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1. 发明公开

EP1348610A2 Vehicle control device with power steering device 有权
标题翻译： Servolenkung Fahrzeugsteuervorrichtung mit
公开(公告)号：EP1348610A2
公开(公告)日：2003-10-01
申请号：EP03007053.6
申请日：2003-03-27
申请人： TOYODA KOKI KABUSHIKI KAISHA , Advics Co., Ltd.
发明人： Kato, Hiroaki , Momiyama, Minekazu , Yasui, Yoshiyuki , Tanaka, Wataru , Asano, Kenji , Ono, Eiichi , Muragishi, Yuji
IPC分类号： B62D6/04 , B62D5/04
CPC分类号： B62D6/003 , B60T2201/08 , B60T2201/082 , B60T2201/083 , B60T2201/087 , B60T2260/024 , B62D1/286
摘要： A vehicle control device incorporating an electric power steering is provided, wherein an extraordinary yaw motion acting on a vehicle is detected and is suppressed or moderated, so that the stability of the vehicle in a straight-ahead steering is improved. The causes of the extraordinary yaw motion are one of lateral wind, asymmetrical surface state of the road, lateral slant of the road and the like. A countermeasure against the extraordinary yaw motion is taken by applying a counter (opposite direction) yaw motion on the vehicle or switching over the control mode from a proportional control to a proportional integral control.
摘要翻译：提供了一种结合了电动助力转向装置的车辆控制装置，其中检测到作用在车辆上的异常偏航运动并被抑制或缓和，从而提高了直行转向中车辆的稳定性。异常偏航运动的原因是侧风，道路的不对称表面状态，道路横向倾斜等。通过在车辆上施加计数器（相反方向）偏航运动或者将控制模式从比例控制切换到比例积分控制来采取对非常偏航运动的对策。

2. 发明公开

EP1348610A3 Vehicle control device with power steering device 有权
标题翻译：动力转向车辆控制装置
公开(公告)号：EP1348610A3
公开(公告)日：2005-02-02
申请号：EP03007053.6
申请日：2003-03-27
申请人： TOYODA KOKI KABUSHIKI KAISHA , Advics Co., Ltd.
发明人： Kato, Hiroaki , Momiyama, Minekazu , Yasui, Yoshiyuki , Tanaka, Wataru , Asano, Kenji , Ono, Eiichi , Muragishi, Yuji
IPC分类号： B62D6/04 , B62D5/04
CPC分类号： B62D6/003 , B60T2201/08 , B60T2201/082 , B60T2201/083 , B60T2201/087 , B60T2260/024 , B62D1/286
摘要： A vehicle control device incorporating an electric power steering is provided, wherein an extraordinary yaw motion acting on a vehicle is detected and is suppressed or moderated, so that the stability of the vehicle in a straight-ahead steering is improved. The causes of the extraordinary yaw motion are one of lateral wind, asymmetrical surface state of the road, lateral slant of the road and the like. A countermeasure against the extraordinary yaw motion is taken by applying a counter (opposite direction) yaw motion on the vehicle or switching over the control mode from a proportional control to a proportional integral control.

