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1. 发明专利

JP2006111211A Control device of vehicle 有权
标题翻译：车辆控制装置
公开(公告)号：JP2006111211A
公开(公告)日：2006-04-27
申请号：JP2004303027
申请日：2004-10-18
申请人： Advics:Kk , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社アドヴィックス
发明人： KOSHIRO TAKAHIRO , TSUCHIYA YOSHIAKI , SUZUMURA MASAHITO , SAKUKAWA JIYUN , ASANO KENJI
IPC分类号： B62D6/00 , B60T8/1755 , B62D5/04 , B62D101/00 , B62D111/00 , B62D137/00
CPC分类号： B62D5/0481 , B60T8/885 , B60T2270/402 , G06F11/1641
摘要： PROBLEM TO BE SOLVED: To quickly take countermeasures against abnormality, quickly determining abnormality of communication or of a target control amount by determining the abnormality in an arithmetic operation control unit on a side receiving the target control amount. SOLUTION: When abnormality has happened in which the steering angle of the left and right front wheels can not be controlled properly by a steering angle changing device 24 (S220), the target steering angle Δδt is decreased gradually so that the magnitude of the target steering angle Δδt decreases gradually for each cycle (S270), and if the target steering angle Δδt is an abnormal value (S240), the presumed target steering angle Δδth is decreased gradually so that the magnitude of the presumed target steering angle Δδth decreases gradually for each cycle (S250), and the the presumed target steering angle Δδth is set to the target steering angle Δδt (S260), and the speed of the gradual decrease of the presumed target steering angle Δδth is made higher than the speed of the gradual decrease of the target steering angle Δδt and the presumed target steering angle Δδth is decreased quickly more than the target steering angle Δδt. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：通过在接收目标控制量的一侧确定算术运算控制单元的异常，快速采取对抗异常的对策，快速确定通信异常或目标控制量。解决方案：当由转向角改变装置24不能正确控制左右前轮的转向角的异常时（S220），目标转向角Δδt逐渐减小，目标转向角Δδt对于每个周期逐渐减小（S270），如果目标转向角Δδt为异常值（S240），则推定目标转向角Δδth逐渐减小，使得推定目标转向角Δδth的大小减小逐渐地对于每个周期（S250），并将推定的目标转向角Δδth设定为目标转向角Δδt（S260），并且使推定的目标转向角Δδth的逐渐减小的速度高于目标转向角Δδt和推测目标转向角Δδth的逐渐降低比目标转向角Δδt快。版权所有（C）2006，JPO＆NCIPI

2. 发明专利

JP2006111210A Control device of vehicle 有权
标题翻译：车辆控制装置
公开(公告)号：JP2006111210A
公开(公告)日：2006-04-27
申请号：JP2004303024
申请日：2004-10-18
申请人： Advics:Kk , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社アドヴィックス
发明人： KOSHIRO TAKAHIRO , SUZUMURA MASAHITO , TSUCHIYA YOSHIAKI , ASANO KENJI
IPC分类号： B62D6/00 , B62D5/04 , B62D5/30 , B62D101/00 , B62D103/00 , B62D111/00 , B62D113/00 , B62D127/00 , B62D137/00
CPC分类号： B62D5/0481 , B60T2260/02 , B60T2270/402 , B60T2270/413
摘要： PROBLEM TO BE SOLVED: To preclude a long duration of inappropriate control on the basis of the abnormal control amount in case the control amount has become an abnormal value while a steep change in the behavior of a vehicle is avoided. SOLUTION: When abnormality has happened in which the steering angle of the left and right front wheels can not be controlled properly by a steering angle changing device 24 (S220), the target steering angle Δδt is decreased gradually so that the magnitude of the target steering angle Δδt is decreased gradually for each cycle (S270), and if the target steering angle Δδt is an abnormal value (S240), the presumed target steering angle Δδth is decreased gradually so that the magnitude of the presumed target steering angle Δδth is decreased gradually for each cycle (S250), and the presumed target steering angle Δδth is set at the target steering angle Δδt (S260), and the speed of the gradual decrease of the presumed target steering angle Δδth is higher than the speed of the gradual decrease of the target steering angle Δδt, and the presumed target steering angle Δδth is decreased quickly more than the target steering angle Δδt. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：在避免车辆行为的急剧变化的同时，在控制量已经变为异常值的情况下，基于异常控制量来排除长时间的不适当的控制。解决方案：当由转向角改变装置24不能正确控制左右前轮的转向角的异常时（S220），目标转向角Δδt逐渐减小，目标转向角Δδt对于每个周期逐渐减小（S270），如果目标转向角Δδt为异常值（S240），则推测目标转向角Δδth逐渐减小，使得推定目标转向角Δδth的大小对于每个循环逐渐减小（S250），并将推定的目标转向角Δδth设定在目标转向角Δδt（S260），并且推定的目标转向角Δδth的逐渐减小的速度高于目标转向角Δδt的逐渐降低以及推定的目标转向角Δδth比目标转向角Δδt快。版权所有（C）2006，JPO＆NCIPI

