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1. 发明公开

EP2093126A1 Motor-driven steering controller and automobile anti-skid controller 有权转让
标题翻译： Reglerfürmotorgetriebene Servolenkung
公开(公告)号：EP2093126A1
公开(公告)日：2009-08-26
申请号：EP09156254.6
申请日：2003-04-07
申请人： AISIN SEIKI KABUSHIKI KAISHA , JTEKT CORPORATION , Advics Co., Ltd
发明人： Yasui, Yoshiyuki , Tanaka, Wataru , Muragishi, Yuji , Ono, Eiichi , Asano, Katsuhiro , Momiyama, Minekazu , Kato, Hiroaki , Asano, Kenji
IPC分类号： B62D6/04
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 power steering controller (ECU1) for a vehicle comprises a steering torque controlling unit (B0) for controlling a steering torque on a steering wheel (1) depending on a steering operation of the vehicle to reduce an operator's power required to operate the steering wheel (1), a braking force estimating unit (B1) for estimating braking forces to be imposed on wheels of the vehicle and a right and left braking force difference estimating unit (B2) for estimating difference between the braking forces to be imposed on the right and left wheels each estimated by the braking forces estimating unit. The controller further comprises an assist steering torque providing unit (B3) for adding a counter-steering assist steering torque assisting an operator's counter-steering operation on the steering wheel to the steering torque controlled by the steering torque controlling unit (B0) in the counter-steering direction on the basis of the difference in braking force between right and left wheels estimated by the right and left brake force difference estimate unit (B2), wherein the assist steering torque providing unit is arranged so as to inhibit provision of the assist steering torque when the stability of the vehicle is controlled by the vehicle stability controlling unit.
摘要翻译：用于车辆的电动机动力转向控制器（ECU1）包括：转向转矩控制单元（B0），用于根据车辆的转向操作来控制方向盘（1）上的转向转矩，以减少操作者操作所需的动力方向盘（1），用于估计要施加在车辆的车轮上的制动力的制动力估计单元（B1）和用于估计要施加的制动力之间的差异的左右制动力差估计单元（B2）在由制动力估计单元估计的左右车轮上。所述控制器还包括辅助转向转矩提供单元（B3），用于将辅助操舵方向盘上的操作者对舵操作的反向转向辅助转向扭矩与由所述转向转矩控制单元（B0）控制的转向转矩相加基于由右和左制动力差估计单元（B2）估计的左右车轮之间的制动力的差异的导向方向，其中辅助转向转矩提供单元布置成禁止提供辅助转向车辆的稳定性由车辆稳定性控制单元控制时的转矩。

2. 发明授权

EP2193978B1 Motor-driven steering controller 有权
公开(公告)号：EP2193978B1
公开(公告)日：2012-03-14
申请号：EP10157998.5
申请日：2003-04-07
申请人： AISIN SEIKI KABUSHIKI KAISHA , JTEKT CORPORATION , ADVICS CO., LTD.
发明人： Yasui, Yoshiyuki , Tanaka, Wataru , Muragishi, Yuji , Ono, Eiichi , Asano, Katsuhiro , Momiyama, Minekazu , Kato, Hiroaki , Asano, Kenji
IPC分类号： B60W10/20 , B60W10/18 , B62D5/04 , B62D6/00 , B60T8/1755 , B60T8/1764
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