3. 发明公开

EP1514765A3 Vehicular steering device 有权
标题翻译：车辆转向装置
公开(公告)号：EP1514765A3
公开(公告)日：2005-06-01
申请号：EP04021225.0
申请日：2004-09-07
申请人： TOYODA KOKI KABUSHIKI KAISHA , Advics Co., Ltd.
发明人： Kato, Hiroaki , Momiyama, Minekazu , Ohta, Takayuki , Yasui, Yoshiyuki , Imoto, Yuzo , Aizawa, Hiroaki , Ono, Eiichi , Muragishi, Yuji
IPC分类号： B62D6/00 , B62D5/00 , B62D6/04
CPC分类号： B62D5/008 , B60T8/172 , B60T2210/12 , B60T2220/03 , B62D6/003 , B62D6/006
摘要： A first ECU 30 detects a steering torque applied to a steering system, estimates a self-aligning torque generated in a front wheel on the basis of the steering torque, and estimates a side force for the front wheel on the basis of lateral acceleration and a yaw rate. The first ECU 30 estimates a grip factor ε for the front wheel on the basis of a change of the self-aligning torque to the side force. The first ECU 30 judges whether the grip factor is below a second OS (oversteer) start threshold value. A second ECU 40 controls the transfer ratio according to the vehicle state when the grip factor is less than the second OS start threshold value.
摘要翻译：第一ECU 30检测施加到转向系统的转向转矩，基于转向转矩来估计在前轮中产生的自对准转矩，并且基于横向加速度估计用于前轮的侧向力，以及偏航率。第一ECU 30基于自对准扭矩相对于侧向力的改变来估计用于前轮的抓地系数ε。第一ECU 30判断抓地力系数是否低于第二OS（过度转向）起动阈值。第二ECU 40在抓地系数小于第二OS起动阈值时根据车辆状态来控制传动比。

4. 发明公开

EP1514765A2 Vehicular steering device 有权
标题翻译： Fahrzeuglenkeinrichtung
公开(公告)号：EP1514765A2
公开(公告)日：2005-03-16
申请号：EP04021225.0
申请日：2004-09-07
申请人： TOYODA KOKI KABUSHIKI KAISHA , Advics Co., Ltd.
发明人： Kato, Hiroaki , Momiyama, Minekazu , Ohta, Takayuki , Yasui, Yoshiyuki , Imoto, Yuzo , Aizawa, Hiroaki , Ono, Eiichi , Muragishi, Yuji
IPC分类号： B62D6/00
CPC分类号： B62D5/008 , B60T8/172 , B60T2210/12 , B60T2220/03 , B62D6/003 , B62D6/006
摘要： A first ECU 30 detects a steering torque applied to a steering system, estimates a self-aligning torque generated in a front wheel on the basis of the steering torque, and estimates a side force for the front wheel on the basis of lateral acceleration and a yaw rate. The first ECU 30 estimates a grip factor ε for the front wheel on the basis of a change of the self-aligning torque to the side force. The first ECU 30 judges whether the grip factor is below a second OS (oversteer) start threshold value. A second ECU 40 controls the transfer ratio according to the vehicle state when the grip factor is less than the second OS start threshold value.
摘要翻译：第一ECU30检测施加到转向系统的转向转矩，基于转向转矩来估计在前轮中产生的自对准扭矩，并且基于横向加速度估计前轮的侧向力，并且偏航率。第一ECU30基于自对准转矩与侧向力的变化来估计前轮的夹紧系数ε。第一ECU30判断握持系数是否低于第二OS（过度转向）开始阈值。当夹紧系数小于第二OS起始阈值时，第二ECU 40根据车辆状态来控制传递比。

5. 发明公开

EP1380490A2 Vehicle operation control method and vehicle operation control apparatus 审中-公开
标题翻译：车辆操作控制方法和车辆操作控制装置
公开(公告)号：EP1380490A2
公开(公告)日：2004-01-14
申请号：EP03015802.6
申请日：2003-07-10
申请人： Toyoda Koki Kabushiki Kaisha
发明人： Momiyama, Minekazu , Takeuchi, Shinji , Imoto, Yuzo , Yasui, Yoshiyuki , Tanaka, Wataru , Muragishi, Yuji
IPC分类号： B62D5/04
CPC分类号： B62D5/008 , B62D6/002 , B62D6/02
摘要： This invention provides a vehicle operation control method and vehicle operation control apparatus which protects a vehicle driver from a feeling of disharmony in his steering operation. Provided is a vehicle operation control method for controlling an actual steering angle of driven wheels based on a steering angle of a steering wheel and a vehicle velocity, with

