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11. 发明授权

US08050822B2 Controller of vehicle 有权
标题翻译：车辆控制器
公开(公告)号：US08050822B2
公开(公告)日：2011-11-01
申请号：US12095403
申请日：2006-12-21
申请人： Toru Takenaka , Takayuki Toyoshima , Hiroyuki Urabe , Hiroshi Kono
发明人： Toru Takenaka , Takayuki Toyoshima , Hiroyuki Urabe , Hiroshi Kono
IPC分类号： G05D1/00 , B60R22/00 , G06F7/70 , B60T8/60
CPC分类号： B60T8/1755 , B60T2210/12 , B60T2230/02 , B60W40/064 , B60W40/101 , B60W2050/0033 , B60W2050/0034 , B60W2520/20
摘要： A driving/braking force manipulation control input of a k-th wheel, which denotes one or more specific wheels among a plurality of wheels of a vehicle, is determined such that a required condition concerning a relationship among a road surface reaction force that may act from a road surface on the k-th wheel on the basis of the detected values or estimated values of a road surface reaction force and a friction characteristic of the k-th wheel, a feedback control input related to the driving/braking force of the k-th wheel for bringing a difference between a state amount of the vehicle and a reference state amount close to zero, a driving/braking force feedforward control input based on a drive manipulated variable supplied by a driver of the vehicle, and a k-th wheel driving/braking force manipulation control input is satisfied.
摘要翻译：确定表示车辆的多个车轮中的一个以上的特定车轮的第k个车轮的驾驶/制动力操纵控制输入，使得能够起作用的路面反作用力之间的关系的要求条件基于第k轮的检测值或路面反作用力的估计值和第k轮的摩擦特性，从第k轮的路面，与第k轮的驱动/制动力相关的反馈控制输入第k轮，用于使车辆的状态量与基准状态量接近零之间的差;基于由车辆的驾驶员提供的驾驶操纵变量的驾驶/制动力前馈控制输入;以及k- 满足第三轮驱动/制动力操纵控制输入。

12. 发明申请

US20090319114A1 VEHICLE CONTROL DEVICE 有权
标题翻译：车辆控制装置
公开(公告)号：US20090319114A1
公开(公告)日：2009-12-24
申请号：US12095397
申请日：2006-12-21
申请人： Toru Takenaka , Takayuki Toyoshima , Hiroyuki Urabe , Hiroshi Kono
发明人： Toru Takenaka , Takayuki Toyoshima , Hiroyuki Urabe , Hiroshi Kono
IPC分类号： B60W30/02 , B60W10/04 , B60W10/10 , B60W10/18 , B60W10/20
CPC分类号： B62D6/003 , B60T8/1755 , B60T2270/86 , B60W10/04 , B60W10/10 , B60W10/18 , B60W50/06 , B60W2050/0028 , B60W2050/0033 , B60W2050/0034 , B60Y2200/12
摘要： An FB distribution rule 20 determines an actual vehicle actuator operation control input and a vehicle model operation control input such that a difference between a reference state amount determined by a vehicle model 16 and an actual state amount of an actual vehicle 1 (a state amount error) approximates to zero, and the control inputs are used to operate an actuator device 3 of the actual vehicle 1 and the vehicle model 16. In the FB distribution law 20, when an actual vehicle feedback required amount based on the state amount error exists in a dead zone, then an actual vehicle actuator operation control input is determined by using the required amount as a predetermined value. A vehicle model manipulated variable control input is determined such that a state amount error is brought close to zero, independently of whether an actual vehicle feedback required amount exists in a dead zone. This enhances linearity of a control system and also enhances the robustness against disturbance factors or changes therein while carrying out operation control of an actuator that suits a behavior of an actual vehicle as much as possible.
摘要翻译： FB分配规则20确定实际车辆致动器操作控制输入和车辆模型操作控制输入，使得由车辆型号16确定的基准状态量与实际车辆1的实际状态量之间的差（状态量误差）近似为零，并且控制输入用于操作实际车辆1和车辆模型16的致动器装置3.在FB分配规则20中，当基于状态量误差的实际车辆反馈所需量存在于死区，则通过使用所需量作为预定值来确定实际车辆致动器操作控制输入。确定车辆模型操纵变量控制输入，使得状态量误差接近于零，而与在死区中是否存在实际车辆反馈需求量无关。这提高了控制系统的线性度，并且在尽可能地执行适合实际车辆的行为的致动器的操作控制的同时，增强了抗干扰因素或其变化的鲁棒性。