3. 发明公开

EP2193978A1 Motor-driven steering controller and automobile anti-skid controller 有权
标题翻译： Reglerfürmotorgetriebene Servolenkung
公开(公告)号：EP2193978A1
公开(公告)日：2010-06-09
申请号：EP10157998.5
申请日：2003-04-07
申请人： AISIN SEIKI KABUSHIKI KAISHA , JTEKT CORPORATION , ADVICS CO., LTD.
发明人： Yasui, Yoshiyuki , Tanaka, Wataru , Muragishi, Yuji , Ono, Eiichi , Asano, Katsuhiro , Momiyama, Minekazu , Kato, Hiroaki , Asano, Kenji
IPC分类号： B62D6/04 , B60W10/18 , B60W10/20
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 power steering controller (ECU1) for a vehicle comprises a steering torque controlling unit (B0) for controlling a steering torque on a steering wheel (1) depending on a steering operation of the vehicle to reduce an operator's power required to operate the steering wheel (1), a braking force estimating unit (B1) for estimating braking forces to be imposed on wheels of the vehicle, a right and left braking force difference estimating unit (B2) for estimating difference between the braking forces to be imposed on the right and left wheels each estimated by the braking forces estimating unit (B1). The controller further comprises an assist steering torque providing unit (B3) for adding a counter-steering assist steering torque assisting an operator's counter-steering operation on the steering wheel to the steering torque controlled by the steering torque controlling unit (B0) in the counter-steering direction on the basis of the difference in braking force between right and left wheels estimated by the right and left brake force difference estimate unit (B2), wherein the assist steering torque providing unit prohibits providing the counter-steering assist steering torque when turning condition of the vehicle is higher than a predetermined value.
摘要翻译：用于车辆的电动机动力转向控制器（ECU1）包括：转向转矩控制单元（B0），用于根据车辆的转向操作来控制方向盘（1）上的转向转矩，以减少操作者操作所需的动力方向盘（1），用于估计要施加在车辆上的制动力的制动力估计单元（B1），用于估计要施加的制动力之间的差异的左右制动力差估计单元（B2）在由制动力估计单元（B1）估计的左右车轮上。所述控制器还包括辅助转向转矩提供单元（B3），用于将辅助操舵方向盘上的操作者对舵操作的反向转向辅助转向扭矩与由所述转向转矩控制单元（B0）控制的转向转矩相加基于由左右制动力差估计单元（B2）估计的左右车轮之间的制动力的差异的导向方向，其中辅助转向转矩提供单元禁止在转动时提供反向转向辅助转向转矩车辆的状态高于预定值。

4. 发明公开

EP1357007A3 Wheel grip factor estimation apparatus 有权
标题翻译：轮夹系数估算装置
公开(公告)号：EP1357007A3
公开(公告)日：2003-11-05
申请号：EP03009169.8
申请日：2003-04-22
申请人： AISIN SEIKI KABUSHIKI KAISHA , TOYODA KOKI KABUSHIKI KAISHA , Advics Co., Ltd.
发明人： Yasui, Yoshiyuki , Tanaka, Wataru , Ono, Eiichi, K.K. Toyota Chuo Kenkyusho , Muragishi, Yuji, K.K. Toyota Chuo Kenkyusho , Asano, Katsuhiro, K.K. Toyota Chuo Kenkyusho , Momiyama, Minekazu , Ogawa, Syoji , Asano, Kenji , Imoto, Yuzo , Kato, Hiroaki
IPC分类号： B60T8/00
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 (M6) 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 (M12) 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握持系数估计装置，其包括转向系数检测单元，该转向系数检测单元用于检测转向因子中的至少一个，所述转向因子包括施加到从方向盘延伸到悬架的转向系统的转向力矩和转向力，用于基于由所述转向系数检测单元检测到的转向系数估计在所述车辆的至少一个车轮上产生的对准转矩的对准转矩估计单元（M6），以及用于检测车辆的状态的车辆状态变量检测单元车辆的变量。该装置进一步包括：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向力和滑移角的至少一个车轮因素;以及抓地系数估计单元（M12），用于估计抓地力根据估计的对准转矩与估计的车轮因数之间的关系，确定车轮的至少一个轮胎的因素。

