：US10514846
申请日：2003-05-26
申请人： Hiroaki Kato , Minekazu Momiyama , Shoji Ogawa , Kenji Asano , Yuzou Imoto , Yoshiyuki Yasui , Wataru Tanaka , Eiichi Ono , Yuji Muragishi
发明人： Hiroaki Kato , Minekazu Momiyama , Shoji Ogawa , Kenji Asano , Yuzou Imoto , Yoshiyuki Yasui , Wataru Tanaka , Eiichi Ono , Yuji Muragishi
IPC分类号： B62D5/00 , B62D5/04 , B62D6/00 , B62D101/00 , B62D113/00 , B62D119/00 , B62D137/00 , G05D1/00
CPC分类号： B62D5/008 , B62D6/006
摘要： In accordance with a steering apparatus (20), a grip state between a ground surface on which a steered wheel is grounded and the steered wheel is estimated by a grip degree estimation arithmetically operating process (30a) which is arithmetically operated by AFS_ECU (30), and VGRS target angle is set such that a steering gear ratio is increased in the case that the grip degree gets close to a grip limit on the basis of an estimated grip state, in accordance with a grip degree vs gear ratio map (30b). Accordingly, since it is possible to estimate the grip degree which is changed in correspondence to a magnitude of the road surface it, for example, in the case that the steered wheel gets close to the grip limit, it is possible to increase the steering gear ratio so as to set large even at a time when the vehicle runs at the low speed. Therefore, since it is possible to prevent a phenomenon that the steered wheel is largely controlled by a smaller steering angle from being generated in the case that the vehicle runs on the road surface having the low μ, there is obtained an effect that a stability in the vehicle motion can be improved.
摘要翻译：根据转向装置（20），通过由AFS_ECU（30）算术运算的夹紧度估计算术运算处理（30a）来估计在转向轮接地的地面和转向轮之间的抓地状态），并且VGRS目标角度被设定为使得在抓地度基于估计的抓地状态接近到抓地限度的情况下，根据握力与齿轮比图（30 b）。因此，由于可以估计与路面的大小相对应地改变的夹紧度，例如在转向轮接近抓地力极限的情况下，可以增加舵机即使在车辆低速行驶时也能够设定为大。因此，由于可以防止在车辆在具有低mu的路面上行驶的情况下由于较小的转向角而导致转向轮受到较大程度的控制的现象，所以获得了在可以改善车辆运动。

10. 发明申请

US20050167181A1 Method and device for controlling maneuverability of vehicle 有权
标题翻译：控制车辆机动性的方法和装置
公开(公告)号：US20050167181A1
公开(公告)日：2005-08-04
申请号：US10507374
申请日：2003-04-21
申请人： Hiroaki Kato , Minekazu Momiyama , Yoshiyuki Yasui , Wataru Tanaka , Kenji Asano , Yuzou Imoto , Eiichi Ono , Yuji Muragishi
发明人： Hiroaki Kato , Minekazu Momiyama , Yoshiyuki Yasui , Wataru Tanaka , Kenji Asano , Yuzou Imoto , Eiichi Ono , Yuji Muragishi
IPC分类号： B62D6/00 , B62D5/00 , B62D5/04 , B62D5/22 , B62D15/02 , B62D101/00 , B62D113/00 , B62D119/00
CPC分类号： B62D15/0235 , B62D5/008
摘要： In accordance with a vehicle motion control apparatus, a steering angle (θh) of a steering wheel is determined on the basis of a rotation angle (θpm) of an assist motor (24m) detected by a rotation angle sensor (24s) and a rotation angle (θvm) of a gear ratio variable motor (32m) detected by a rotation angle sensor (32s), and a VGRS control process (40a) of a gear ratio variable mechanism is executed on the basis of the determined steering angle (θh). Accordingly, since the steering angle (θh) of the steering wheel is determined on the basis of the rotation angle (θvm) used for the VGRS control process (40a) of the gear ratio variable mechanism and the rotation angle (θpm) used for an EPS control process (30a) of an EPS actuator, it is possible to obtain the steering angle (θh) of the steering wheel without a steering angle sensor. Therefore, it is possible to reduce the number of the parts of a vehicle motion control apparatus.
摘要翻译：根据车辆运动控制装置，基于由旋转角度传感器（24s）检测到的辅助马达（24m）的旋转角度（ttm）来确定方向盘的转向角（thetah），并且通过旋转角度传感器（32s）检测到的齿轮比可变马达（32m）的旋转角（tavm）和齿轮比可变机构的VGRS控制处理（40a），基于所确定的转向角（thetah）。因此，由于根据用于变速比可变机构的VGRS控制处理（40a）的旋转角（tavm）和用于变速比可变机构的旋转角度（ttm）来确定方向盘的转向角（thetah） EPS致动器的EPS控制过程（30a），可以获得没有转向角传感器的方向盘的转向角（thetah）。因此，可以减少车辆运动控制装置的部件的数量。

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