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11. 发明授权

US07302328B2 Steering control apparatus for vehicle and method for steering control 有权
标题翻译：车辆转向控制装置及转向控制方法
公开(公告)号：US07302328B2
公开(公告)日：2007-11-27
申请号：US10960226
申请日：2004-10-08
申请人： Hiroaki Kato , Minekazu Momiyama , Yoshiyuki Yasui , Hiroaki Aizawa , Hiroaki Niino
发明人： Hiroaki Kato , Minekazu Momiyama , Yoshiyuki Yasui , Hiroaki Aizawa , Hiroaki Niino
IPC分类号： B62D5/04 , B62D6/00
CPC分类号： B62D6/003 , B60T8/1764 , B60T2220/03 , B60T2260/024
摘要： A steering control apparatus obtains a steered amount by which a steered wheel is steered based on a left-and-right braking force difference control amount, a vehicle state control amount, and a steering control amount. The apparatus changes the magnitude of the braking force difference control amount and the magnitude of the vehicle state control amount according to a vehicle speed or to time elapsed from when braking started to be applied to the left and right wheels. Accordingly, the vehicle driving on a μ-split road is prevented from being deflected toward a side of higher friction coefficient due to the left-and-right braking force difference when the braking is applied.
摘要翻译：转向控制装置基于左右制动力差控制量，车辆状态控制量和转向控制量获得转向轮转向的转向量。该装置根据车速或从制动开始到左右轮的时间经过的时间来改变制动力差控制量的大小和车辆状态控制量的大小。因此，在施加制动时，由于左右制动力的差异，可以防止在mu分路上行驶的车辆向摩擦系数较高的一侧偏转。

12. 发明申请

US20070001510A1 Method for applying torque overlay during split-mu braking conditions 有权
标题翻译：在分段mu制动条件下施加扭矩覆盖的方法
公开(公告)号：US20070001510A1
公开(公告)日：2007-01-04
申请号：US11170805
申请日：2005-06-30
申请人： Joe Miller
发明人： Joe Miller
IPC分类号： B60T8/60
CPC分类号： B60T8/58 , B60T8/1764 , B60T2260/024 , B62D5/0472 , B62D6/003
摘要： A method is provided for vehicle stability control of a vehicle where the vehicle includes a slip control braking system that applies independent braking pressure to respective vehicle brakes of the vehicle. The vehicle further includes a steer-by-wire assist steering system for applying steering intervention for stability control. The method includes detecting a split-mu braking condition and applying a steering assist torque to the steering system. A determination is made whether a steering wheel angle condition is within a predetermined threshold. An aggressive braking strategy is applied if the steering wheel angle condition is within the predetermined threshold, else applying a non-aggressive braking strategy.
摘要翻译：提供一种用于车辆的车辆稳定性控制的方法，其中车辆包括向车辆的各个车辆制动器施加独立制动压力的滑动控制制动系统。该车辆还包括用于施加用于稳定性控制的转向干预的线控转向辅助转向系统。该方法包括检测分割mu制动状况并向转向系统施加转向辅助转矩。确定方向盘角度条件是否在预定阈值内。如果方向盘角度条件在预定阈值内，则应用积极的制动策略，否则应用非积极的制动策略。

13. 发明申请

US20060217868A1 Method for improving driving stability 审中-公开
标题翻译：提高行驶稳定性的方法
公开(公告)号：US20060217868A1
公开(公告)日：2006-09-28
申请号：US10542968
申请日：2003-12-18
申请人： Andreas Zeller , Jürgen Karner , Dietmar Bethke
发明人： Andreas Zeller , Jürgen Karner , Dietmar Bethke
IPC分类号： B60T8/72
CPC分类号： B60T8/1764 , B60T2201/14
摘要： The invention relates to a method and an electronic motor vehicle brake system for increasing the driving stability during electronically controlled braking operations in motor vehicles with rear wheels that are or can be rigidly or substantially rigidly coupled, wherein when a ‘μ-split’ driving situation is detected by the brake control unit used to perform the control tasks, the pressure modulation of the front wheel being at a low coefficient of friction and undergoing electronic control is adopted for both wheels of the rear axle without substantial changes.
摘要翻译：本发明涉及一种方法和电动汽车制动系统，用于在具有或可以刚性或基本上刚性联接的后轮的机动车辆中增加电子制动操作期间的驾驶稳定性，其中当“分裂”驾驶状况由用于执行控制任务的制动控制单元检测到，前轮的压力调制处于低摩擦系数并且经受电子控制，对于后桥的两个车轮而言都不会发生实质变化。

