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1. 发明专利

JP2003320949A Method of and apparatus for controlling movement of vehicle 有权
标题翻译：用于控制车辆运动的方法和装置
公开(公告)号：JP2003320949A
公开(公告)日：2003-11-11
申请号：JP2002126768
申请日：2002-04-26
申请人： Advics:Kk , Aisin Seiki Co Ltd , Toyoda Mach Works Ltd , Toyota Central Res & Dev Lab Inc , アイシン精機株式会社 , 株式会社アドヴィックス , 株式会社豊田中央研究所 , 豊田工機株式会社
发明人： KATO HIROAKI , MOMIYAMA MINEICHI , YASUI YOSHIYUKI , TANAKA WATARU , ASANO KENJI , IMOTO YUZO , ONO HIDEKAZU , MURAKISHI YUJI
IPC分类号： B62D5/00 , B62D5/04 , B62D5/22 , B62D6/00 , B62D101/00 , B62D113/00 , B62D119/00
CPC分类号： B62D5/0463 , B62D5/008 , B62D6/008
摘要： PROBLEM TO BE SOLVED: To provide a movement control method and a movement control apparatus for improving the movement controllability of vehicles without increasing the number of components. SOLUTION: In the vehicle movement control apparatus, steering torque Tp generated in the second steering shaft of a gear ratio variable mechanism, motor torque Tvm generated by a motor 32m in the gear ratio variable mechanism, and a rotational angle θvm of the motor 32m are used based on an equation of motion for expressing torque transmission by the gear ratio variable mechanism, thus obtaining steering wheel torque Th generated by the operation of a steering wheel by a steering wheel torque arithmetic processing 30b due to EPS ECU. As a result, even if the vehicle movement control apparatus adopts a mechanism where the gear ratio variable mechanism is included between the steering wheel and a torque sensor, the steering wheel torque Th can be determined without newly adding the torque sensor or the like. Therefore, the movement controllability of vehicles can be improved without increasing the number of components when the steering wheel torque Th is used for EPS control processing 30a. COPYRIGHT: (C)2004,JPO
摘要翻译：解决的问题：提供一种运动控制方法和运动控制装置，用于在不增加部件数量的情况下改善车辆的运动控制能力。解决方案：在车辆运动控制装置中，在齿轮比可变机构的第二转向轴中产生的转向转矩Tp，由变速比可变机构中的电动机32m产生的电动机转矩Tvm以及变速比可变机构的转动角度θvm 基于通过齿轮比可变机构表达转矩传递的运动方程式使用马达32m，从而获得由于EPS ECU由方向盘扭矩运算处理30b通过方向盘操作产生的方向盘扭矩Th。结果，即使车辆移动控制装置采用在方向盘和扭矩传感器之间包括齿轮比可变机构的机构，也可以在不添加扭矩传感器等的情况下确定方向盘扭矩Th。因此，当使用方向盘扭矩Th用于EPS控制处理30a时，可以提高车辆的移动可控性，而不增加部件的数量。版权所有（C）2004，JPO

