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1. 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。

2. 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。

3. 发明公开

EP1602559A2 Vehicle steering apparatus and control method therefor 有权
标题翻译： Fahrzeuglenkung und Regelverfahrendafür
公开(公告)号：EP1602559A2
公开(公告)日：2005-12-07
申请号：EP05011393.5
申请日：2005-05-25
申请人： TOYODA KOKI KABUSHIKI KAISHA
发明人： Ohta, Takayuki , Momiyama, Minekazu , Kato, Hiroaki
IPC分类号： B62D6/04
CPC分类号： B62D6/003 , B62D5/008 , B62D6/005
摘要： When a variable value indicates that a steering characteristic is understeer, a control unit (8) controls a variable transmission ratio device (7) to change a second steering angle such that the greater the understeer indicated by the variable value, the smaller the steering angle of steered wheels (6) relative to the turning angle of a steering wheel (2) becomes. When the differentiated value of the variable value indicates that the understeer is changing to increase, a correction unit corrects the variable value such that the greater the degree of change of the understeer indicated by the differentiated value, the greater the understeer indicated by the variable value becomes. Hence, the attitude of a vehicle in understeer is stabilized with a simple configuration.
摘要翻译：当可变值表示转向特性不足时，控制单元（8）控制可变变速比装置（7）以改变第二转向角，使得由可变值指示的转向不足转向越大，转向角越小转向轮（6）相对于方向盘（2）的转动角度变为。当可变值的微分值表示不足转向增加时，校正单元校正变量值，使得由微分值表示的不足转换程度越大，变量值表示的转向不足越大变。因此，车辆在转向不足中的姿态通过简单的结构得以稳定。

4. 发明公开

EP1464564A2 Vehicle motion control method and vehicle motion control apparatus 有权
标题翻译： Vorrichtung und Verfahren zur Regelung der Fahrzeugbewegung
公开(公告)号：EP1464564A2
公开(公告)日：2004-10-06
申请号：EP04007946.9
申请日：2004-04-01
申请人： Toyoda Koki Kabushiki Kaisha
发明人： Kato, Hiroaki , Momiyama, Minekazu , Ohta, Takayuki
IPC分类号： B62D6/04
CPC分类号： B60W30/02 , B62D6/04
摘要： This invention provides a vehicle motion control method and a vehicle motion control apparatus capable of improving the behavior stability of a vehicle. According to the vehicle motion control method, vehicle steering characteristic is determined based on a behavior amount differentiated value obtained by differentiating (S203) a slip angle differential value which is a behavior amount of the vehicle which occurs around a z-axis in the vertical direction with respect to the vehicle body (S205, S209). Consequently, because the phase of the slip angle differential value is progressed, the transition tendency of the steering characteristic, that is, which the vehicle motion condition is moved to over-steer or under-steer, can be obtained early. Therefore, the starting timing of the steering control or drive power control of the vehicle can be accelerated thereby improving the behavior stability of the vehicle.
摘要翻译：本发明提供一种能够改善车辆行为稳定性的车辆运动控制方法和车辆运动控制装置。根据车辆运动控制方法，基于通过差分求得的行为量微分值（S203）确定作为在垂直方向上z轴周围出现的车辆行为量的滑移角差分值，相对于车体（S205，S209）。因此，由于滑移角差分值的相位发生变化，所以可以及早地获得转向特性的转变趋势，即车辆运动状态转向过转向或转向不足的转变趋势。因此，能够加速车辆的转向控制或驱动力控制的开始时刻，从而提高车辆的行驶稳定性。