13. 发明申请

US20090012669A1 Vehicle Control Device 有权
标题翻译：车辆控制装置
公开(公告)号：US20090012669A1
公开(公告)日：2009-01-08
申请号：US12095406
申请日：2006-12-21
申请人： Toru Takenaka , Takayuki Toyoshima , Hiroyuki Urabe , Hiroshi Kono
发明人： Toru Takenaka , Takayuki Toyoshima , Hiroyuki Urabe , Hiroshi Kono
IPC分类号： B60W30/02
CPC分类号： B60T8/17552 , B60T2230/02 , B60W10/04 , B60W10/10 , B60W10/184 , B60W10/20 , B60W50/06 , B60W2050/0012 , B60W2050/0028 , B60W2050/0033 , B60W2050/0034 , B60Y2200/12
摘要： A driving/braking force manipulation control input of a k-th wheel, which denotes one or more specific wheels among a plurality of wheels of a vehicle, is determined such that a required condition concerning a relationship among a road surface reaction force that may act from a road surface on the k-th wheel on the basis of the detected values or estimated values of a side slip angle and a friction characteristic of the k-th wheel, a feedback control input related to the driving/braking force of the k-th wheel for bringing a difference between a state amount of the vehicle and a reference state amount close to zero, a driving/braking force feedforward control input based on a drive manipulated variable supplied by a driver of the vehicle, and a k-th wheel driving/braking force manipulation control input is satisfied. This arrangement makes it possible to properly control a motion of an actual vehicle to a desired motion while properly considering the characteristics of a road surface reaction force acting from a road surface on a wheel.
摘要翻译：确定表示车辆的多个车轮中的一个以上的特定车轮的第k个车轮的驾驶/制动力操纵控制输入，使得能够起作用的路面反作用力之间的关系的要求条件基于第k轮的侧滑角和摩擦特性的检测值或估计值从第k轮的路面，与k的驱动/制动力相关的反馈控制输入用于使车辆的状态量与接近零的基准状态量之间的差异，基于由车辆的驾驶员提供的驱动操作量的驱动/制动力前馈控制输入和第k 轮驱动/制动力操纵控制输入被满足。这种布置使得可以适当地考虑从车轮上的路面起作用的路面反作用力的特性来适当地控制实际车辆的运动到期望的运动。

14. 发明授权

US08027775B2 Vehicle control device 有权
标题翻译：车辆控制装置
公开(公告)号：US08027775B2
公开(公告)日：2011-09-27
申请号：US12097130
申请日：2006-12-21
申请人： Toru Takenaka , Takayuki Toyoshima , Hiroyuki Urabe , Hiroshi Kono
发明人： Toru Takenaka , Takayuki Toyoshima , Hiroyuki Urabe , Hiroshi Kono
IPC分类号： B60W30/02 , B60T8/172
CPC分类号： B60T8/17552 , B60T2230/02 , B60W10/04 , B60W10/10 , B60W10/18 , B60W40/10 , B60W40/101 , B60W2050/0033 , B60W2050/0034 , B60W2520/20 , B60W2530/20 , B62D6/003
摘要： A basic required manipulated variable Mfbdmd_a is determined on the basis of a state amount error, which is the difference between a state amount of a motion of an actual vehicle 1 and a reference state amount, then a driving/braking force manipulation control input Fxfbdmd_n of a wheel is determined on the basis of the above basic required manipulated variable. At this time, a change in a driving/braking force operation control input Fxdmd_n of a front wheel and a rear wheel, respectively, of a particular set is made to be proportional to a change in the basic required manipulated variable Mfbdmd_a, and the ratio (gain) of a change in Fxdmd_n with respect to a change in Mfbdmd_a is made to change on the basis of gain adjustment parameters, such as side slip angles βf_act and βr_act. This makes it possible to properly control a motion of the actual vehicle to a desired motion by properly manipulating a road surface reaction force acting on a front wheel of the vehicle and a road surface reaction force acting on a rear wheel.
摘要翻译：基于作为实际车辆1的运动的状态量与基准状态量之间的差的状态量误差确定基本所需的操作变量Mfbdmd_a，然后基于状态量误差来确定驱动/制动力操作控制输入Fxfbdmd_n 基于上述基本需要的操纵变量确定车轮。此时，分别将特定组的前轮和后轮的驱动/制动力操作控制输入Fxdmd_n的变化与基本要求操作量Mfbdmd_a的变化成比例，并且比率根据增益调整参数（例如侧滑角＆bgr; f_act和＆bgr; r_act），使Fxdmd_n相对于Mfbdmd_a的变化的变化的增益（增益）变化。通过适当地操作作用在车辆的前轮上的路面反作用力和作用在后轮上的路面反作用力，能够将实际车辆的运动适当地控制为期望的运动。