5. 发明公开

EP1407950A1 Road condition estimation apparatus and vehicle motion control system using the same 有权转让
标题翻译：道路状况估计装置和使用其的车辆运动控制系统
公开(公告)号：EP1407950A1
公开(公告)日：2004-04-14
申请号：EP03022788.8
申请日：2003-10-10
申请人： AISIN SEIKI KABUSHIKI KAISHA , TOYODA KOKI KABUSHIKI KAISHA , Advics Co., Ltd.
发明人： Yasui, Yoshiyuki , Ono, Eiichi, K.K. Toyota Chuo Kenkyusho , Muragishi, Yuji, K.K. Toyota Chuo Kenkyusho , Takeuchi, Shinji , Momiyama, Minekazu , Kato, Hiroaki , Asano, Kenji
IPC分类号： B60T8/00
CPC分类号： B60W40/064 , B60T8/172 , B60T8/1755 , B60T2210/12 , B60T2230/02 , B60T2260/02 , B60W30/02 , B60W40/101 , B60W2530/20 , B62D6/006
摘要： The present invention is directed to a road condition estimation apparatus for estimating a road condition for use in a vehicle having a steering control unit for actuating a device mechanically independent of a manually operated steering member to steer at least a wheel of front and rear wheels. The apparatus includes an actuating signal detection unit for detecting an actuating signal for actuating the device of the steering control unit, an aligning torque estimation unit (M5) for estimating an aligning torque produced on the wheel on the basis of the actuating signal detected by the actuating signal detection unit, and a vehicle state variable detection unit (M7) for detecting a state variable of the vehicle. The apparatus further includes a wheel factor estimation unit (M8) for estimating at least one of wheel factors including a side force and a slip angle applied to the wheel on the basis of the vehicle state variable, and a grip factor estimation unit (M10) for estimating a grip factor of at least a tire of the wheel, in accordance with a relationship between the estimated aligning torque and the estimated wheel factor.
摘要翻译：本发明涉及一种用于估计用于具有转向控制单元的车辆中的道路状况的道路状况估计装置，所述转向控制单元用于机械地独立于手动操作的转向构件致动装置以转向至少一个前轮和后轮的轮。该装置包括用于检测用于致动转向控制单元的装置的致动信号的致动信号检测单元，用于基于由该致动信号检测单元检测到的致动信号来估计在车轮上产生的定向转矩的定向转矩估计单元（M5）起动信号检测单元以及用于检测车辆的状态变量的车辆状态变量检测单元（M7）。该装置还包括用于基于车辆状态变量来估计车轮因素中的至少一个的车轮因素估计单元（M8），所述车轮因素包括施加到车轮的侧向力和滑移角，以及抓地因子估计单元（M10）用于根据所估计的对准转矩与所估计的车轮因数之间的关系来估计所述车轮的至少一个轮胎的抓地系数。

6. 发明公开

EP1502838A3 Motor-driven steering controller and automobile anti-skid controller. 有权
标题翻译：控制电机助力转向和防滑控制。
公开(公告)号：EP1502838A3
公开(公告)日：2005-05-11
申请号：EP04019200.7
申请日：2003-04-07
申请人： Aisin Seiki Kabushiki Kaisha , Toyoda Koki Kabushiki Kaisha , Advics Co., Ltd.
发明人： Yasui, Yoshiyuki , Tanaka, Wataru , Muragishi, Yuji K. K. Toyota Chuo Kenkyusho , Ono, Eiichi K. K. Toyota Chuo Kenkyusho , Asano, Katsuhiro K. K. Toyota Chuo Kenkyusho , Momiyama, Minekazu , Kato, Hiroaki , Asano, Kenji
IPC分类号： B62D6/04 , B60T8/00
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.

7. 发明授权

EP1407949B1 Road condition estimation apparatus and vehicle motion control system using the same 有权
标题翻译：道路条件检测装置和设备使用的车辆控制系统
公开(公告)号：EP1407949B1
公开(公告)日：2005-02-16
申请号：EP03022787.0
申请日：2003-10-10
申请人： AISIN SEIKI KABUSHIKI KAISHA , TOYODA KOKI KABUSHIKI KAISHA , Advics Co., Ltd.
发明人： Yasui, Yoshiyuki , Ono, Eiichi, K.K. Toyota Chuo Kenkyusho , Muragishi, Yuji, K.K. Toyota Chuo Kenkyusho , Takeuchi, Shinji , Momiyama, Minekazu , Kato, Hiroaki , Imoto, Yuzo , Aizawa, Hiroaki
IPC分类号： B60T8/00
CPC分类号： B60W40/064 , B60T8/172 , B60T8/17551 , B60T2210/12 , B60T2260/02 , B60W10/184 , B60W10/20 , B60W40/101 , B60W2530/20 , B62D6/04