5. 发明公开

EP1602559A3 Vehicle steering apparatus and control method therefor 有权
标题翻译：车辆转向和它们的控制方法
公开(公告)号：EP1602559A3
公开(公告)日：2005-12-14
申请号：EP05011393.5
申请日：2005-05-25
申请人： TOYODA KOKI KABUSHIKI KAISHA
发明人： Ohta, Takayuki , Momiyama, Minekazu , Kato, Hiroaki
IPC分类号： B62D6/04 , B62D5/00 , B62D6/00
CPC分类号： B62D6/003 , B62D5/008 , B62D6/005
摘要： When a variable value indicates that a steering characteristic is understeer, a control unit (8) controls a variable transmission ratio device (7) to change a second steering angle such that the greater the understeer indicated by the variable value, the smaller the steering angle of steered wheels (6) relative to the turning angle of a steering wheel (2) becomes. When the differentiated value of the variable value indicates that the understeer is changing to increase, a correction unit corrects the variable value such that the greater the degree of change of the understeer indicated by the differentiated value, the greater the understeer indicated by the variable value becomes. Hence, the attitude of a vehicle in understeer is stabilized with a simple configuration.

6. 发明公开

EP1598258A2 Vehicle control system 有权
标题翻译： Fahrzeugsteuerungssystem
公开(公告)号：EP1598258A2
公开(公告)日：2005-11-23
申请号：EP05010971.9
申请日：2005-05-20
申请人： TOYODA KOKI KABUSHIKI KAISHA
发明人： Ohta, Takayuki , Takeuchi, Shinji , Momiyama, Minekazu , Kato, Hiroaki , Murakami, Tsuyoshi
IPC分类号： B62D6/04
CPC分类号： B62D5/008 , B62D6/006 , B62D6/04
摘要： The control system of a vehicle according to the present invention controls the transmission ratio of the steering angle of a steering wheel relative to a turning angle of front wheels based on a drive force distribution ratio. Thus, the performance of the tires on the front wheels can be used to almost maximum potential, providing effective prevention of understeering. The present invention provides a steering system that limits understeering effectively.
摘要翻译：根据本发明的车辆的控制系统基于驱动力分配比来控制方向盘相对于前轮的转向角的转向角的传动比。因此，轮胎在前轮上的性能可以用于几乎最大的潜力，从而有效地防止转向不足。本发明提供一种有效地限制转向不足的转向系统。

7. 发明公开

EP1598258A3 Vehicle control system 有权
标题翻译：车辆控制系统
公开(公告)号：EP1598258A3
公开(公告)日：2006-01-04
申请号：EP05010971.9
申请日：2005-05-20
申请人： TOYODA KOKI KABUSHIKI KAISHA
发明人： Ohta, Takayuki , Takeuchi, Shinji , Momiyama, Minekazu , Kato, Hiroaki , Murakami, Tsuyoshi
IPC分类号： B62D6/04 , B62D6/00 , B62D5/00
CPC分类号： B62D5/008 , B62D6/006 , B62D6/04
摘要： The control system of a vehicle according to the present invention controls the transmission ratio of the steering angle of a steering wheel relative to a turning angle of front wheels based on a drive force distribution ratio. Thus, the performance of the tires on the front wheels can be used to almost maximum potential, providing effective prevention of understeering. The present invention provides a steering system that limits understeering effectively.

8. 发明公开

EP1464564A3 Vehicle motion control method and vehicle motion control apparatus 有权
标题翻译：装置和方法，用于控制车辆运动
公开(公告)号：EP1464564A3
公开(公告)日：2005-06-01
申请号：EP04007946.9
申请日：2004-04-01
申请人： Toyoda Koki Kabushiki Kaisha
发明人： Kato, Hiroaki , Momiyama, Minekazu , Ohta, Takayuki
IPC分类号： B62D6/04
CPC分类号： B60W30/02 , B62D6/04
摘要： This invention provides a vehicle motion control method and a vehicle motion control apparatus capable of improving the behavior stability of a vehicle. According to the vehicle motion control method, vehicle steering characteristic is determined based on a behavior amount differentiated value obtained by differentiating (S203) a slip angle differential value which is a behavior amount of the vehicle which occurs around a z-axis in the vertical direction with respect to the vehicle body (S205, S209). Consequently, because the phase of the slip angle differential value is progressed, the transition tendency of the steering characteristic, that is, which the vehicle motion condition is moved to over-steer or under-steer, can be obtained early. Therefore, the starting timing of the steering control or drive power control of the vehicle can be accelerated thereby improving the behavior stability of the vehicle.

9. 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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