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1. 发明授权

EP3057842B1 VERFAHREN ZUM BETRIEB EINES FAHRERASSISTENZSYSTEMS EINES KRAFTFAHRZEUGS UND KRAFTFAHRZEUG 失效
标题翻译：用于操作机动车辆和机动车辆的驾驶员辅助系统的方法
公开(公告)号：EP3057842B1
公开(公告)日：2018-05-16
申请号：EP14787105.7
申请日：2014-10-14
申请人： Audi AG
发明人： LANGE, Alexander , MÜLLER, Christoph , REICHEL, Michael , ALBERT, Martin
IPC分类号： B60W50/16 , B60G17/018
CPC分类号： B60W50/14 , B60G17/018 , B60G2400/0512 , B60G2400/0513 , B60W10/22 , B60W30/18163 , B60W50/0097 , B60W50/16 , B60W2720/16 , B60W2720/18

2. 发明授权

EP2974900B1 STRADDLE-TYPE VEHICLE 有权
公开(公告)号：EP2974900B1
公开(公告)日：2017-12-20
申请号：EP15175661.6
申请日：2015-07-07
申请人： Yamaha Hatsudoki Kabushiki Kaisha
发明人： Hieda, Kazuya , Nakamura, Shogo
IPC分类号： B60K28/16 , B60T8/17
CPC分类号： B60W30/04 , B60K28/16 , B60T8/17 , B60T8/1706 , B60T8/175 , B60T2240/06 , B60W10/04 , B60W10/06 , B60W10/18 , B60W10/184 , B60W30/02 , B60W40/11 , B60W2030/041 , B60W2300/36 , B60W2400/00 , B60W2420/20 , B60W2510/0604 , B60W2510/0638 , B60W2510/182 , B60W2520/105 , B60W2520/14 , B60W2520/16 , B60W2520/18 , B60W2520/28 , B60W2720/16
摘要： A straddle-type vehicle includes a front wheel (8), a rear wheel (23), an engine (17) for generating a driving force and rotating the rear wheel with the driving force, a front wheel brake (10) and a rear wheel brake (26) for at least lowering the rotation speed of the rear wheel, a first detector for acquiring and outputting a pitch rate, a second detector for detecting and outputting information concerning rotation of the front wheel, and an ECU (52) including a front wheel lift determination section which monitors respective outputs from the first detector and the second detector to determine whether a front wheel lift exists or not based on at least one of the pitch rate and information concerning rotation of the front wheel, the ECU (52) controlling the driving source or the braking device so that the driving force is lowered or that the rotation speed of the rear wheel is lowered when it is determined that a front wheel lift exists.

