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1. 发明授权

US6154696A Steering control system for controlling torque steer 有权
标题翻译：用于控制扭矩转向的转向控制系统
公开(公告)号：US6154696A
公开(公告)日：2000-11-28
申请号：US184971
申请日：1998-11-03
申请人： Yutaka Nishi , Yasuharu Oyama , Yasuji Shibahata , Takashi Nishimori , Kazushige Sugamata , Hiroyuki Kawagoe
发明人： Yutaka Nishi , Yasuharu Oyama , Yasuji Shibahata , Takashi Nishimori , Kazushige Sugamata , Hiroyuki Kawagoe
IPC分类号： B62D5/04 , B62D6/00 , B62D6/04 , B62D119/00 , B62D137/00 , G06F7/00 , G06F17/00 , G06F19/00
CPC分类号： B62D5/0472 , B60T2260/024
摘要： In a steering control system for controlling torque steer in a vehicle equipped with an electric power steering device and a torque split arrangement for individually controlling traction and/or braking force of right and left wheels, a difference in traction and/or braking force between the right and left wheels which may be produced by the torque split arrangement may give rise to torque steer depending on the geometry of the wheel suspension system of the vehicle. The control unit for the electric power steering device additionally receives an additional signal for providing an additional steering torque which is required for canceling the torque steer. Thus, the torque steer can be eliminated both economically and reliably without requiring to modify the wheel suspension system.
摘要翻译：在配备有电动助力转向装置的车辆中用于控制扭矩转向的转向控制系统和用于单独控制左右车轮的牵引力和/或制动力的转矩分配装置中，牵引力和/或制动力之间的差异可以通过扭矩分配装置产生的左右车轮可以根据车辆的车轮悬挂系统的几何形状产生扭矩转向。用于电动助力转向装置的控制单元另外接收附加信号以提供用于消除扭矩转向所需的附加转向转矩。因此，在不需要修改车轮悬架系统的情况下，可以经济地和可靠地消除扭矩转向。

2. 发明授权

US6148951A Reactive steering control system 有权
标题翻译：反应转向控制系统
公开(公告)号：US6148951A
公开(公告)日：2000-11-21
申请号：US188719
申请日：1998-11-10
申请人： Yutaka Nishi , Yasuharu Oyama , Takashi Nishimori , Kazushige Sugamata , Hiroyuki Kawagoe
发明人： Yutaka Nishi , Yasuharu Oyama , Takashi Nishimori , Kazushige Sugamata , Hiroyuki Kawagoe
IPC分类号： B62D6/00 , B62D5/04 , B62D6/04 , B62D111/00 , B62D117/00 , B62D119/00 , B62D137/00
CPC分类号： B62D6/008 , B62D5/0463 , B62D6/003
摘要： In a steering system which produces a reactive steering assist torque which tends to cancel any unintended or undesired behavior of the vehicle, the control unit for the steering system is prevented from producing any reactive steering assist torque when the vehicle speed is zero so that no reactive steering assist torque may be produced to the discomfort of the vehicle even when the vehicle is being moved by external causes such as when being turned by a turntable or being transported by a car lift or a car carrier.
摘要翻译：在产生倾向于消除车辆的任何非预期或不期望的行为的反作用转向辅助转矩的转向系统中，当车速为零时，防止转向系统的控制单元产生任何反作用力转向辅助转矩，使得无反应即使当车辆被转盘转动或被汽车升降机或汽车运输工具运送时的外部原因移动时，也可能产生转向辅助转矩，即使车辆不适。

