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21. 发明专利

JPH0958514A ESTIMATING DEVICE FOR FRICTIONAL CONDITION BETWEEN TIRE AND ROAD SURFACE FOR VEHICLE 失效
公开(公告)号：JPH0958514A
公开(公告)日：1997-03-04
申请号：JP24081095
申请日：1995-08-25
申请人： HONDA MOTOR CO LTD
发明人： ASANUMA SHINKICHI , WAKAMATSU KIYOSHI , AKUTA YOSHIYASU , IKETANI MANABU
IPC分类号： B62D6/00 , B62D7/14
摘要： PROBLEM TO BE SOLVED: To provide an surface frictional conditions estimating device for between tire and road for a vehicle which finds a frictional condition between a tire and a road surface without largely enhancing capacity of control and calculating capacity. SOLUTION: An estimating device for frictional conditions between tire and road surface for a vehicle is provided with a yaw rate sensor, a standard yaw rate output part, an estimative yaw rate calculating part 25 to calculate and output an estimative yaw rate signal on the basis of an estimative parameter by calculating the estimative parameter to easimate frictional conditions between both of an installed tire and a traveling road surface from a standard yaw rate signal and an actual yaw rate signal and an estimative parameter identifying part 26 to estimate frictional conditions by identifying the estimative parameter on the basis of the standard yaw rate signal, the actual yaw rate signal and an estimative yaw rate signal. Therefore, since the estimative parameter is identified on the basis of the standard yaw rate signal, the actual yaw rate signal and the estimative yaw rate signal, frictional conditions can be estimated without separately arranging a sensor and without needing to find a high order transmission function.

22. 发明专利

JPH06171540A CONTROL DEVICE FOR FRONT AND REAR WHEEL STEERING VEHICLE 失效
公开(公告)号：JPH06171540A
公开(公告)日：1994-06-21
申请号：JP35049092
申请日：1992-12-02
申请人： HONDA MOTOR CO LTD
发明人： ASANUMA SHINKICHI , WAKAMATSU KIYOSHI , IKETANI MANABU
IPC分类号： B62D6/00 , B62D7/14 , B62D7/15 , B62D101/00 , B62D111/00 , B62D113/00 , B62D137/00
摘要： PURPOSE:To reconcile turning movement ability and disturbance suppression ability of a vehicle by performing feedback control of a rear wheel steering angle based on a deviation between a normal yaw rate to the steering angle of a steering wheel and an actual yaw rate. CONSTITUTION:A steering amount of a steering wheel 1 and a movement amount of a steering rod 4 are inputted to a computer 20 through steering angle sensors 14-16. An optimum steering amount for rear wheels 11 is decided by the computer unit 20 based on the respective input values of a front wheel 5 steering angle, a car speed, lateral acceleration, and a yaw rate. Namely, a normal yaw rate to the steering angle of the steering wheel 1 is calculated based on a function expression preset in consideration of a car speed and lateral acceleration. A deviation between the normal yaw rate and an actual yaw rate is computed and based on the deviation therebetween, feedback control is applied to a rear wheel 11 steering angle. This constitution can reconcile the turning movement ability and the disturbance suppression ability of a vehicle.

23. 发明专利

JP2002029237A VEHICLE HEIGHT ADJUSTING DEVICE 失效
公开(公告)号：JP2002029237A
公开(公告)日：2002-01-29
申请号：JP2000215262
申请日：2000-07-17
申请人： KAYABA INDUSTRY CO LTD , HONDA MOTOR CO LTD
发明人： MIYATANI OSAMU , CHIKAMATSU SATOSHI , IKETANI MANABU
IPC分类号： B60G17/04
摘要： PROBLEM TO BE SOLVED: To prevent the pump squeak of a both-direction pump when the pressure oil from a vehicle height adjuster is discharged to a tank via the both- direction pump. SOLUTION: The vehicle height adjuster 1 is shrunk to reduce the vehicle height when the pressure oil is fed from pump units U1 and U2, and it is extended to increase the vehicle height when the pressure oil is discharged to the pump units U1 and U2. A plurality of motors M1 and M2 driving the both-direction pump P are connected in parallel to a power supply 29 when the pressure oil is fed to the vehicle height adjuster 1, and they are connected in series to the power supply 29 when the pressure oil is discharged to the tank T.

24. 发明专利

JP2001010518A VEHICLE STEERING CONTROL DEVICE 失效
公开(公告)号：JP2001010518A
公开(公告)日：2001-01-16
申请号：JP18006999
申请日：1999-06-25
申请人： HONDA MOTOR CO LTD
发明人： IKETANI MANABU , ISHIDA SHINNOSUKE , KONDO SATOSHI , TANAKA JUN
IPC分类号： B62D6/00 , B60W30/00 , B62D1/28 , B62D5/04 , B62D15/02
摘要： PROBLEM TO BE SOLVED: To improve the control precision by calculating an output steering assist torque from a basic steering assist torque based on the form parameter concerning the form of a running road and a correction steering assist torque based on the position parameter concerning the position of a vehicle. SOLUTION: In this vehicle steering control device, an SAS ECU 74 calculates the curvature I/R of a running road (the form parameter concerning the form of the running road) detected by an image processing ECU 66. A vehicle position (y) in the running road is detected, and the position parameter concerning the vehicle position to the running road (lateral slippage yd and deflection angle θh). A basic steering assist torque TLM is calculated from the curvature I/R of the running road, a correction steering assist torque TLn (n: 1-3) is calculated on the basis of the position parameter, and the both are added to calculate an output steering assist torque TL.