2. 发明专利

JP2003312319A Conjoint control device of vehicle 有权
标题翻译：车辆连接控制装置
公开(公告)号：JP2003312319A
公开(公告)日：2003-11-06
申请号：JP2002120565
申请日：2002-04-23
申请人： Advics:Kk , Aisin Seiki Co Ltd , Toyoda Mach Works Ltd , Toyota Central Res & Dev Lab Inc , アイシン精機株式会社 , 株式会社アドヴィックス , 株式会社豊田中央研究所 , 豊田工機株式会社
发明人： YASUI YOSHIYUKI , TANAKA WATARU , ONO HIDEKAZU , MURAKISHI YUJI , ASANO KATSUHIRO , MOMIYAMA MINEICHI , KATO HIROAKI , ASANO KENJI , IMOTO YUZO
IPC分类号： B62D6/00 , B60R16/02 , B60T8/172 , B60T8/1755 , B60T8/58 , B60W10/00 , B60W10/04 , B60W10/06 , B60W10/10 , B60W10/18 , B60W10/188 , B60W10/20 , B60W30/00 , B60W30/02 , B60W40/06 , B60W40/10 , B62D5/00 , B62D5/04 , B62D6/04 , B62D101/00 , B62D111/00 , B62D113/00 , B62D119/00 , B62D137/00 , F02D29/02 , B60K41/28 , B60K41/00
CPC分类号： B60W10/184 , B60T8/17551 , B60T2210/12 , B60T2260/02 , B60W10/20 , B60W40/101 , B60W2530/20 , B60W2550/148 , B62D5/008 , B62D6/003 , B62D6/04
摘要： PROBLEM TO BE SOLVED: To provide a conjoint control device of a vehicle capable of controlling the stability of the vehicle from a normal range before entering the friction limit range. SOLUTION: The conjoint control device has a first control means CM1 for estimating the gripping degree of a front wheel based on the change of the self-aligning torque against the side force (or the front wheel slip angle) and executing the closed loop control (gripping degree control) based on the estimated gripping degree, and a second control means CM2 for setting the target vehicle behavior based on the quantity of state of the vehicle VH and executing the closed loop control (vehicle behavior control) based on the deviation between the set target vehicle behavior and the actual vehicle behavior. In the device, the gripping degree control according to the operation of a driver DR is executed in the normal range before the friction limit to maintain the stability of the vehicle. If the gripping degree enters the limit range even if this control is executed, the vehicle behavior control is executed to secure the stability of the vehicle. COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：提供一种能够在进入摩擦限制范围之前能够从正常范围控制车辆的稳定性的车辆的联合控制装置。解决方案：联合控制装置具有第一控制装置CM1，用于基于自对准转矩相对于侧向力（或前轮滑移角）的变化来估计前轮的夹紧度，并执行闭合基于估计的夹持度的回路控制（抓取度控制），以及基于车辆VH的状态量来设定目标车辆行为的第二控制装置CM2，并且基于车辆行驶控制设定目标车辆行为与实际车辆行为之间的偏差。在该装置中，根据驾驶员DR的动作的夹持度控制在摩擦限制之前的正常范围内进行，以保持车辆的稳定性。如果即使执行该控制，夹紧度进入限制范围，则执行车辆行为控制以确保车辆的稳定性。版权所有（C）2004，JPO

3. 发明专利

JP2003291841A Vehicle control device 有权
标题翻译：车辆控制装置
公开(公告)号：JP2003291841A
公开(公告)日：2003-10-15
申请号：JP2002096621
申请日：2002-03-29
申请人： Advics:Kk , Aisin Seiki Co Ltd , Toyoda Mach Works Ltd , Toyota Central Res & Dev Lab Inc , アイシン精機株式会社 , 株式会社アドヴィックス , 株式会社豊田中央研究所 , 豊田工機株式会社
发明人： KATO HIROAKI , MOMIYAMA MINEICHI , YASUI YOSHIYUKI , TANAKA WATARU , ASANO KENJI , ONO HIDEKAZU , MURAKISHI YUJI
IPC分类号： B62D6/00 , B62D5/04 , B62D113/00 , B62D119/00 , B62D137/00
摘要： PROBLEM TO BE SOLVED: To secure stability of a vehicle in an exceptional yaw motion such as braking on a crossover passage whose road surface condition is bilateral asymmetrical. SOLUTION: The exceptional yaw motion detecting means of the invention can be realized by a lateral braking force difference estimating part 200 of Fig. 4, for example. A command signal σ expresses a trigger signal at the time integral start, and a time integral operation part 230 time-integrates a deviation Δr(≡r n -r) in the period when σ=1. When the braking force acting on a wheel of a front left side of the vehicle is taken as F1, according to the motion equation representing a rotary motion model related to the rotary motion of each wheel, the braking force F1 can be obtained by the following formula (3). The lateral braking force difference estimating part 220 outputs σ=1 when the absolute value of the lateral braking force difference ΔF(=F1-F2) is above a designated threshold D. By the above configuration, PI control is adopted in the exceptional occasion. Fi=(Jαi+κPi)/γ (i=1, 2)...(3). COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：为了确保车辆在路面状况是双边不对称的交叉通道上的例如制动等异常偏航运动中的稳定性。解决方案：本发明的异常偏航运动检测装置可以由图1的横向制动力差估计部200实现。如图4所示。命令信号σ表示时间积分开始时的触发信号，时间积分运算部230在σ= 1的周期内对偏差Δr（≡r n -r）进行时间积分。当作为车辆前左侧的车轮的制动力为F1时，根据表示与各车轮的旋转运动有关的旋转运动模型的运动方程式，可以通过以下方式获得制动力F1 公式（3）。当侧向制动力差ΔF（= F1-F2）的绝对值高于指定的阈值D时，横向制动力差估计部220输出σ= 1。通过上述结构，在异常情况下采用PI控制。 Fi =（Jαi+κPi）/γ（i = 1,2）...（3）。版权所有（C）2004，JPO