3. 发明授权

US6112845A Reactive steering control system 有权
标题翻译：反应转向控制系统
公开(公告)号：US6112845A
公开(公告)日：2000-09-05
申请号：US182469
申请日：1998-10-30
申请人： Yasuharu Oyama , Yutaka Nishi , Takashi Nishimori , Kazushige Sugamata , Hiroyuki Kawagoe
发明人： Yasuharu Oyama , Yutaka Nishi , Takashi Nishimori , Kazushige Sugamata , Hiroyuki Kawagoe
IPC分类号： B62D6/00 , B62D5/04 , B62D6/04 , B62D101/00 , B62D117/00 , B62D119/00 , B62D137/00
CPC分类号： B62D5/0463 , B62D5/0472 , B62D6/008 , B62D6/04
摘要： In a steering system which produces a reactive steering assist torque which tends to cancel any unintended or undesired behavior of the vehicle, the relationship between the steering angle and the vehicle behavior such as the yaw rate and the lateral acceleration reverses in sense depending on the traveling direction of the vehicle. To prevent the control unit for the steering system from producing any reactive steering assist torque which could worsen the behavior of the vehicle when the vehicle is traveling rearward, the control unit either eliminates or reverses the sense of the reactive steering assist torque when the vehicle is traveling rearward.
摘要翻译：在产生倾向于消除车辆的任何非预期或不期望的行为的反作用力转向辅助转矩的转向系统中，转向角和车辆行为（例如横摆角速度和横向加速度）之间的关系取决于行驶车辆的方向为了防止转向系统的控制单元产生任何反作用力转向辅助扭矩，当车辆向后行进时，可能会使车辆的行为恶化，控制单元可以消除或反转当车辆是向后走

4. 发明授权

US06431872B1 Drive simulation apparatus 失效
标题翻译：驱动模拟装置
公开(公告)号：US06431872B1
公开(公告)日：2002-08-13
申请号：US09457707
申请日：1999-12-10
申请人： Shuji Shiraishi , Yuichi Hashimoto , Yutaka Nishi , Mitsuya Serizawa , Osamu Yamamoto , Takashi Nishihara , Hiroyuki Kawagoe , Nobuharu Kuriki , Takuya Sakai , Hidenori Ishihama , Toyotaka Torii , Akihiko Ohtsu
发明人： Shuji Shiraishi , Yuichi Hashimoto , Yutaka Nishi , Mitsuya Serizawa , Osamu Yamamoto , Takashi Nishihara , Hiroyuki Kawagoe , Nobuharu Kuriki , Takuya Sakai , Hidenori Ishihama , Toyotaka Torii , Akihiko Ohtsu
IPC分类号： G09B905
CPC分类号： G09B9/05
摘要： A cockpit is supported by a motion base in a state of being capable of making swinging movement. A host computer calculate vehicle motion information in accordance with operation of various operation equipments performed by a driver accommodated in the cockpit. A simulation image is formed, the cockpit is controlled for swinging movement, and various meters or the like in the cockpit are controlled on the basis of an obtained result of the calculation. Thus, the drive simulation is carried out in a state approximate to that of a real vehicle.
摘要翻译：驾驶舱由能够进行摆动的状态下的运动基座支撑。主计算机根据驾驶舱内的驾驶员所执行的各种操作设备的操作来计算车辆运动信息。形成模拟图像，驾驶舱被控制为摆动运动，并且基于获得的计算结果来控制驾驶舱中的各种仪表等。因此，驱动模拟以与实际车辆接近的状态进行。

5. 发明申请

US20100070139A1 Vehicle maneuver assistance device 有权
标题翻译：车辆操纵辅助装置
公开(公告)号：US20100070139A1
公开(公告)日：2010-03-18
申请号：US12584734
申请日：2009-09-11
申请人： Kenichi Ohshima , Yukihiro Fujiwara , Yoshitaka Katashima , Hiroyuki Kawagoe , Shigenobu Saigusa , Yasushi Shoda , Manabu Shimizu , Yasuhiro Konishi
发明人： Kenichi Ohshima , Yukihiro Fujiwara , Yoshitaka Katashima , Hiroyuki Kawagoe , Shigenobu Saigusa , Yasushi Shoda , Manabu Shimizu , Yasuhiro Konishi
IPC分类号： G06F7/00
CPC分类号： B62D15/0275 , B60R1/00 , B60R2300/105 , B60R2300/303 , B60R2300/305 , B60R2300/607 , B60R2300/806 , B62D15/028
摘要： The vehicle maneuver assistance device includes: a plurality of external environment imaging units; a converter that performs a view point conversion; a display unit provided in an interior of the present-vehicle; a steering angle status value detector which detects status values of the steering angle representing an actual steering angle of the present-vehicle, and outputs a steering angle status value; a display controller that causes the display unit to display the converted image, and, overlaid thereon, a guidance display which assists a parking maneuver of the present-vehicle, wherein the display controller controls the guidance display according to the steering angle status value, so that the guidance display includes: an initial positioning guide line representing an initial location of the present-vehicle at the beginning of the parking maneuver; and a steering-switching start positioning guide line representing a starting location of a quick steering direction switching.
摘要翻译：车辆操纵辅助装置包括：多个外部环境成像单元; 执行视点转换的转换器; 设置在本车内部的显示单元; 转向角状态值检测器，其检测表示本车辆的实际转向角的转向角的状态值，并输出转向角状态值; 显示控制器，其使显示单元显示转换的图像，并且覆盖有辅助本车的停车操作的引导显示，其中显示控制器根据转向角状态值来控制引导显示，因此，引导显示包括：在停车操作开始时代表当前车辆的初始位置的初始定位引导线; 以及表示快速转向方向切换的起始位置的转向切换开始定位引导线。