3. 发明专利

JP2008081115A Control device of vehicle 审中-公开
标题翻译：车辆控制装置
公开(公告)号：JP2008081115A
公开(公告)日：2008-04-10
申请号：JP2007262827
申请日：2007-10-09
申请人： Advics:Kk , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社アドヴィックス
发明人： KOSHIRO TAKAHIRO , SUZUMURA MASAHITO , TSUCHIYA YOSHIAKI , ASANO KENJI
IPC分类号： B62D6/00 , B60W10/18 , B60W10/184 , B60W10/20 , B60W30/00 , B60W30/02 , B60W30/045 , B60W50/02 , B62D7/14
摘要： PROBLEM TO BE SOLVED: To prevent an improper control from being continued for a long period by an abnormal control amount when a control amount is abnormal while avoiding the abrupt change of the behavior of a vehicle.
SOLUTION: When an abnormality that the steering angles of left and right front wheels cannot be properly controlled by a steering angle variable device 24 occurs (S220), a target steering angle Δδt is so treated that the magnitude of the target steering angle Δδt is gradually reduced for each cycle (S270). When the target steering angle Δδt is abnormal (S240), an estimated target steering angle Δδt is so treated that the magnitude of the estimated target steering angle Δδth is gradually reduced for each cycle (S250), and the estimated target steering angle Δδth is set to the target steering angle Δδt (S260). The speed of the gradual reduction of the estimated target steering angle Δδth is higher than the speed of the gradual reduction of the target steering angle Δδt, and the estimated target steering angle Δδth is gradually reduced faster than the target steering angle Δδt.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：为了防止在控制量异常时通过异常控制量长期不连续的控制，同时避免车辆行为的突然变化。解决方案：当发生由转向角可变装置24不能适当地控制左右前轮的转向角的异常时（S220），目标转向角Δδt被如此处理，使得目标转向角的大小 Δδt对于每个周期逐渐减小（S270）。当目标转向角Δδt异常时（S240），估计目标转向角Δδt被如此处理，使得每个周期估计的目标转向角Δδth的大小逐渐减小（S250），并且估计的目标转向角Δδth被设定到目标转向角Δδt（S260）。估计目标转向角Δδth的逐渐降低的速度高于目标转向角Δδt的逐渐降低的速度，并且估计的目标转向角Δδth比目标转向角Δδt快得多。版权所有（C）2008，JPO＆INPIT

4. 发明专利

JP2006088801A Steering control device for vehicle 有权
标题翻译：车辆转向控制装置
公开(公告)号：JP2006088801A
公开(公告)日：2006-04-06
申请号：JP2004274813
申请日：2004-09-22
申请人： Advics:Kk , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社アドヴィックス
发明人： SUZUMURA MASAHITO , TSUCHIYA YOSHIAKI , KOSHIRO TAKAHIRO , ASANO KENJI
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D113/00 , B62D137/00
摘要： PROBLEM TO BE SOLVED: To determine adequacy of steering control of a steering wheel based on a target steering control amount, and to respond to the steering control, on the basis of a relationship between a steering direction of the target steering control amount of the steering wheel for stabilizing behaviors of a vehicle and a turning direction of the vehicle.
SOLUTION: The turning direction of the vehicle is determined (S220). A target steering angle Δδt of right and left front wheels is received (S230). It is determined whether or not the steering control should be prohibited according to whether or not the steering direction of the target steering angle Δδt is identical with the turning direction of the vehicle (a steer increasing direction) (S240). When the steering control should not be prohibited, which is practiced so that the steering angle of the right and left front wheels becomes a target steering angle Δδt (S290). When the steering control should be prohibited, the steering control is prohibited, and a command signal which indicates that an alternative behavior control should be practiced only by the control of breaking-driving force of the wheels is sent to an electronic control device 52 for behavior control through a CAN 62 (S300).
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：为了基于目标转向控制量来确定方向盘的转向控制的适当性，并且基于目标转向控制量的转向方向之间的关系来响应转向控制的方向盘，用于稳定车辆的行为和车辆的转向方向。
解决方案：确定车辆的转向方向（S220）。接收左右前轮的目标转向角Δδt（S230）。根据目标转向角Δδt的转向方向是否与车辆的转向方向（转向增加方向）相同，确定是否应该禁止转向控制（S240）。当不应该禁止转向控制时，使得左右前轮的转向角成为目标转向角Δδt（S290）。当禁止转向控制时，禁止转向控制，并且将指示仅通过控制车轮的分断驱动力来执行替代行为控制的指令信号被发送到用于行为的电子控制装置52 通过CAN 62（S300）进行控制。版权所有（C）2006，JPO＆NCIPI