25. 发明专利

JPH1016811A SIGNAL PROCESSOR FOR VEHICLE BEHAVIOR CONTROL DEVICE 失效
公开(公告)号：JPH1016811A
公开(公告)日：1998-01-20
申请号：JP19283796
申请日：1996-07-02
申请人： HONDA MOTOR CO LTD
发明人： WAKAMATSU KIYOSHI , AKUTA YOSHIYASU , IKETANI MANABU , FUJIWARA YUKIHIRO , JITSUKATA EIJI , HAMAMOTO KYOJI
IPC分类号： B62D6/00 , B62D5/04 , G08G1/16
摘要： PROBLEM TO BE SOLVED: To revove the noise signal generated by road surface irregularities without impairing the effect of feedback control by applying such a correction as to remove the signal of a specific frequency range to the output of a detecting means of the vehicle motion state quantity. SOLUTION: Only the low-frequency component near DC generated by the effect of road surface irregularities is extracted from the deviation signal γER between the actual yaw rate value and the model yaw rate value by a filtering means 31. The deviation γEV2 between the original deviation signal γER and the output γEV1 of the filtering means 31 is calculated, and the momently changing fluctuation is removed to smooth the deviation signal γER by a subtracting means 32. The vibration component at the level hardly affecting the vehicle behavior is removed from the smoothed deviation signal γEV2 by a dead zone processing means 33, and the output γEV3 of the dead zone processing means 33 is added to the output γEV1 of the filtering means 31 to extract only the deviation affecting the vehicle behavior by an adding means 34.

26. 发明专利

JPH08332972A FRONT-REAR WHEEL STEERING SYSTEM FOR VEHICLE 失效
公开(公告)号：JPH08332972A
公开(公告)日：1996-12-17
申请号：JP16461395
申请日：1995-06-07
申请人： HONDA MOTOR CO LTD
发明人： WAKAMATSU KIYOSHI , AKUTA YOSHIYASU , IKETANI MANABU
IPC分类号： B62D6/00 , B60T8/1755 , B60T8/58 , B62D7/14
摘要： PURPOSE: To stabilize the behavior of a turning vehicle with high lateral acceleration generated by providing a gain adjusting means for making a yaw rate feedback gain larger than one at the normal time upon judging the execution of operation having influence on driving force of a driver during high G turning at high speed. CONSTITUTION: A vehicle speed signal, and an actual yaw rate outputted from a vehicle 1 through a low-pass filter 6 are inputted to a turning lateral G judging circuit 5, and lateral G obtained therein is inputted to an F/B parameter adjusting circuit 7. A yaw rate F/B gain obtained by an F/B compensator 4 from vehicle speed and the difference between the actual yaw rate and a normal yaw rate outputted from a normal yaw rate computing circuit 3, that is, yaw rate deviation, is also inputted to the F/B parameter adjusting circuit 7. The F/B parameter adjusting circuit 7 obtains a feedback tuning gain according to specified procedure. An F/B gain obtained by multiplying the feedback tuning gain by the F/B gain, and an F/F gain outputted from an F/F compensator 2 are added and inputted to a rear wheel control device 11 so as to be inputted as a rear wheel steering angle to the vehicle.

27. 发明专利

JPH1178953A STEERING UNIT OF VEHICLE 失效
公开(公告)号：JPH1178953A
公开(公告)日：1999-03-23
申请号：JP26805497
申请日：1997-09-13
申请人： HONDA MOTOR CO LTD
发明人： ISHIDA SHINNOSUKE , IKETANI MANABU , KONDO SATOSHI
IPC分类号： B60R21/00 , B60W30/00 , B62D6/00 , B62D101/00 , B62D113/00 , B62D119/00 , B62D137/00 , G08G1/16
摘要： PROBLEM TO BE SOLVED: To increase safety by performing a steering control based on the detected results on whether or not a steering wheel is operated in a steering control in the direction to reduce steering torque based on a steering force calculated according to the operating condition and actual steering torque. SOLUTION: A steering device of a vehicle is provided with a steering means comprising a steering wheel 14 and a steering gear 24. Also it is provided with an ECU as a steering force calculation means which calculates a steering force necessary to maintain the position relation of a vehicle relative to the road lane condition in vehicle advancing direction based on output signals from a first means including a CCD camera 64 which detects the road lane condition in vehicle advancing direction and a second means including a yaw rate sensor 82 which detects the operating conditions of a vehicle. In the ECU, it is judged whether an operator operates a steering wheel or not and, if the judged result is no, an alarm in given to the operator and a steering assist control is controlled so that it is stopped so as to secure safe traveling of the vehicle.