6. 发明授权

US06338015B1 Steering control system for vehicle 有权
标题翻译：车辆转向控制系统
公开(公告)号：US06338015B1
公开(公告)日：2002-01-08
申请号：US09151760
申请日：1998-09-11
申请人： Hiroyuki Kawagoe , Shinnosuke Ishida , Tomoaki Teramoto , Kaoru Matsuno
发明人： Hiroyuki Kawagoe , Shinnosuke Ishida , Tomoaki Teramoto , Kaoru Matsuno
IPC分类号： B62D504
CPC分类号： B62D1/286 , B60T2201/08 , B60T2201/087 , B62D15/025
摘要： A system for controlling steering of a vehicle, including a steering means such as a steering wheel with an electric motor which assists steering of the driven wheels of the vehicle, first steering control means for controlling the motor, a CCD camera for detecting a lane condition of a road on which the vehicle travels, a yaw rate sensor for detecting motion of the vehicle, steering assist torque calculating means for calculating a steering assist torque necessary for holding the lane, a torque sensor for detecting an actual steering torque manually applied to the steering means by the driver, and second steering control means for calculating a torque command to be output to the first steering control means based on the steering assist torque calculated by the steering assist torque calculating means and the actual steering torque such that the torque command decreases. In the system, the second steering control means transfers to the first steering control means an index indicative of a condition under which the steering assist torque was calculated, or an index indicative of an order in which the values of the steering assist torque are tansferred, thereby ensuring appropriate and highly reliable communication between the two control means.
摘要翻译：一种用于控制车辆的转向系统，包括诸如具有辅助车辆的从动轮的转向的电动机的转向装置的转向装置，用于控制电动机的第一转向控制装置，用于检测车道条件的CCD照相机车辆行驶的道路的偏航率传感器，用于检测车辆的运动的偏航率传感器，用于计算保持车道所需的转向辅助转矩的转向辅助转矩计算装置，用于检测手动施加到车道的实际转向转矩的转矩传感器以及第二转向控制装置，用于基于由转向辅助转矩计算装置计算的转向辅助转矩和实际转向转矩来计算要输出到第一转向控制装置的转矩指令，使得转矩指令减小。在该系统中，第二转向控制单元向第一转向控制单元转移表示计算转向辅助转矩的条件的指标，或指示转向辅助转矩的值被调整的顺序的指标，从而确保两个控制装置之间的适当和高度可靠的通信。