4. 发明专利

JP2003291840A Vehicle controller 有权
标题翻译：车辆控制器
公开(公告)号：JP2003291840A
公开(公告)日：2003-10-15
申请号：JP2002096620
申请日：2002-03-29
申请人： Advics:Kk , Aisin Seiki Co Ltd , Toyoda Mach Works Ltd , Toyota Central Res & Dev Lab Inc , アイシン精機株式会社 , 株式会社アドヴィックス , 株式会社豊田中央研究所 , 豊田工機株式会社
发明人： KATO HIROAKI , MOMIYAMA MINEICHI , YASUI YOSHIYUKI , TANAKA WATARU , ASANO KENJI , ONO HIDEKAZU , MURAKISHI YUJI
IPC分类号： B62D6/00 , B62D101/00 , B62D111/00 , B62D113/00 , B62D117/00 , B62D119/00 , B62D137/00
摘要： PROBLEM TO BE SOLVED: To realize stable vehicle movement performance having sturdy straight advance stability.
SOLUTION: A compensation steering angle δ1 is calculated by the following expression (1) conforming conventional control theory at any time. r, α, V denote yaw angular speed, side slide angle, and vehicle speed, respectively. A compensation steering angle computation part 220 calculates a compensation steering angle δ0 in accordance with the following expression (4) adopted in this invention at any time. A straight advance steering angle computation part 210 inputs a steering angle θH and a steering angular speed ωH which is its time differential value to calculate weight G3(=G1×G2) using maps 211, 212. Usually, a weight control part 230 outputs G3'=G3, G4=1-G3'. Consequently, it is possible to suppress external disturbance effectively when steering a vehicle straight owing to this configuration. Command signals S1, S2 are 0 usually, and 1 is inputted at an exception only. δ1=g1(r
n -r)+g2(α
n -α)...(1), δ0= L(AV
2 -1)r/V...(4).
COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：实现稳定的直前进稳定性的稳定的车辆运动性能。解决方案：通过符合常规控制理论的以下表达式（1）计算补偿转向角δ1。 r，α，V分别表示偏航角速度，侧滑角和车速。补偿转向角计算部220随时根据本发明采用的以下表达式（4）计算补偿转向角δ0。直线前进转向角计算部210输入作为其时间差值的转向角θH和转向角速度ωH，以使用映射211,212来计算重量G3（= G1×G2）。通常，重量控制部230输出G3 '= G3，G4 = 1-G3'。因此，由于这种结构，当使车辆直行时，可以有效地抑制外部干扰。指令信号S1，S2通常为0，仅在异常情况下输入1。 δ1= g1（r n -r）+ g2（α n -α）...（1），δ0= L（AV 2 -1）r / V ...（4）。版权所有（C）2004，JPO