15. 发明申请

US20090187302A1 VEHICLE CONTROL DEVICE 有权
标题翻译：车辆控制装置
公开(公告)号：US20090187302A1
公开(公告)日：2009-07-23
申请号：US12094345
申请日：2006-12-21
申请人： Toru Takenaka , Takayuki Toyoshima , Hiroyuki Urabe , Hiroshi Kono
发明人： Toru Takenaka , Takayuki Toyoshima , Hiroyuki Urabe , Hiroshi Kono
IPC分类号： B60W50/06
CPC分类号： B62D6/04 , B60T8/1755 , B60T2230/02 , B60T2270/86 , B60W2050/0033 , B62D6/003 , Y10S903/93
摘要： A control input for operating an actual vehicle actuator and a control input for operating a vehicle model are determined by an FB distribution law 20 on the basis of a difference between a reference state amount determined by a vehicle model 16 and an actual state amount of an actual vehicle 1 (state amount error) such that the state amount error is approximated to zero, and then an actuator device 3 of the actual vehicle 1 and the model vehicle 16, respectively, are operated on the basis of the control inputs. The FB distribution law 20 estimates an external force acting on the actual vehicle 1 due to a control input for operating an actual vehicle actuator, and determines a control input for operating the vehicle model on the basis of the estimated value and a basic value of a control input for operating the vehicle model for approximating the state amount error to zero. Thus, a vehicle control device capable of enhancing robustness against disturbance factors or their changes while performing operation control of actuators that is suited to behaviors of an actual vehicle as much as possible is provided.
摘要翻译：用于操作实际车辆致动器的控制输入和用于操作车辆模型的控制输入由FB分布定律20基于由车辆模型16确定的参考状态量与实际状态量之间的差确定实际车辆1（状态量误差）使得状态量误差近似为零，然后分别基于控制输入来操作实际车辆1和模型车辆16的致动器装置3。 FB分配规律20由于用于操作实际车辆致动器的控制输入而估计作用在实际车辆1上的外力，并且基于估计值和基准值确定用于操作车辆模型的控制输入用于操作车辆模型的控制输入以将状态量误差近似为零。因此，提供一种能够在对尽可能多地适用于实际车辆的行为的执行机构进行操作控制的同时，能够增强抗干扰因素或其变化的鲁棒性的车辆控制装置。

16. 发明申请

US20090024293A1 Vehicle Control Device 有权
标题翻译：车辆控制装置
公开(公告)号：US20090024293A1
公开(公告)日：2009-01-22
申请号：US12278455
申请日：2007-05-24
申请人： Toru Takenaka , Hiroshi Kono , Takayuki Toyoshima , Hiroyuki Urabe
发明人： Toru Takenaka , Hiroshi Kono , Takayuki Toyoshima , Hiroyuki Urabe
IPC分类号： B60T8/58
CPC分类号： B62D6/002 , B60T8/17552 , B60T2230/02 , B60T2260/02 , B60T2270/86 , B60W10/04 , B60W10/12 , B60W10/18 , B60W50/06 , B60W2050/0028 , B60W2050/0033 , B62D6/003
摘要： An actual vehicle actuator operation control input and a model operation control input are determined by an FB distribution law such that the difference between a reference state amount determined in a vehicle model and an actual state amount of an actual vehicle approximates zero, and then an actuator device of the actual vehicle and the vehicle model are operated on the basis of the control inputs. The value of a parameter of the vehicle model is set according to an actual vehicle motional state such that the attenuation property of a reference state amount when a drive manipulated variable is changed is higher than the attenuation property of an actual state amount. Accordingly, the actual vehicle actuator device is properly controlled independently of an actual vehicle motional state such that a state amount related to an actual vehicle motion approximates a vehicle state amount on a dynamic characteristic model.
摘要翻译：实际的车辆致动器操作控制输入和模型操作控制输入由FB分布定律确定，使得在车辆模型中确定的参考状态量与实际车辆的实际状态量之间的差接近于零，然后致动器实际车辆的装置和车辆模型基于控制输入进行操作。根据实际车辆运动状态来设定车辆模型的参数值，使得当驾驶操作变量改变时参考状态量的衰减特性高于实际状态量的衰减特性。因此，实际的车辆执行器装置被独立于实际车辆运动状态适当地控制，使得与实际车辆运动相关的状态量近似于动态特性模型上的车辆状态量。