7. 发明授权

US6134491A Steering control system for vehicle 有权
标题翻译：车辆转向控制系统
公开(公告)号：US6134491A
公开(公告)日：2000-10-17
申请号：US151759
申请日：1998-09-11
申请人： Hiroyuki Kawagoe , Shinnosuke Ishida , Tomoaki Teramoto , Kaoru Matsuno
发明人： Hiroyuki Kawagoe , Shinnosuke Ishida , Tomoaki Teramoto , Kaoru Matsuno
IPC分类号： B62D1/28 , B62D5/04 , B62D6/00 , B62D15/02 , A01B69/00
CPC分类号： B62D15/025 , B62D1/286 , B62D5/0481 , B62D5/0484 , B60T2201/08 , B60T2201/087
摘要： A system for controlling steering of a vehicle, including a steering unit having an electric motor which steers driven wheels of the vehicle, a first steering control unit (EPS ECU 76) for controlling the actuator, a CCD camera for detecting a condition of a lane on a road on which the vehicle travels, a steering assist torque determining unit for determining a steering assist torque necessary for holding a positional relationship between the vehicle and the lane condition, a torque sensor for detecting a steering torque manually applied to the steering unit by the driver, second steering control unit for calculating a torque command to be output to the first steering control unit based on the steering assist torque calculated by the steering assist torque calculating unit and the detected steering torque to control the motor such that the torque command decreases. In the system, a failure detecting unit is provided for detecting whether a failure has occurred at least in determination of the steering assist torque, and the control by the second control unit is discontinued, or is switched to the control by the first control unit when the failure is detected, thereby enabling to detect or discriminate the occurrence of failure with accuracy and to take a necessary countermeasure to cope with the failures condition.
摘要翻译：一种用于控制车辆的转向的系统，包括具有转向车辆的从动轮的电动机的转向单元，用于控制致动器的第一转向控制单元（EPS ECU 76），用于检测车道状况的CCD照相机在车辆行驶的道路上，用于确定保持车辆和车道状态之间的位置关系所需的转向辅助转矩的转向辅助转矩确定单元，用于检测手动施加到转向单元的转向转矩的转矩传感器，驾驶员第二转向控制单元，用于基于由转向辅助转矩计算单元计算的转向辅助转矩和检测到的转向转矩来计算要输出到第一转向控制单元的转矩指令，以控制电动机，使得转矩指令减小。在该系统中，提供故障检测单元，用于至少在确定转向辅助转矩时检测是否发生了故障，并且第二控制单元的控制被中断，或者被切换到第一控制单元的控制检测到故障，从而能够精确地检测或辨别故障的发生，并采取必要的对策来应对故障状况。

8. 发明授权

US08675069B2 Vehicle surroundings monitoring apparatus 有权
标题翻译：车辆周边监控装置
公开(公告)号：US08675069B2
公开(公告)日：2014-03-18
申请号：US12584870
申请日：2009-09-14
申请人： Kenichi Ohshima , Shigenobu Saigusa , Hiroyuki Kawagoe
发明人： Kenichi Ohshima , Shigenobu Saigusa , Hiroyuki Kawagoe
IPC分类号： H04N7/00
CPC分类号： B60R1/12 , B60R1/00 , B60R1/074 , B60R2001/1253 , B60R2300/101 , B60R2300/102 , B60R2300/103 , B60R2300/105 , B60R2300/106 , B60R2300/207 , B60R2300/302 , B60R2300/303 , B60R2300/305 , B60R2300/602 , B60R2300/607 , B60R2300/802
摘要： A vehicle surroundings monitoring apparatus includes: a plurality of imaging units which capture an external region of a present-vehicle and output images; a display unit which is installed in an interior of the present-vehicle; an image combined unit which combines the images output from the imaging units and outputs a combined image; and a display control unit which displays the combined image output from the image combined unit on the display unit, wherein at least one of the imaging units is installed at a retractable side mirror of the present-vehicle, and the image combined unit extracts extracted images of an extraction range determined for respective images output from the imaging units, combines the extracted images to generate the combined image, and changes the extraction range and a boundary position between the extracted images constituting the combined image depending on extension and retraction of the side mirror.
摘要翻译：车辆周边监视装置包括：多个成像单元，其捕获本车辆的外部区域并输出图像; 安装在本车内部的显示单元; 图像合成单元，其组合从所述成像单元输出的图像并输出组合图像; 以及显示控制单元，其将从所述图像组合单元输出的组合图像显示在所述显示单元上，其中所述成像单元中的至少一个安装在所述本车辆的可伸缩侧视镜处，并且所述图像组合单元提取提取的图像对于从成像单元输出的各个图像确定的提取范围，组合所提取的图像以生成组合图像，并且根据侧视镜的扩展和缩回改变构成组合图像的提取图像之间的提取范围和边界位置。