8. 发明公开

EP1502838A2 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：EP1502838A2
公开(公告)日：2005-02-02
申请号：EP04019200.7
申请日：2003-04-07
申请人： Aisin Seiki Kabushiki Kaisha , Toyoda Koki Kabushiki Kaisha , Advics Co., Ltd.
发明人： Yasui, Yoshiyuki , Tanaka, Wataru , Muragishi, Yuji K. K. Toyota Chuo Kenkyusho , Ono, Eiichi K. K. Toyota Chuo Kenkyusho , Asano, Katsuhiro K. K. Toyota Chuo Kenkyusho , Momiyama, Minekazu , Kato, Hiroaki , Asano, Kenji
IPC分类号： B62D6/04
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：电机驱动转向控制器，用于控制车辆的方向盘。控制器包括转向扭矩控制单元，制动力估计单元，左右制动力差估计单元和辅助转向扭矩提供单元。转向扭矩控制单元根据转向操作来控制方向盘上的转向扭矩。制动力估计单元估计将施加在车辆的车轮上的制动力。左右制动力差估计单元估计由制动力估计单元估计的左右车轮上施加的制动力之间的差。辅助转向转矩提供单元基于由左右制动力差估计单元估计的右轮和左轮之间的制动力的差异来为转向转矩控制单元提供辅助转向转矩。

10. 发明公开

EP1357007A2 Wheel grip factor estimation apparatus 有权
标题翻译： Vorrichtung zurSchätzungdes Haftungsfaktors eines Fahrzeugrades
公开(公告)号：EP1357007A2
公开(公告)日：2003-10-29
申请号：EP03009169.8
申请日：2003-04-22
申请人： AISIN SEIKI KABUSHIKI KAISHA , TOYODA KOKI KABUSHIKI KAISHA , Advics Co., Ltd.
发明人： Yasui, Yoshiyuki , Tanaka, Wataru , Ono, Eiichi, K.K. Toyota Chuo Kenkyusho , Muragishi, Yuji, K.K. Toyota Chuo Kenkyusho , Asano, Katsuhiro, K.K. Toyota Chuo Kenkyusho , Momiyama, Minekazu , Ogawa, Syoji , Asano, Kenji , Imoto, Yuzo , Kato, Hiroaki
IPC分类号： B60T8/00
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 (M6) 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 (M12) 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抓地系数估计装置，其包括用于检测至少一个转向因素的转向因子检测单元，所述转向因素包括转向转矩和转向力，所述转向转矩和转向力用于从方向盘延伸到所述转向系统的悬架车辆，用于基于由转向因子检测单元检测到的转向因子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（M6）和用于检测状态的车辆状态变量检测单元车辆的变量。该装置还包括车轮因子估计单元，用于基于车辆状态变量估计包括施加到车轮的侧向力和滑移角的车轮因数中的至少一个，以及用于估计车把状态的抓地系数估计单元（M12）根据估计的对准转矩和估计的车轮因子之间的关系，至少轮胎的轮胎的系数。本发明涉及一种车轮夹紧因子估计装置，其包括转向因子检测单元，用于检测包括转向转矩和转向力的转向因素中的至少一个，所述转向扭矩和转向力用于从方向盘延伸到基于由转向因子检测单元检测到的转向因子，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（M6），车辆状态变量检测单元检测车辆的状态变量。该装置还包括车轮因子估计单元，用于基于车辆状态变量估计包括施加到车轮的侧向力和滑移角的车轮因数中的至少一个，以及用于估计车把状态的抓地系数估计单元（M12）根据估计的对准转矩和估计的车轮因子之间的关系，至少轮胎的轮胎的系数。

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