3. 发明授权

EP2990277B1 BRAKING FORCE CONTROL APPARATUS FOR SADDLE RIDE-TYPE VEHICLE 有权
标题翻译： BREMSKRAFTSTEUERUNGSVORRICHTUNGFÜREINGRÄTSCHSITZFAHRZEUG
公开(公告)号：EP2990277B1
公开(公告)日：2017-05-03
申请号：EP15178865
申请日：2015-07-29
申请人： HONDA MOTOR CO LTD
发明人： KANETA HIROYUKI , NIMURA TAISUKE , FUJITA MASAYUKI , SAWANO YOSHIAKI , ISHIKAWA SHUNYA , MAKITA HIROYUKI , FUJIMOTO YASUSHI , KITTAKA EIJI , SAKAMOTO NAOKI
IPC分类号： B60T7/12
CPC分类号： B60W30/18118 , B60T7/122 , B60T8/1706 , B60T8/3225 , B60T13/662 , B60T2201/06 , B60W10/02 , B60W10/04 , B60W10/10 , B60W10/188 , B60W30/182 , B60W2540/00 , B60W2710/182 , B60W2720/16 , B62L3/08
摘要： To provide a braking force control apparatus for a saddle ride-type vehicle, which causes braking force to act when a rider drives a vehicle body forward and backward at low speed while supporting the vehicle. A braking force control apparatus for a saddle ride-type vehicle, including a control device (106) configured to control a clutch device (108) which connects and disconnects driving force between an engine (100) and a transmission (40), and brake devices (BF and BR) which generate braking force of at least one of a drive wheel (WR) and a front wheel (WF). The vehicle (1) is configured to be able to switch between a normal driving mode and a slow speed mode assuming driving at a speed reduction ratio on a lower speed side than the normal driving mode. An inclination angle ¸ in a pitching direction of the vehicle (1) is detected when the slow speed mode is selected. The brake devices (BF and BR) generate braking force (B) when the inclination angle ¸ is not less than a predetermined value. Then, upon input of a driving operation in the slow speed mode, switching of the clutch device (108) to a connected state is started, and the braking force (B) is gradually released once the driving force starts to be transmitted to the drive wheel (WR).
摘要翻译：本发明提供一种鞍乘型车辆的制动力控制装置，其在车辆支承车辆的同时以低速向前后驱动车体时使制动力作用。本发明涉及一种用于骑乘型车辆的制动力控制装置，该骑乘型车辆的制动力控制装置包括控制装置（106），该控制装置构造成控制连接和断开发动机（100）与变速器（40）之间的驱动力的离合器装置（108）产生驱动轮（WR）和前轮（WF）中的至少一个的制动力的装置（BF和BR）。车辆（1）被构造成能够在正常驾驶模式和低速模式之间进行切换，假设以低于正常驾驶模式的低速侧的减速比进行驾驶。当选择慢速模式时，检测车辆（1）的俯仰方向上的倾斜角度¸。当倾斜角¸不小于预定值时，制动装置（BF和BR）产生制动力（B）。然后，在低速模式下输入驱动操作时，开始将离合器装置（108）切换到连接状态，并且一旦驱动力开始传递到驱动装置，制动力（B）就逐渐释放轮（WR）。

4. 发明公开

EP2829424A4 VEHICLE CONTROL DEVICE AND VEHICLE CONTROL METHOD 有权
公开(公告)号：EP2829424A4
公开(公告)日：2015-05-27
申请号：EP12871908
申请日：2012-11-02
申请人： NISSAN MOTOR
发明人： KIKUCHI HIRONOBU , HIRAYAMA KATSUHIKO
IPC分类号： B60G17/0195 , B60G17/015 , B60G17/06 , B60W10/00 , B60W10/04 , B60W10/06 , B60W10/184 , B60W10/22 , B60W30/02 , B60W40/10
CPC分类号： B60G17/015 , B60G17/0195 , B60G17/06 , B60G2400/202 , B60G2400/252 , B60G2600/02 , B60G2800/162 , B60G2800/916 , B60G2800/92 , B60G2800/97 , B60W10/04 , B60W10/06 , B60W10/184 , B60W10/22 , B60W30/20 , B60W2510/105 , B60W2710/226 , B60W2720/16
摘要： In the present invention, a power source attitude control is performed to suppress changes in the sprung mass behavior of a vehicle, and damping force control for damping force variable shock absorbers is performed to suppress changes in the sprung mass behavior. When the stroke speed is low, the saturation degree of the damping force variable shock absorbers is set smaller than the saturation degree when the stroke speed is high.

5. 发明公开

EP2829424A1 VEHICLE CONTROL DEVICE AND VEHICLE CONTROL METHOD 有权
标题翻译：车辆控制装置和车辆控制方法
公开(公告)号：EP2829424A1
公开(公告)日：2015-01-28
申请号：EP12871908.5
申请日：2012-11-02
申请人： Nissan Motor Co., Ltd
发明人： KIKUCHI Hironobu , HIRAYAMA Katsuhiko
IPC分类号： B60G17/0195 , B60G17/015 , B60W10/00 , B60W10/06 , B60W10/184 , B60W10/22 , B60W30/02 , B60W40/10
CPC分类号： B60G17/015 , B60G17/0195 , B60G17/06 , B60G2400/202 , B60G2400/252 , B60G2600/02 , B60G2800/162 , B60G2800/916 , B60G2800/92 , B60G2800/97 , B60W10/04 , B60W10/06 , B60W10/184 , B60W10/22 , B60W30/20 , B60W2510/105 , B60W2710/226 , B60W2720/16
摘要： In the present invention, a power source attitude control is performed to suppress changes in the sprung mass behavior of a vehicle, and damping force control for damping force variable shock absorbers is performed to suppress changes in the sprung mass behavior. When the stroke speed is low, the saturation degree of the damping force variable shock absorbers is set smaller than the saturation degree when the stroke speed is high.
摘要翻译：在本发明中，执行动力源姿态控制以抑制车辆的簧上质量特性的变化，并且执行用于衰减力可变减振器的衰减力控制以抑制簧上质量特性的变化。当行程速度低时，阻尼力可变减震器的饱和度设定为小于行程速度高时的饱和度。