17. 发明授权

US08155852B2 Vehicle control device 有权
标题翻译：车辆控制装置
公开(公告)号：US08155852B2
公开(公告)日：2012-04-10
申请号：US12095406
申请日：2006-12-21
申请人： Toru Takenaka , Takayuki Toyoshima , Hiroyuki Urabe , Hiroshi Kono
发明人： Toru Takenaka , Takayuki Toyoshima , Hiroyuki Urabe , Hiroshi Kono
IPC分类号： G06F19/00 , G06F7/70 , B60T8/24 , B60T8/1761 , B60T8/1764
CPC分类号： B60T8/17552 , B60T2230/02 , B60W10/04 , B60W10/10 , B60W10/184 , B60W10/20 , B60W50/06 , B60W2050/0012 , B60W2050/0028 , B60W2050/0033 , B60W2050/0034 , B60Y2200/12
摘要： A driving/braking force manipulation control input of a k-th wheel, which denotes one or more specific wheels among a plurality of wheels of a vehicle, is determined such that a required condition concerning a relationship among a road surface reaction force that may act from a road surface on the k-th wheel on the basis of the detected values or estimated values of a side slip angle and a friction characteristic of the k-th wheel, a feedback control input related to the driving/braking force of the k-th wheel for bringing a difference between a state amount of the vehicle and a reference state amount close to zero, a driving/braking force feedforward control input based on a drive manipulated variable supplied by a driver of the vehicle, and a k-th wheel driving/braking force manipulation control input is satisfied. This arrangement makes it possible to properly control a motion of an actual vehicle to a desired motion while properly considering the characteristics of a road surface reaction force acting from a road surface on a wheel.
摘要翻译：确定表示车辆的多个车轮中的一个以上的特定车轮的第k个车轮的驾驶/制动力操纵控制输入，使得能够起作用的路面反作用力之间的关系的要求条件基于第k轮的侧滑角和摩擦特性的检测值或估计值从第k轮的路面，与k的驱动/制动力相关的反馈控制输入用于使车辆的状态量与接近零的基准状态量之间的差异，基于由车辆的驾驶员提供的驱动操作量的驱动/制动力前馈控制输入和第k 轮驱动/制动力操纵控制输入被满足。这种布置使得可以适当地考虑从车轮上的路面起作用的路面反作用力的特性来适当地控制实际车辆的运动到期望的运动。

18. 发明授权

US08024091B2 Vehicle control device 有权
标题翻译：车辆控制装置
公开(公告)号：US08024091B2
公开(公告)日：2011-09-20
申请号：US12095397
申请日：2006-12-21
申请人： Toru Takenaka , Takayuki Toyoshima , Hiroyuki Urabe , Hiroshi Kono
发明人： Toru Takenaka , Takayuki Toyoshima , Hiroyuki Urabe , Hiroshi Kono
IPC分类号： B60T8/58
CPC分类号： B62D6/003 , B60T8/1755 , B60T2270/86 , B60W10/04 , B60W10/10 , B60W10/18 , B60W50/06 , B60W2050/0028 , B60W2050/0033 , B60W2050/0034 , B60Y2200/12
摘要： An FB distribution rule 20 determines an actual vehicle actuator operation control input and a vehicle model operation control input such that a difference between a reference state amount determined by a vehicle model 16 and an actual state amount of an actual vehicle 1 (a state amount error) approximates to zero, and the control inputs are used to operate an actuator device 3 of the actual vehicle 1 and the vehicle model 16. In the FB distribution law 20, when an actual vehicle feedback required amount based on the state amount error exists in a dead zone, then an actual vehicle actuator operation control input is determined by using the required amount as a predetermined value. A vehicle model manipulated variable control input is determined such that a state amount error is brought close to zero, independently of whether an actual vehicle feedback required amount exists in a dead zone. This enhances linearity of a control system and also enhances the robustness against disturbance factors or changes therein while carrying out operation control of an actuator that suits a behavior of an actual vehicle as much as possible.
摘要翻译： FB分配规则20确定实际车辆致动器操作控制输入和车辆模型操作控制输入，使得由车辆型号16确定的基准状态量与实际车辆1的实际状态量之间的差（状态量误差）近似为零，并且控制输入用于操作实际车辆1和车辆模型16的致动器装置3.在FB分配规则20中，当基于状态量误差的实际车辆反馈所需量存在于死区，则通过使用所需量作为预定值来确定实际车辆致动器操作控制输入。确定车辆模型操纵变量控制输入，使得状态量误差接近于零，而与在死区中是否存在实际车辆反馈需求量无关。这提高了控制系统的线性度，并且在尽可能地执行适合实际车辆的行为的致动器的操作控制的同时，增强了抗干扰因素或其变化的鲁棒性。