5. 发明专利

JP2005041244A Load moving state estimating device and rolling state estimating device 有权
标题翻译：负载运动状态估计装置和滚动状态估计装置
公开(公告)号：JP2005041244A
公开(公告)日：2005-02-17
申请号：JP2003199726
申请日：2003-07-22
申请人： Advics:Kk , Aisin Seiki Co Ltd , Toyoda Mach Works Ltd , Toyota Central Res & Dev Lab Inc , アイシン精機株式会社 , 株式会社アドヴィックス , 株式会社豊田中央研究所 , 豊田工機株式会社
发明人： ONO HIDEKAZU , MURAKISHI YUJI , AIZAWA HIROAKI , SHINNO HIROAKI , YASUI YOSHIYUKI , MOMIYAMA MINEICHI , KATO HIROAKI
IPC分类号： B60R16/02 , B60R16/023 , B60T8/172 , B60W30/00 , B60W30/04 , B60W40/10 , B60W40/13
CPC分类号： B60R16/0233 , B60T8/172 , B60T2230/03 , B60W40/11 , B60W40/112 , B60W40/114 , B60W40/12 , B60W2040/1307 , B60W2040/1315 , B60W2520/30
摘要： PROBLEM TO BE SOLVED: To estimate a rolling state of a vehicle without detecting a roll angle and roll angular velocity. SOLUTION: A SAT estimating device 12 estimates a synthetic value of self aligning torque generated on a grounding surface of each of left and right front wheels. A slip angle computing element 14 detects vehicle speed and steering angle, and calculates slip angles of the wheels from the detected vehicle speed and steering angle. A SAT model value computing element 16 estimates a self aligning model value to be the synthetic value of the self aligning torque of each of the left and right wheels in the case of no load moving to the left and right wheels. A load moving rate estimating device 18 estimates load moving states of the left and right wheels based on the synthetic value of the self aligning torque of each of the left and right wheels and the self aligning torque model value. A vehicle rollover estimating device 20 estimates vehicle rollover based on the estimated load moving state. COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：估计车辆的滚动状态而不检测侧倾角和滚动角速度。解决方案：SAT估计装置12估计在左前轮和右前轮中的每一个的接地面上产生的自对准扭矩的合成值。滑移角计算元件14检测车速和转向角，并根据检测到的车速和转向角度来计算车轮的滑移角。在空载移动到左右轮的情况下，SAT模型值计算单元16将自对准模型值估计为左右车轮中的每一个的自对准转矩的合成值。负载移动速率估计装置18基于左右两轮的自对准转矩的合成值和自对准转矩模型值来估计左右车轮的负荷移动状态。车辆翻转估计装置20基于估计的负载移动状态来估计车辆翻转。版权所有（C）2005，JPO＆NCIPI

6. 发明专利

JP2004130964A Road surface status estimating device and vehicle motion controller equipped with the same 有权
公开(公告)号：JP2004130964A
公开(公告)日：2004-04-30
申请号：JP2002298354
申请日：2002-10-11
申请人： Advics:Kk , Aisin Seiki Co Ltd , Toyoda Mach Works Ltd , Toyota Central Res & Dev Lab Inc , アイシン精機株式会社 , 株式会社アドヴィックス , 株式会社豊田中央研究所 , 豊田工機株式会社
发明人： YASUI YOSHIYUKI , ONO HIDEKAZU , MURAKISHI YUJI , TAKEUCHI SHINJI , MOMIYAMA MINEICHI , KATO HIROAKI , ASANO KENJI
IPC分类号： B62D6/00 , B60R16/02 , B60T8/172 , B60T8/1755 , B60T8/1763 , B60T8/58 , B60W10/18 , B60W10/188 , B60W10/20 , B60W30/00 , B60W30/02 , B60W30/045 , B60W40/068 , B62D6/04 , B62D101/00 , B62D111/00 , B62D113/00 , B62D137/00
CPC分类号： B60W40/064 , B60T8/172 , B60T8/1755 , B60T2210/12 , B60T2230/02 , B60T2260/02 , B60W30/02 , B60W40/101 , B60W2530/20 , B62D6/006
摘要： PROBLEM TO BE SOLVED: To provide a road surface status estimating device, which is mounted on a vehicle employing a steer-by-wire system and estimates precisely at a proper timing the status of a road surface on which the vehicle is travelling. SOLUTION: According to the road surface status estimating device, a current detecting means M1 detects a drive current of a motor that is controlling steering, and a steering friction torque estimating means M4 estimates a steering friction torque. On the basis of a road surface reaction torque and the steering friction torque that are determined by the above means M1, M4, a self-aligning torque estimating means M5 estimates a self-aligning torque. In addition, on the basis of a vehicle speed detected by a vehicle speed detecting means M6 and a vehicle behavior detected by a vehicle behavior detecting means M7, a vehicle index estimating means M8 estimates at least one of vehicle indexes including a side force against wheels and a wheel slip angle. Then, on the basis of a change of the self-aligning torque relative to the vehicle index, a grip degree estimating means M10 estimates a grip degree ε of the wheels. COPYRIGHT: (C)2004,JPO