6. 发明公开

EP1796953A2 VEHICLE CONTROL BY PITCH MODULATION 有权
标题翻译： FAHRZEUGSTEUERUNG DURCH PITCH-MODULATION
公开(公告)号：EP1796953A2
公开(公告)日：2007-06-20
申请号：EP05810448.0
申请日：2005-10-11
申请人： Segway Inc.
发明人： HEINZMANN, John, David , ROBINSON, David, W. , STEVENS, Jon, Michael , FIELD, Douglas, J. , LUND, Jeremy, B.
IPC分类号： B62D37/00 , B60W10/04 , B60W10/18 , B60W30/02 , B60K28/14 , B62M1/00 , B62K17/00 , A61G5/04 , B62M23/02
CPC分类号： B62K5/007 , A61G5/046 , A61G5/1054 , B60G2300/06 , B60G2300/07 , B60G2300/12 , B60G2300/24 , B60G2400/0512 , B60G2400/0523 , B60G2400/61 , B60G2800/014 , B60G2800/016 , B60G2800/213 , B60G2800/952 , B60L15/20 , B60L2200/34 , B60L2220/46 , B60L2240/423 , B60L2240/429 , B60L2240/463 , B60L2260/34 , B60W10/04 , B60W10/18 , B60W30/02 , B60W40/13 , B60W2300/16 , B60W2300/185 , B60W2300/36 , B60W2300/38 , B60W2520/14 , B60W2520/16 , B60W2710/105 , B60W2720/14 , B60W2720/16 , B60W2720/403 , Y02T10/645 , Y02T10/72 , Y02T10/7275
摘要： A method for fore-aft stabilization of a vehicle for motion in a specified direction over an underlying surface. The vehicle has at least one forward wheel and at least one aft wheel, and the forward wheel is characterized by a force normal to the instantaneous direction of motion of the vehicle. A motor actuator drives each aft wheel, and a controller governs the motor actuator or motor actuators in such a manner as to dynamically stabilize the vehicle, according to a uniform control law, when the forward wheel is in contact with the underlying surface or not. A torque is applied to the aft wheel on the basis of vehicle pitch or the force on the forward wheel normal to the direction of motion. Additionally, a periodic rotational modulation may be applied to the aft wheel, and a stabilizing torque provided based on a detected response, either of vehicle pitch or of normal force on the front wheel. Left and right motor actuators may independently control left and right aft wheels to continue turns as governed by user steering, whether or not forward wheels are in contact with the ground.
摘要翻译：一种用于车辆前后稳定的方法，用于在下表面上沿指定方向运动。车辆具有至少一个前轮和至少一个后轮，并且前轮的特征在于与车辆的瞬时运动方向垂直的力。电动机执行器驱动每个后轮，并且当前轮与下面的表面接触时，控制器以这样的方式控制电动机致动器或电动机致动器，以便根据统一的控制规律动态地稳定车辆。基于车辆间距或者正向于运动方向的前轮上的力，对后轮施加扭矩。此外，可以对后轮施加周期性旋转调制，以及基于检测到的响应提供的稳定扭矩，车辆间距或前轮上的法向力。左右电机执行器可以独立地控制左右后轮继续转动，由用户转向控制，无论前轮是否与地面接触。