5. 发明专利

JP2014201290A 車両挙動制御装置および車両挙動制御システム有权
标题翻译：车辆行为控制装置和车辆行为控制系统
公开(公告)号：JP2014201290A
公开(公告)日：2014-10-27
申请号：JP2013081564
申请日：2013-04-09
申请人：アイシン精機株式会社 , Aisin Seiki Co Ltd , トヨタ自動車株式会社 , Toyota Motor Corp
发明人： MAKINO TAKAFUMI , TSUCHIYA YOSHIAKI
IPC分类号： B60W30/09 , B60G17/015 , B60G17/016 , B60T7/12 , B60W10/18 , B60W10/20 , B60W10/22 , B60W30/095 , B62D6/00 , B62D7/14
CPC分类号： B60W30/09 , B60G17/016 , B60G17/0164 , B60G17/08 , B60G2400/823 , B60G2500/10 , B60G2800/242 , B60T7/12 , B60T7/22 , B60T2201/022 , B60W10/18 , B60W10/184 , B60W10/20 , B60W10/22 , B60W30/045 , B60W30/095 , B60W2550/10 , B60W2550/306 , B60W2550/308 , B60W2710/18 , B60W2710/182 , B60W2710/205 , B60W2710/207 , B60W2710/226 , B62D7/159 , B62D15/0265 , G08G1/166
摘要：【課題】一例として、制動や転舵を適宜に制御することによって、障害物との衝突や接触をより効果的に回避することが可能な車両挙動制御装置および車両挙動制御システムを得る。【解決手段】実施形態にかかる車両挙動制御装置は、一例として、車輪が制動されている状態で、少なくとも車両の前方の障害物の検出結果と車両の走行状態の検出結果とに基づいて車両が直進しながら減速した場合に障害物と衝突するか否かを判断する衝突判断部と、衝突判断部で障害物と衝突すると判断された場合に、車両が障害物を迂回しながら減速するよう、前輪を転舵させることなく、後輪の転舵の制御、および左右の車輪の制動状態に差を与える制御のうち、少なくとも一方を実行する車両挙動制御部と、を備える。【選択図】図3
摘要翻译：要解决的问题：提供一种车辆行为控制装置和车辆行为控制系统，其能够通过适当地控制制动和转向，使车辆避免与障碍物的碰撞和接触，同时提高效率。解决方案：一种车辆行为控制装置，包括：碰撞确定部，其基于至少基于车辆前方的障碍物的检测结果及其行驶状态，通过以直线行驶的直线行驶，判断车辆是否与障碍物碰撞; 以及车辆行为控制部，所述车辆行为控制部在所述碰撞判定部判定为与所述障碍物碰撞的情况下，执行至少一个控制来转向后轮，或者进行控制以区分左右车轮之间的制动状态，使得所述车辆通过绕行而减速障碍物没有转向前轮。

6. 发明专利

JP2012158305A Vehicle steering control apparatus 审中-公开
标题翻译：车辆转向控制装置
公开(公告)号：JP2012158305A
公开(公告)日：2012-08-23
申请号：JP2011021126
申请日：2011-02-02
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： TANIMOTO MITSUTAKA , TSUCHIYA YOSHIAKI , HIROSE TARO , KOSHIRO TAKAHIRO , FUJITA YOSHITAKA , NARITA TETSUHIRO
IPC分类号： B62D6/00 , B62D5/04 , B62D7/14 , B62D101/00 , B62D111/00 , B62D113/00 , B62D117/00 , B62D119/00 , B62D137/00
摘要： PROBLEM TO BE SOLVED: To effectively utilize various kinds of rear wheel steering angle control related to stabilization of vehicle behavior.SOLUTION: The vehicle steering control apparatus controls a vehicle that can vary a steering angle δr of a rear wheels via a variable rear wheels steering angle device. The vehicle steering control apparatus includes: a specification unit for specifying a slip angle βr of the rear wheels; a determination unit for determining reliability of the specified slip angle; and a control unit for restricting the change in the steering angle of the rear wheel in a direction where the slip angle increases based on the specified slip angle and the determined reliability.
摘要翻译：要解决的问题：有效利用与车辆行为稳定有关的各种后轮转向角控制。解决方案：车辆转向控制装置控制可以经由可变后轮转向角装置改变后轮的转向角δr的车辆。车辆转向控制装置包括：用于指定后轮的滑移角βr的指定单元; 确定单元，用于确定所述滑移角的可靠性; 以及控制单元，用于基于指定的滑移角和所确定的可靠性来限制后轮的转向角度在滑移角度增加的方向上的变化。版权所有（C）2012，JPO＆INPIT