19. 发明授权

US07987029B2 Vehicle control device 有权
标题翻译：车辆控制装置
公开(公告)号：US07987029B2
公开(公告)日：2011-07-26
申请号：US12094345
申请日：2006-12-21
申请人： Toru Takenaka , Takayuki Toyoshima , Hiroyuki Urabe , Hiroshi Kono
发明人： Toru Takenaka , Takayuki Toyoshima , Hiroyuki Urabe , Hiroshi Kono
IPC分类号： B60W50/06 , B60W10/00 , B60W10/04 , B60W10/10 , B60W10/18 , B60W10/20 , B60W30/02 , B60T8/1755 , B62D6/00
CPC分类号： B62D6/04 , B60T8/1755 , B60T2230/02 , B60T2270/86 , B60W2050/0033 , B62D6/003 , Y10S903/93
摘要： A control input for operating an actual vehicle actuator and a control input for operating a vehicle model are determined by an FB distribution law based on a state amount error which is a difference between a reference state amount determined by a vehicle model and an actual state amount of an actual vehicle such that the state amount error is approximated to zero. An actuator device of the actual vehicle and the model vehicle, respectively, are then operated based on the control inputs. The FB distribution law estimates an external force acting on the actual vehicle due to a control input for operating an actual vehicle actuator, and determines a control input for operating the vehicle model on the basis of the estimated value and a basic value of a control input for operating the vehicle model for approximating the state amount error to zero.
摘要翻译：用于操作实际车辆致动器的控制输入和用于操作车辆模型的控制输入由FB分布定律确定，该FB分布定律基于作为由车辆模型确定的参考状态量与实际状态量之间的差的状态量误差的实际车辆，使得状态量误差近似为零。然后分别基于控制输入来操作实际车辆和模型车辆的致动器装置。 FB分布法估计由于用于操作实际车辆致动器的控制输入而作用在实际车辆上的外力，并且基于估计值和控制输入的基本值来确定用于操作车辆模型的控制输入用于将用于将状态量误差近似的车辆模型操作为零。

20. 发明申请

US20090118905A1 VEHICLE CONTROL DEVICE 有权
标题翻译：车辆控制装置
公开(公告)号：US20090118905A1
公开(公告)日：2009-05-07
申请号：US12092003
申请日：2006-12-21
申请人： Toru Takenaka , Hiroshi Kono , Takayuki Toyoshima , Hiroyuki Urabe , Shuji Shiraishi , Yukihiro Orimoto
发明人： Toru Takenaka , Hiroshi Kono , Takayuki Toyoshima , Hiroyuki Urabe , Shuji Shiraishi , Yukihiro Orimoto
IPC分类号： B62D6/00
CPC分类号： B62D6/04 , B60T8/17552 , B60T8/17555 , B60T2230/02 , B60T2260/09 , B60T2270/86 , B60W10/04 , B60W10/10 , B60W10/18 , B60W10/20 , B60W40/064 , B60W40/101 , B60W50/06 , B60W2050/0028 , B60W2050/0033 , B60W2050/0034 , B62D6/003
摘要： A control input for operating an actual vehicle actuator and a control input for operating a vehicle model are determined by an FB distribution law based on a difference between a reference state amount determined by a vehicle model and an actual state amount of an actual vehicle such that the state amount error is approximated to zero, and then an actuator device of the actual vehicle and the model vehicle are operated based on the control inputs. The FB distribution law determines a control input for operating the model such that a state amount error is approximated to zero while restraining a predetermined restriction object amount from deviating from a permissible range. A vehicle control device capable of enhancing robustness against disturbance factors or their changes while performing operation control of actuators that is as suited to behaviors of an actual vehicle as possible is provided.
摘要翻译：用于操作实际车辆致动器的控制输入和用于操作车辆模型的控制输入由FB分布定律基于由车辆模型确定的参考状态量与实际车辆的实际状态量之间的差异来确定，使得状态量误差近似为零，然后基于控制输入来操作实际车辆和模型车辆的致动器装置。 FB分配规则确定用于操作模型的控制输入，使得状态量误差近似为零，同时限制预定的限制对象量偏离允许范围。提供一种车辆控制装置，其能够在执行适合于实际车辆的行为的执行器的操作控制的同时增强对干扰因素或其变化的鲁棒性。

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