7. 发明专利

JP2004042796A Method and device for controlling vehicle motion 审中-公开
公开(公告)号：JP2004042796A
公开(公告)日：2004-02-12
申请号：JP2002203421
申请日：2002-07-12
申请人： Advics:Kk , Aisin Seiki Co Ltd , Toyoda Mach Works Ltd , Toyota Central Res & Dev Lab Inc , アイシン精機株式会社 , 株式会社アドヴィックス , 株式会社豊田中央研究所 , 豊田工機株式会社
发明人： MOMIYAMA MINEICHI , TAKEUCHI SHINJI , TAKANO TOSHIO , IMOTO YUZO , YASUI YOSHIYUKI , TANAKA WATARU , MURAKISHI YUJI
IPC分类号： B62D5/00 , B62D5/04 , B62D6/00 , B62D101/00 , B62D113/00 , B62D117/00 , B62D119/00
CPC分类号： B62D6/002 , B62D5/008
摘要： PROBLEM TO BE SOLVED: To provide a vehicle steering operation control method and a vehicle steering operation control apparatus for improving the steering feeling. SOLUTION: The vehicle operation control apparatus multiplies the variable gain G controlled based on the vehicle velocity V, the steering angle θh, the steering angle velocity ωh and the actual steering angle θT with the steering angle θh, and controls the actual steering angle θT of driven wheels on a result of this multiplication. Consequently, the additional turning time gear ratio Ga1 or the turning-back gear ratio Ga2, set up individually, can be selected depending on the turning direction of a steering wheel. Therefore, the steering feeling both at the time of additional turning and the turning-back is improved. COPYRIGHT: (C)2004,JPO

8. 发明专利

JP2003341502A Device for estimating road surface friction coefficient estimating device, and operation controlling device of vehicle with the device 有权
标题翻译：用于估计道路表面摩擦系数估计装置的装置，以及用装置控制车辆装置的操作
公开(公告)号：JP2003341502A
公开(公告)日：2003-12-03
申请号：JP2002150236
申请日：2002-05-24
申请人： Aisin Seiki Co Ltd , Toyoda Mach Works Ltd , Toyota Central Res & Dev Lab Inc , アイシン精機株式会社 , 株式会社豊田中央研究所 , 豊田工機株式会社
发明人： YASUI YOSHIYUKI , ONO HIDEKAZU , MURAKISHI YUJI , MOMIYAMA MINEICHI , ASANO KENJI
IPC分类号： G01N19/02 , B60R16/02 , B60T8/172 , B60T8/1755 , B60T8/1763 , B60T8/58 , B60W30/00 , B60W30/02 , B60W40/068 , B60W40/10 , B62D6/00 , B62D101/00 , B62D111/00 , B62D113/00 , B62D119/00 , B62D137/00
摘要： PROBLEM TO BE SOLVED: To properly control an operation of a vehicle by precisely estimating a road surface friction coefficient at an early stage prior to a friction force limit, and accordingly adjusting a control parameter. SOLUTION: In a grip degree estimating means M12, a grip degree ε designating a degree of a grip in a lateral direction relative to a front wheel is estimated on the basis of a self-aligning torque estimated by a self-aligning torque estimation means M6, and a front wheel side force estimated by a side force estimation means M9. In a road surface friction coefficient estimating means M13, a road surface friction coefficient μ is estimated from a value of the self-aligning torque or the front wheel side force when the grip degree ε reaches a predetermined reference grip degree. In the operation controlling device of the vehicle, a control parameter (for example, a control start sensitivity) is adjusted according to the estimated road surface friction coefficient, so as to control a braking force in a manner to correct the yaw moment of the vehicle to a stable side. COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：通过在摩擦力极限之前的早期精确估计路面摩擦系数，并且因此调整控制参数来适当地控制车辆的操作。解决方案：在抓地度估计装置M12中，基于通过自动调心扭矩估计的自对准扭矩来估计指定相对于前轮的横向方向的抓握程度的夹紧度ε 估计装置M6以及由侧力估计装置M9估计的前轮侧力。在路面摩擦系数估计单元M13中，当夹紧度ε达到规定的基准夹持度时，根据自对准扭矩或前轮侧力的值来推定路面摩擦系数μ。在车辆的操作控制装置中，根据估计的路面摩擦系数来调整控制参数（例如，控制开始灵敏度），以便以修正车辆的横摆力矩的方式来控制制动力到一个稳定的一面。版权所有（C）2004，JPO