14. 发明授权

US07073621B2 Vehicle steering control device 失效
标题翻译：车辆转向控制装置
公开(公告)号：US07073621B2
公开(公告)日：2006-07-11
申请号：US10706096
申请日：2003-11-13
申请人： Ken Koibuchi , Yoshiaki Tsuchiya , Taro Hirose
发明人： Ken Koibuchi , Yoshiaki Tsuchiya , Taro Hirose
IPC分类号： B62D6/00
CPC分类号： B62D6/003 , B60T8/175 , B60T8/1764 , B60T2260/024
摘要： A new and novel device for controlling a steering characteristic of a vehicle such as automobile so as to enhance an effect of suppressing a change in a behavior of the vehicle body due to a difference between driving and braking forces on the left and right wheels is characterized in that the device makes an amount of controlling the steering characteristic smaller as an index indicating an amount of a shift of vertical loads between the left and right wheels is increased. The steering characteristic is modified through controlling steering assist torque or a steering angle of the steered wheels. The steering assist by the steering control device is fully effective when the vehicle is running on a straight road having surfaces of different frictional coefficients while less effective on a curved road having a uniform frictional surface, preventing undesirable and unexpected modification of the steering characteristic during turning of the vehicle.
摘要翻译：一种用于控制诸如汽车的车辆的转向特性的新型和新颖的装置，以便增强由于左右车轮上的驱动力和制动力之间的差异而抑制车身行为变化的效果因为设备使得控制转向特性的量变小，因为指示左右车轮之间的垂直负载的偏移量增加的指标。通过控制转向辅助转矩或转向轮的转向角来改变转向特性。当车辆在具有不同摩擦系数的表面的直路上行驶而在具有均匀摩擦表面的弯曲道路上效率较低时，转向控制装置的转向辅助是完全有效的，防止了转弯期间转向特性的不期望的和意想不到的改变的车辆。

15. 发明授权

US06928355B2 Vehicular antiskid control apparatus and antiskid control method 有权
标题翻译：车辆防滑控制装置和防滑控制方法
公开(公告)号：US06928355B2
公开(公告)日：2005-08-09
申请号：US10734145
申请日：2003-12-15
申请人： Toshihisa Nihei , Satoshi Udaka , Yoshinori Suzuki , Akifumi Doura , Yasuhisa Kuwahata
发明人： Toshihisa Nihei , Satoshi Udaka , Yoshinori Suzuki , Akifumi Doura , Yasuhisa Kuwahata
IPC分类号： B60T8/58 , B60T8/172 , B60T8/1764 , B60T8/32 , B60T8/62 , B60T8/66 , B60T8/84 , G06F17/00 , B06T8/58
CPC分类号： B60T8/1764
摘要： If a condition for starting a yaw control during an antiskid control is met while the antiskid control is being executed on one of right and left front wheels during braking on a uneven friction-coeffient road surface, the reference value for making the determination to start the antiskid control on the other one of the front wheels is reduced, and therefore the antiskid control is started at an earlier timing. If the antiskid control is executed on the wheel, the brake pressure of the wheel is controlled in a pre-set specific pattern.
摘要翻译：如果在制动不均匀的摩擦系数路面时在防滑控制期间开始偏航控制的条件同时在左右前轮之一上执行防滑控制，则用于进行确定开始的基准值前轮另一侧的防滑控制减少，因此防滑控制在较早的时刻开始。如果在车轮上执行防滑控制，则车轮的制动压力被控制在预设的特定模式中。

