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1. 发明专利

JP2005114074A Vehicle behavior detector and vehicle behavior controller using the same 有权
标题翻译：使用车辆行为检测器和车辆行为控制器
公开(公告)号：JP2005114074A
公开(公告)日：2005-04-28
申请号：JP2003350089
申请日：2003-10-08
申请人： Fuji Heavy Ind Ltd , 富士重工業株式会社
发明人： TAKAGI TOMOHIRO
IPC分类号： B62D6/00 , B60K23/04 , B60T8/1755 , B60W30/00 , B60W30/02 , B60W40/10 , B60W40/109 , B60W40/114 , B62D101/00 , B62D113/00 , F16H48/08 , F16H48/26 , F16H48/36 , F16H48/38
CPC分类号： B60T8/1755 , B60G2300/082 , B60G2400/0533 , B60G2800/016 , B60G2800/212 , B60G2800/246 , B60G2800/952 , B60T2270/303 , F16H48/10
摘要： PROBLEM TO BE SOLVED: To improve control delay by detecting changes in behavior of a vehicle while turning from before/after acceleration. SOLUTION: A first yaw moment calculation part 22 acquires yaw moment I×dγ/dt at constant-speed turning based on a linear two-wheel vehicle motion model. A second yaw moment calculation part 23 calculates yaw moment M' at acceleration/deceleration based on the linear two-wheel vehicle motion model by reading before/acceleration dv/dt detected by an acceleration sensor 28 in addition to the parameter read at the first yaw moment calculation part 22. An applied yaw moment instruction value calculating part 24 calculates a fluctuation value M of yaw moment representing vehicle behavior from a difference between the yaw moment I×dγ/dt at a constant-speed turning and the yaw moment M' at acceleration/deceleration. The fluctuation amount of yaw moment caused by shifting of the load of a car body at acceleration/deceleration is compensated with the fluctuation value M. COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：通过在加速之前/之后检测车辆行为的变化来改善控制延迟。解决方案：第一横摆力矩计算部分22基于线性二轮车辆运动模型获得恒速转弯时的横摆力矩I×dγ/ dt。第二横摆力矩计算部23除了在第一偏转读取的参数之外，还通过在加速度传感器28检测到的加速度/加速度dv / dt之前通过读取线性二轮车辆运动模型来计算加速/减速的偏航力矩M' 施加的横摆力矩指令值计算部24根据来自恒定转速的横摆力矩I×dγ/ dt与横摆力矩M'之间的差异，计算表示车辆行为的横摆力矩的变动值M 加速/减速。由加速/减速时的车身载荷的移动引起的横摆力矩的波动量用波动值M补偿。（C）2005，JPO＆NCIPI

2. 发明专利

JP2006144858A Right and left driving force distribution controller of vehicle 有权
标题翻译：右驾驶员车辆分配控制器
公开(公告)号：JP2006144858A
公开(公告)日：2006-06-08
申请号：JP2004333625
申请日：2004-11-17
申请人： Fuji Heavy Ind Ltd , 富士重工業株式会社
发明人： TAKAGI TOMOHIRO
IPC分类号： B60K17/348 , F16H48/20 , F16H48/32 , F16H48/36
摘要： PROBLEM TO BE SOLVED: To stably and optimally control a vehicle with good response on not only a high μ road but also on a low μ road and also when a road surface is abruptly changed without requiring a device for estimating the μ of the road surfaces.
SOLUTION: A right and left driving force distribution control part 60 calculates a basic adding yaw moment, a longitudinal acceleration sensitive yaw moment, a slip correction yaw moment, and a wheel difference sensitive yaw moment, provides the total sum of these yaw moments, converts the total sum to a torque movement amount, and outputs it to a rear clutch drive part 70. The wheel difference sensitive yaw moment moves torque in a direction for following up the lower wheel speed of rear wheels to a reference vehicle speed by performing a PD control sensing a deviation between the reference vehicle speed and the lower wheel speed. Since the lower wheel speed of the rear wheels is increased by this correction, the lower wheel speed of the rear wheels is low and a rear lateral force remains in a limit traveling on a snow road and the tendency of under steering occurs, and the deterioration of a turning capability can be suppressed.
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：为了稳定和最佳地控制对不仅高μ路而且在低μ路上也具有良好响应的车辆，并且当路面突然改变时，也不需要用于估计μ的μ 路面。解决方案：左右驱动力分配控制部60计算基本加法横摆力矩，纵向加速度敏感横摆力矩，滑移校正横摆力矩和车轮差分敏感横摆力矩，提供这些偏航的总和将总和转换为转矩移动量，并将其输出到后离合器驱动部70.轮差敏感横摆力矩将用于使后轮的下轮速度跟随的方向上的转矩转换为参考车速，执行感测基准车速与下轮速度之间的偏差的PD控制。由于后轮的下轮速度增加，因此后轮的下轮速度较低，后方侧向力保持在雪路上行驶的极限，并且转向发生倾向，劣化可以抑制转弯能力。版权所有（C）2006，JPO＆NCIPI

3. 发明专利

JP2014151834A Drive support device for vehicle 审中-公开
标题翻译：用于车辆的驾驶支持装置
公开(公告)号：JP2014151834A
公开(公告)日：2014-08-25
申请号：JP2013024740
申请日：2013-02-12
申请人： Fuji Heavy Ind Ltd , 富士重工業株式会社
发明人： TAKAGI TOMOHIRO , HORIGUCHI AKINOBU
IPC分类号： B60T7/12
摘要： PROBLEM TO BE SOLVED: To avoid crash to an obstacle surely without discomfort felt by a driver.SOLUTION: The brake control unit 30 determines whether an own vehicle can perform avoidance travel toward a side direction of a front obstacle or not, and when the own vehicle can perform avoidance travel toward the side direction of the front obstacle, sets a target point which the own vehicle passes when performs avoidance travel of the front obstacle at a side part of the obstacle, and sets a travel route passing the target point as a target route Rt. In addition, yaw moment having change amount of approximately 0 of side acceleration generated on the own vehicle by yaw ratio traveling along the target route, is calculated, and brake force is applied to a turning inner wheel and a turning outer wheel of the own vehicle.
摘要翻译：要解决的问题：为了避免驾驶员感到不舒服而碰撞到障碍物。解决方案：制动控制单元30确定本车辆是否能够朝向前障碍物的侧方执行回避行驶，并且当自身车辆能够进行朝向前方障碍物的侧方的回避行驶，设定本车辆在障碍物的侧部的前方障碍物的避免行驶时通过的目标点，并将通过目标点的行驶路线设定为目标路线Rt。此外，计算本车辆沿着目标路线行驶的偏航率产生的侧面加速度的大约0的偏转力矩的偏航力矩，并且制动力被施加到本车辆的回转内轮和转向外轮。

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