a first step of obtaining a change amount in the steering angle by the steering wheel;
a second step of controlling a variable gain based on the vehicle velocity;
a third step of multiplying the change amount in the steering angle obtained in the first step with the variable gain controlled in the second step;
a fourth step of integrating results of multiplications in the third step; and
a fifth step of controlling the actual steering angle of the steering wheel based on a result of the integration in the fourth step.
摘要翻译：本发明提供一种车辆操作控制方法和车辆操作控制装置，其保护车辆驾驶员免于在其转向操作中的不协调感。提供一种车辆操作控制方法，用于基于方向盘的转向角度和车辆速度来控制从动车轮的实际转向角度，所述方法包括以下步骤：第一步骤，获得方向盘的转向角度的改变量; 基于车辆速度控制可变增益的第二步骤; 第三步骤，将在第一步骤中获得的转向角度的变化量乘以在第二步骤中控制的可变增益; 在第三步骤中对乘法结果进行积分的第四步骤; 以及第五步骤，基于第四步骤中的积分结果来控制方向盘的实际转向角度。

6. 发明公开

EP1380490A3 Vehicle operation control method and vehicle operation control apparatus 审中-公开
标题翻译：用于车辆控制的方法和装置
公开(公告)号：EP1380490A3
公开(公告)日：2004-08-11
申请号：EP03015802.6
申请日：2003-07-10
申请人： Toyoda Koki Kabushiki Kaisha
发明人： Momiyama, Minekazu , Takeuchi, Shinji , Imoto, Yuzo , Yasui, Yoshiyuki , Tanaka, Wataru , Muragishi, Yuji
IPC分类号： B62D5/04 , B62D6/02
CPC分类号： B62D5/008 , B62D6/002 , B62D6/02
摘要： This invention provides a vehicle operation control method and vehicle operation control apparatus which protects a vehicle driver from a feeling of disharmony in his steering operation. Provided is a vehicle operation control method for controlling an actual steering angle of driven wheels based on a steering angle of a steering wheel and a vehicle velocity, with a first step of obtaining a change amount in the steering angle by the steering wheel; a second step of controlling a variable gain based on the vehicle velocity; a third step of multiplying the change amount in the steering angle obtained in the first step with the variable gain controlled in the second step; a fourth step of integrating results of multiplications in the third step; and a fifth step of controlling the actual steering angle of the steering wheel based on a result of the integration in the fourth step.

7. 发明授权

EP1518721B1 Suspension control device 有权
标题翻译：底盘控制
公开(公告)号：EP1518721B1
公开(公告)日：2008-02-13
申请号：EP04022631.8
申请日：2004-09-23
申请人： AISIN SEIKI KABUSHIKI KAISHA , Advics Co., Ltd. , JTEKT CORPORATION
发明人： Yasui, Yoshiyuki , Kato, Hiroaki , Muragishi, Yuji , Ono, Eiichi , Aizawa, Hiroaki
IPC分类号： B60G17/0195 , B60G21/055
CPC分类号： B60G17/0195 , B60G21/0555 , B60G2400/208 , B60G2400/252 , B60G2400/5122 , B60G2400/822 , B60G2800/012 , B60G2800/702 , B60G2800/9122 , B60G2800/96 , B60W10/20 , B60W10/22 , B60W30/02 , B60W2510/22 , B60W2520/125 , B60W2550/148

8. 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。

9. 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。

10. 发明授权

EP1514765B1 Vehicular steering device 有权
标题翻译：车辆转向装置
公开(公告)号：EP1514765B1
公开(公告)日：2006-12-06
申请号：EP04021225.0
申请日：2004-09-07
申请人： JTEKT CORPORATION , Advics Co., Ltd.
发明人： Kato, Hiroaki , Momiyama, Minekazu , Ohta, Takayuki , Yasui, Yoshiyuki , Imoto, Yuzo , Aizawa, Hiroaki , Ono, Eiichi , Muragishi, Yuji
IPC分类号： B62D6/00 , B62D5/00 , B62D6/04
CPC分类号： B62D5/008 , B60T8/172 , B60T2210/12 , B60T2220/03 , B62D6/003 , B62D6/006

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