9. 发明授权

US06178365B1 Steering control system for vehicle 有权
标题翻译：车辆转向控制系统
公开(公告)号：US06178365B1
公开(公告)日：2001-01-23
申请号：US09151761
申请日：1998-09-11
申请人： Hiroyuki Kawagoe , Shinnosuke Ishida , Tomoaki Teramoto , Kaoru Matsuno
发明人： Hiroyuki Kawagoe , Shinnosuke Ishida , Tomoaki Teramoto , Kaoru Matsuno
IPC分类号： G06F1900
CPC分类号： B62D1/286 , B60T2201/08 , B60T2201/087 , B62D15/025
摘要： A system for controlling steering of a vehicle, including a steering device such as a steering wheel with an electric motor which assists steering of driven wheels of the vehicle, first steering control unit for controlling the motor, a CCD camera for detecting a lane condition of a road on which the vehicle travels, a yaw rate sensor for detecting motion of the vehicle, steering assist torque calculating unit for calculating a steering assist torque necessary for holding the lane, a torque sensor for detecting an actual steering torque manually applied to the steering device by the driver, and second steering control unit for calculating a torque command to be output to the first steering control unit based on the steering assist torque calculated by the steering assist torque calculating unit and the detected steering torque to control the actuator such that the torque command decreases. In the system, a switching device is provided for switching between modes of control by the first steering control unit and the second steering control unit gradually with respect to time, thereby ensuring to switch the mode of control smoothly and preventing the occurrence of disadvantages including that the vehicle driver experiences annoyance upon sensing a change in steering assist.
摘要翻译：一种用于控制车辆的转向的系统，包括具有辅助车辆的从动轮的转向的电动机等方向盘的转向装置，用于控制电动机的第一转向控制单元，用于检测车辆状况的CCD摄像机车辆行驶的道路，用于检测车辆的运动的横摆率传感器，用于计算保持车道所需的转向辅助转矩的转向辅助转矩计算单元，用于检测手动施加到转向器的实际转向转矩的转矩传感器以及第二转向控制单元，用于基于由转向辅助转矩计算单元计算的转向辅助转矩和检测到的转向转矩来计算要输出到第一转向控制单元的转矩指令，以控制致动器，使得转矩指令减小。在该系统中，提供了一种开关装置，用于相对于时间逐渐地切换由第一转向控制单元和第二转向控制单元的控制模式，从而确保平滑地切换控制模式，并防止出现诸如车辆驾驶员在感测到转向辅助的变化时经历烦恼。

10. 发明授权

US08340870B2 Vehicle maneuver assistance device 有权
标题翻译：车辆操纵辅助装置
公开(公告)号：US08340870B2
公开(公告)日：2012-12-25
申请号：US12584734
申请日：2009-09-11
申请人： Kenichi Ohshima , Yukihiro Fujiwara , Yoshitaka Katashima , Hiroyuki Kawagoe , Shigenobu Saigusa , Yasushi Shoda , Manabu Shimizu , Yasuhiro Konishi
发明人： Kenichi Ohshima , Yukihiro Fujiwara , Yoshitaka Katashima , Hiroyuki Kawagoe , Shigenobu Saigusa , Yasushi Shoda , Manabu Shimizu , Yasuhiro Konishi
IPC分类号： G06F7/00
CPC分类号： B62D15/0275 , B60R1/00 , B60R2300/105 , B60R2300/303 , B60R2300/305 , B60R2300/607 , B60R2300/806 , B62D15/028
摘要： The vehicle maneuver assistance device includes: a plurality of external environment imaging units; a converter that performs a view point conversion; a display unit provided in an interior of the present-vehicle; a steering angle status value detector which detects status values of the steering angle representing an actual steering angle of the present-vehicle, and outputs a steering angle status value; a display controller that causes the display unit to display the converted image, and, overlaid thereon, a guidance display which assists a parking maneuver of the present-vehicle, wherein the display controller controls the guidance display according to the steering angle status value, so that the guidance display includes: an initial positioning guide line representing an initial location of the present-vehicle at the beginning of the parking maneuver; and a steering-switching start positioning guide line representing a starting location of a quick steering direction switching.
摘要翻译：车辆操纵辅助装置包括：多个外部环境成像单元; 执行视点转换的转换器; 设置在本车内部的显示单元; 转向角状态值检测器，其检测表示本车辆的实际转向角的转向角的状态值，并输出转向角状态值; 显示控制器，其使显示单元显示转换的图像，并且覆盖有辅助本车的停车操作的引导显示，其中显示控制器根据转向角状态值来控制引导显示，因此，引导显示包括：在停车操作开始时代表当前车辆的初始位置的初始定位引导线; 以及表示快速转向方向切换的起始位置的转向切换开始定位引导线。

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