7. 发明公开

EP1632382A2 Vehicle stability control system with running resistance compensation 有权
标题翻译：澳大利亚保加利亚文化遗产公司（Kraftfahrzeuge mit Ausgleich von Schwankungen des Fahrwiderstands）
公开(公告)号：EP1632382A2
公开(公告)日：2006-03-08
申请号：EP05019046.1
申请日：2005-09-01
申请人： DENSO CORPORATION
发明人： Matsumoto, Toshiki , Sawada, Mamoru
IPC分类号： B60K28/10
CPC分类号： B60W30/045 , B60G2800/014 , B60G2800/213 , B60G2800/952 , B60W30/18009 , B60W2050/0017 , B60W2050/0028 , B60W2520/16 , B60W2520/28 , B60W2530/16 , B60W2530/20 , B60W2540/10 , B60W2710/0666 , B60W2710/105 , B60W2720/16 , B60W2720/30
摘要： The application relates to a vehicle stability control system comprising:
a base required driving force calculation unit (2a), for calculating a base required driving force depending on driver input,
an estimated driving force estimation unit, (2b) for estimating a driving force currently generated in the vehicle,
a running resistance disturbance estimating unit (2d), and
a required driving force correction unit (2e) for correcting required driving force depending on base required driving force, estimated driving force and running resistance,
wherein the corrected required driving force obtained by the required driving force correction unit (2e) is generated at the driving wheel. The correction is carried out in order to suppress pitch variations (claim 1), changes in wheel load (claim 3) or vibrations in vertical body motion (claim 5).
摘要翻译：本申请涉及一种车辆稳定性控制系统，包括：用于计算取决于驾驶员输入的基本所需驱动力的基础需求驱动力计算单元（2a），估计驱动力估计单元（2b），用于估计当前的驱动力车辆产生的行驶阻力扰动估计单元（2d）和用于根据基本所需驱动力，推定驱动力和行驶阻力来校正所需驱动力的所需驱动力校正单元（2e），其中校正后的所需驱动力在驱动轮处产生由所需驱动力校正单元（2e）获得的。进行校正是为了抑制俯仰变化（权利要求1），轮负载（权利要求3）的变化或垂直体动作的振动（权利要求5）。

8. 发明授权

EP2808210B1 VEHICLE CONTROL SYSTEM AND VEHICLE CONTROL METHOD 有权
公开(公告)号：EP2808210B1
公开(公告)日：2018-03-21
申请号：EP13741391.0
申请日：2013-01-22
申请人： NISSAN MOTOR CO., LTD.
发明人： KIKUCHI Hironobu , HIRAYAMA Katsuhiko
IPC分类号： B60T8/1755 , B60T8/24
CPC分类号： B60T8/17554 , B60G17/0165 , B60G17/0195 , B60G17/06 , B60G2400/821 , B60G2400/91 , B60G2500/10 , B60T8/17551 , B60T8/17555 , B60T8/245 , B60T2230/04 , B60T2260/06 , B60W10/184 , B60W2720/16
摘要： Provided are a state quantity detection means for detecting a state quantity indicating a vehicle body orientation, and a friction brake orientation control means for minimizing pitching motion in the vehicle body orientation by applying braking torque from friction brakes to at least front wheels and minimizing bouncing motion in the vehicle body orientation by applying braking torque from the friction brakes to all four wheels, the friction brake orientation control means prioritizing minimizing pitching motion over minimizing bouncing motion.

9. 发明授权

EP2931578B1 VERFAHREN ZUR STABILISIERUNG EINES ZWEIRADS 有权
公开(公告)号：EP2931578B1
公开(公告)日：2017-04-19
申请号：EP13779784.1
申请日：2013-10-14
申请人： Robert Bosch GmbH
发明人： LEMEJDA, Markus , KLEWS, Matthias
IPC分类号： B60T8/26 , B62M7/02 , B60W10/04 , B60W10/184 , B62J27/00 , B60W10/06 , B60W10/18 , B60W30/02 , B62K11/00 , G05D1/08
CPC分类号： B60W30/02 , B60T8/261 , B60T2230/02 , B60W10/04 , B60W10/06 , B60W10/18 , B60W10/184 , B60W2300/36 , B60W2520/105 , B60W2520/125 , B60W2520/14 , B60W2520/20 , B60W2520/26 , B60W2520/28 , B60W2720/14 , B60W2720/16 , B60W2720/18 , B60Y2200/12 , B62J27/00 , B62K11/00 , B62K2207/02 , B62M7/02 , G05D1/0891

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