28. 发明专利

JPH1178951A STEERING UNIT OF VEHICLE 失效
公开(公告)号：JPH1178951A
公开(公告)日：1999-03-23
申请号：JP26805297
申请日：1997-09-13
申请人： HONDA MOTOR CO LTD
发明人： IKETANI MANABU , ISHIDA SHINNOSUKE , KONDO SATOSHI
IPC分类号： B60R21/00 , B60W30/00 , B62D6/00 , B62D101/00 , B62D113/00 , B62D119/00 , B62D137/00 , G08G1/16
摘要： PROBLEM TO BE SOLVED: To prevent the behavior of a vehicle from becoming unstable by predicting a vehicle condition for the correction of steering force and, based on a corrected steering force and a steering torque added manually, controllably steering a steering means in the direction to reduce steering torque so as to calculate a proper assist torque at all times. SOLUTION: A steering unit of a vehicle is provided with a steering means comprising a steering wheel 14 and a steering gear 24. Also it is provided with an ECU as a steering force calculation means which calculates a steering force necessary to maintain the positional relation of a vehicle relative to the road lane condition in vehicle advancing direction based on output signals from a first means including a CCD camera 64 which detects the road lane condition in vehicle advancing direction and a second means including a yaw rate sensor 82 which detects the operating conditions of a vehicle. In the ECU, the steering force is corrected based on the yaw rate detected results and, based on the corrected steering force and the steering torque detected by a torque sensor 42, the steering means is controlled in the direction to reduce the steering torque.

29. 发明专利

JPH09315331A STEERING ANGLE CONTROL DEVICE FOR VEHICLE 失效
公开(公告)号：JPH09315331A
公开(公告)日：1997-12-09
申请号：JP15483096
申请日：1996-05-27
申请人： HONDA MOTOR CO LTD
发明人： HAMAMOTO KYOJI , FUJIWARA YUKIHIRO , JITSUKATA EIJI , WAKAMATSU KIYOSHI , AKUTA YOSHIYASU , IKETANI MANABU
IPC分类号： B62D6/00 , B62D5/04 , B62D7/14 , B62D7/15 , B62D101/00 , B62D113/00 , B62D137/00 , G05B23/02
摘要： PROBLEM TO BE SOLVED: To dissolve wrong steering or non-steering caused by misjudgment so as to improve steering reliability by providing a failure diagnostic means for a steering angle sensor, and a driving force limiting means for a steering angle control motor, and limiting the driving force of the steering angle control motor during the failure diagnosis execution of the steering angle sensor. SOLUTION: A control device 10 is provided with a CPU 22, and an FET driving circuit 23 and an FET circuit 24 for controlling a current to a motor 12. Signals from vehicle speed sensors 11, 21, a steering angle sensor 9 of a steering wheel and steering angle sensor 20M are inputted to the CPU 22. The steering angle and steering acceleration of front wheels are detected from the signal of the steering angle sensor 9, and the travel speed of a body is detected by the vehicle speed sensors 11, 21. On the basis of these detection value, the optimum steering angle value of rear wheels is computed. At the same time, the actual steering angle of the rear wheels is detected by the steering angle sensor 20M. The actual steering angle of the rear wheels is compared with the optimum steering angle computed value, and the rotating direction and driving torque of the motor 12 are determined so as to make both compared value coincide with each other.

30. 发明专利

JPH09301212A METHOD FOR DIAGNOSING FAILURE OF VEHICLE MANEUVERABILITY CONTROL DEVICE 失效
公开(公告)号：JPH09301212A
公开(公告)日：1997-11-25
申请号：JP14874296
申请日：1996-05-20
申请人： HONDA MOTOR CO LTD
发明人： WAKAMATSU KIYOSHI , AKUTA YOSHIYASU , IKETANI MANABU , FUJIWARA YUKIHIRO , JITSUKATA EIJI , HAMAMOTO KYOJI
IPC分类号： G01M17/007 , B62D6/00 , B62D7/14 , B62D7/15 , G05B9/02
摘要： PROBLEM TO BE SOLVED: To execute a highly reliable failure diagnosis by setting a failure diagnostic mode when the difference between the actual moving property by a sensor and the estimated moving property by an estimation arithmetic circuit exceeds a specified value, and transferring it to a fail safe mode successively through a plurality of areas. SOLUTION: The vehicle maneuverability control device of a four-wheel steering vehicle VC has a model yaw rate arithmetic part 21 to steering angle θ, a field forward control part 22, and a feedback (F/B) control part 23 for outputting according to the deviation between an actual yaw rate and a model yaw rate. In the failure diagnosis of the yaw rate sensor, an estimated yaw rate is compared with the actual yaw rate by the sensor, and the error is judged normal when it is a set threshold or less to perform a control. When it exceeds the threshold, the error is continuously monitored in a general control continuing area, and transferred to a reducing control area for reducing F/B control when the error is generated in this area, and when the failure is determined through a control stop area, a fail safe mode is executed.

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