7. 发明专利

JP2011079410A Control device of vehicle 有权
标题翻译：车辆控制装置
公开(公告)号：JP2011079410A
公开(公告)日：2011-04-21
申请号：JP2009232852
申请日：2009-10-06
申请人： Aisin Seiki Co Ltd , Toyota Central R&D Labs Inc , Toyota Motor Corp , アイシン精機株式会社 , トヨタ自動車株式会社 , 株式会社豊田中央研究所
发明人： LIMPIBUNTERNG THEERAWAT , TSUCHIYA YOSHIAKI , NITTA HIROSHI , ASAI SHOJI
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D113/00 , B62D119/00
CPC分类号： B62D15/025 , B62D1/286 , B62D6/04
摘要： PROBLEM TO BE SOLVED: To prevent the interference between a lane keep control and a steering control reflecting the steering intention of a driver without lowering control quality.
SOLUTION: In a vehicle including a steering force imparting means imparting the steering force urging a change of a steering angle of the turned wheel to the turned wheel, this control device includes a deviation detection means for detecting the position state deviation for stipulating the relative positional relation between a target travel route and the vehicle to be maintained, a determination means for determining the control quantity of the steering force imparting means based on the detected position state deviation, a control means for maintaining the travel route of the vehicle to the target travel route by controlling the steering force imparting means according to the determined control quantity, a steering input detection means for detecting the steering input of the driver, and a correction means for correcting the determination base of the control quantity of the steering force imparting means to reflect the steering input when the steering input is detected in a period when the travel route is maintained to the target travel route.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：为了防止车道保持控制和反映驾驶员的转向意图的转向控制器之间的干扰而不降低控制质量。解决方案：在包括转向力施加装置的车辆中，该转向力赋予转向力以促使转向轮的转向角改变到转向轮，该控制装置包括偏差检测装置，用于检测位置偏差以规定目标行驶路线与要保持的车辆之间的相对位置关系，基于检测到的位置状态偏差确定转向力施加装置的控制量的判定装置，用于将车辆的行驶路线保持为的控制装置通过根据所确定的控制量控制转向力施加装置的目标行驶路线，用于检测驾驶员的转向输入的转向输入检测装置以及用于校正施加转向力的控制量的确定基准的校正装置意味着在围栏中检测到转向输入时反映转向输入当旅行路线保持到目标行驶路线时。版权所有（C）2011，JPO＆INPIT

8. 发明专利

JP2007030612A Power steering device 有权
标题翻译：动力转向装置
公开(公告)号：JP2007030612A
公开(公告)日：2007-02-08
申请号：JP2005214479
申请日：2005-07-25
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： TSUCHIYA YOSHIAKI
IPC分类号： B62D6/00 , B60R21/00 , B62D5/04 , B62D101/00 , B62D113/00 , B62D117/00 , B62D119/00 , B62D137/00
CPC分类号： B62D1/286 , B62D6/008 , B62D15/025
摘要： PROBLEM TO BE SOLVED: To provide a power steering device, capable of improving steering feeling in lane keeping assist control. SOLUTION: This power steering device 10 is provided with a basic assist torque computing part 31 to compute basic assist torque in accordance with steering torque, a compensating torque computing part 32 to compute compensating torque to compensate the basic assist torque, and a target assist torque computing part 33 to compute a target assist torque to be provided to a steering mechanism based on the lane maintaining assist torque and the compensation torque. The compensation torque includes damping torque and torque differential control quantity. The compensating torque computing part 32 corrects the damping torque and the torque differential control quantity to increase when the lane maintaining assist torque is not zero. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够改善车道保持辅助控制中的转向感觉的动力转向装置。解决方案：该动力转向装置10设置有基本辅助转矩计算部31，用于根据转向扭矩来计算基本辅助转矩;补偿扭矩计算部32，计算用于补偿基本辅助转矩的补偿转矩;以及目标辅助转矩计算部33，基于车道保持辅助转矩和补偿转矩来计算提供给转向机构的目标辅助转矩。补偿扭矩包括阻尼扭矩和扭矩差速控制量。当车道保持辅助转矩不为零时，补偿扭矩计算部32校正阻尼转矩和转矩差动控制量。版权所有（C）2007，JPO＆INPIT