9. 发明专利

JP2003341500A Anti-skid control device 审中-公开
标题翻译：防滑控制装置
公开(公告)号：JP2003341500A
公开(公告)日：2003-12-03
申请号：JP2002150237
申请日：2002-05-24
申请人： Aisin Seiki Co Ltd , Toyoda Mach Works Ltd , Toyota Central Res & Dev Lab Inc , アイシン精機株式会社 , 株式会社豊田中央研究所 , 豊田工機株式会社
发明人： YASUI YOSHIYUKI , ASANO KATSUHIRO , MURAKISHI YUJI , MOMIYAMA MINEICHI , ASANO KENJI
IPC分类号： B60T8/1755 , B60T8/1763 , B60T8/58
CPC分类号： B60T8/17636 , B60T2210/12
摘要： PROBLEM TO BE SOLVED: To perform optimum anti-skid control even when a vehicle is in turning condition by adjusting the control parameter(s) properly at an early stage before reaching the limit of the friction force. SOLUTION: The self-aligning torque of each front wheel is presumed on the basis of the steering torque or the steering force, and the side force or slip angle of the front wheel is presumed on the basis of the vehicle state quantity, and the degree of gripping is presumed on the basis of the change in the self-aligning torque relative to the side force or the front wheel slip angle. On the basis of the obtained degree of gripping, the control parameter (for example, braking force control starting threshold) is adjusted. The braking force for each wheel is controlled according to the adjusted control parameter, and anti-skid control is conducted. COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：即使当车辆处于转弯状态时，通过在达到摩擦力的极限之前的早期阶段适当地调节控制参数，也能够进行最佳的防滑控制。解决方案：根据转向转矩或转向力推定每个前轮的自调心扭矩，并且根据车辆状态量推定前轮的侧向力或滑移角，并且基于相对于侧向力或前轮滑移角的自动调心扭矩的变化来推定抓握程度。基于获得的夹紧度，调整控制参数（例如，制动力控制开始阈值）。根据调整后的控制参数控制各车轮的制动力，进行防滑控制。版权所有（C）2004，JPO

10. 发明专利

JP2003291838A Electric steering controller and antiskid controller for vehicle having the same 有权
标题翻译：电动转向控制器和具有该车辆的车辆的防滑控制器
公开(公告)号：JP2003291838A
公开(公告)日：2003-10-15
申请号：JP2002104901
申请日：2002-04-08
申请人： Advics:Kk , Aisin Seiki Co Ltd , Toyoda Mach Works Ltd , Toyota Central Res & Dev Lab Inc , アイシン精機株式会社 , 株式会社アドヴィックス , 株式会社豊田中央研究所 , 豊田工機株式会社
发明人： YASUI YOSHIYUKI , TANAKA WATARU , MURAKISHI YUJI , ONO HIDEKAZU , ASANO KATSUHIRO , MOMIYAMA MINEICHI , KATO HIROAKI , ASANO KENJI
IPC分类号： B60T8/1755 , B60T8/176 , B60T8/1764 , B60T8/58 , B60W30/00 , B60W30/02 , B62D5/04 , B62D6/00 , B62D101/00 , B62D113/00
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： PROBLEM TO BE SOLVED: To easily perform countersteering operation when giving braking force on a so-called μ split road surface in an electric steering controller. SOLUTION: In a steering torque control block B0, steering torque for a steered wheel of a vehicle is controlled in accordance with steering operation. Moreover, in a braking force inference block B1, braking force given to each wheel of the vehicle is inferred to infer a difference in braking force given to right and left wheels in a right and left braking force difference inference block B2 based on the braking force inferred in the block B1. Assist steering torque is given to the steering torque control block B0 by an assist steering torque giving block B3 in accordance with a difference in braking force on the right and left wheels to assist operation when performing countersteering. COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：在电动转向控制器中所谓的μ分路面上施加制动力时，容易进行反导向操作。解决方案：在转向转矩控制块B0中，根据转向操作来控制车辆转向轮的转向转矩。此外，在制动力推断块B1中，推断给予车辆的每个车轮的制动力，推断出左右制动力差异推定块B2中的左右车轮的制动力的差异，基于制动力在块B1中推断。通过根据左右车轮上的制动力的差异的辅助转向扭矩给转向转矩控制块B0辅助转向扭矩，以辅助执行反向转向时的操作。版权所有（C）2004，JPO

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