9. 发明专利

JP2006159989A Steering control device for vehicle 有权
标题翻译：车辆转向控制装置
公开(公告)号：JP2006159989A
公开(公告)日：2006-06-22
申请号：JP2004351124
申请日：2004-12-03
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： KOSHIRO TAKAHIRO , TSUCHIYA YOSHIAKI , FUJITA YOSHITAKA , SUZUMURA MASAHITO
IPC分类号： B62D6/00 , B60T8/175 , B60T8/1755 , B60W10/18 , B60W10/188 , B60W10/20 , B60W30/02 , B60W30/045 , B62D5/04 , B62D101/00 , B62D107/00 , B62D111/00 , B62D113/00 , B62D117/00 , B62D119/00 , B62D123/00 , B62D137/00
摘要： PROBLEM TO BE SOLVED: To effectively perform behavior control by a correction steering for a steering wheel as much as possible while reducing fear that excessive load continuously acts on a turning driving device. SOLUTION: When the behavior control by a steering angle of the right and left front wheels are not being performed (S70), a reference value θreo is set (S90) to be a standard value θreon, and when the behavior control by the steering angle of the right and left front wheels are being performed (S70), the reference θreo is set (S100) to be a higher value θreoh than the standard value. The determination whether or not the status where the absolute value of a deviation Δθre between a target relative rotation angle θret of the steered angle variable device 24 and an actual relative rotation angle Δθre is not less than the reference value θreo continues for not less than a reference time Tc is performed (S110, 120). When the negative determination is performed, a lock off state of the locking device 78 is continued (S130), and when the positive determination is performed, the locking device 78 is switched (S140) to the lock on state. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：通过尽可能多的方向盘的修正转向来有效地执行行为控制，同时减少过度负载持续作用于转动驱动装置的担心。解决方案：当没有执行左前轮和左前轮的转向角的行为控制时（S70），将参考值θreo设定为标准值θreon，并且当行为控制由正在执行左右前轮的转向角（S70），将基准θreo设定为比标准值更高的值θre0。确定转向角可变装置24的目标相对旋转角度θret与实际相对旋转角度Δθre之间的偏差Δθre的绝对值是否在基准值θreo以上的状态是否持续不小于执行参考时间Tc（S110,120）。当执行否定判定时，继续锁定装置78的锁定状态（S130），并且当执行肯定确定时，将锁定装置78切换到锁定状态（S140）。版权所有（C）2006，JPO＆NCIPI

10. 发明专利

JP2005162105A Steering control device 有权
标题翻译：转向控制装置
公开(公告)号：JP2005162105A
公开(公告)日：2005-06-23
申请号：JP2003406234
申请日：2003-12-04
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： TSUCHIYA YOSHIAKI
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D113/00 , B62D119/00
CPC分类号： B62D5/0466
摘要： PROBLEM TO BE SOLVED: To provide a steering control device improving precision in judgment of a returning operation of a steering system.
SOLUTION: This steering control device 1 controls a steering operation at a steering system S. This steering control device 1 comprises steering state detecting means 4, 5 for detecting a steering state of the steering system S, a returning state judgment means 7 for detecting whether or not the detected steering state in the steering direction is changed after detecting that the steering system S is being steered in the left direction or right direction in response to the steering state detected by the steering state detecting means 4, 5, and torque applying means 2, 3, 7 for applying a torque for returning the steering system S toward its neutral direction.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供一种提高转向系统的返回操作的判断精度的转向控制装置。解决方案：该转向控制装置1控制转向系统S的转向操作。该转向控制装置1包括用于检测转向系统S的转向状态的转向状态检测装置4,5，返回状态判断装置7 用于检测在检测到转向系统S是否响应于由转向状态检测装置4,5检测到的转向状态而在左方向或右方向上被转向后，改变转向方向上检测到的转向状态是否改变，以及用于施加用于使转向系统S朝向其中立方向返回的转矩的转矩施加装置2,3,7。版权所有（C）2005，JPO＆NCIPI

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