16. 发明申请

US20040099469A1 Vehicle steering control device 失效
标题翻译：车辆转向控制装置
公开(公告)号：US20040099469A1
公开(公告)日：2004-05-27
申请号：US10706096
申请日：2003-11-13
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： Ken Koibuchi , Yoshiaki Tsuchiya , Taro Hirose
IPC分类号： B62D005/06
CPC分类号： B62D6/003 , B60T8/175 , B60T8/1764 , B60T2260/024
摘要： A new and novel device for controlling a steering characteristic of a vehicle such as automobile so as to enhance an effect of suppressing a change in a behavior of the vehicle body due to a difference between driving and braking forces on the left and right wheels is characterized in that the device makes an amount of controlling the steering characteristic smaller as an index indicating an amount of a shift of vertical loads between the left and right wheels is increased. The steering characteristic is modified through controlling steering assist torque or a steering angle of the steered wheels. The steering assist by the steering control device is fully effective when the vehicle is running on a straight road having surfaces of different frictional coefficients while less effective on a curved road having a uniform frictional surface, preventing undesirable and unexpected modification of the steering characteristic during turning of the vehicle.
摘要翻译：一种用于控制诸如汽车的车辆的转向特性的新型和新颖的装置，以便增强由于左右车轮上的驱动力和制动力之间的差异而抑制车身行为变化的效果因为设备使得控制转向特性的量变小，因为指示左右车轮之间的垂直负载的偏移量增加的指标。通过控制转向辅助转矩或转向轮的转向角来改变转向特性。当车辆在具有不同摩擦系数的表面的直路上行驶而在具有均匀摩擦表面的弯曲道路上效率较低时，转向控制装置的转向辅助是完全有效的，防止了转弯期间转向特性的不期望的和意想不到的改变的车辆。

17. 发明授权

US06681167B2 Vehicle chassis control with coordinated brake and steering control on split coefficient surface 有权
标题翻译：车辆底盘控制，具有协调的制动和转向控制分裂系数表面
公开(公告)号：US06681167B2
公开(公告)日：2004-01-20
申请号：US10164321
申请日：2002-06-04
申请人： Edward John Bedner , Aleksander Boguslaw Hac , Hsien Heng Chen , Ashok Chandy , Michael John Check
发明人： Edward John Bedner , Aleksander Boguslaw Hac , Hsien Heng Chen , Ashok Chandy , Michael John Check
IPC分类号： G06F1700
CPC分类号： B60K28/16 , B60T8/1764 , B60T2260/022 , B60T2260/024 , B60W2520/14 , B60W2520/28 , B62D7/159
摘要： A vehicle chassis control stores first and second calibrated values of a predetermined braking parameter and a steering correction parameter. The control includes apparatus for detecting a split coefficient condition with respect to the road surface; and, when it does and a braking signal is present, the control actuates braking apparatus for a wheel on the side of the vehicle having the higher coefficient of friction with the first calibrated value of the predetermined braking parameter and simultaneously actuates the steering apparatus with a steering correction to compensate for yaw induced by braking on the split coefficient road surface. If the steering correction is not available, however, the braking apparatus is actuated for the wheel having the higher coefficient of friction with the second calibrated value of the predetermined braking parameter without simultaneously actuating the steering apparatus with the steering correction. The steering correction may have an open loop part derived from a difference between wheel slips of two wheels on opposite sides of the vehicle and/or a closed loop part derived from yaw rate, side slip and/or side slip rate error.
摘要翻译：车辆底盘控制器存储预定制动参数和转向校正参数的第一和第二校准值。该控制装置包括用于检测相对于路面的分裂系数条件的装置; 并且当其存在并且存在制动信号时，所述控制致动具有与所述预定制动参数的第一校准值相比具有较高摩擦系数的车辆侧的车轮的制动装置，并且同时致动所述转向装置转向补偿以补偿由分裂系数路面上的制动引起的偏航。然而，如果转向矫正不可用，则制动装置对于具有较高摩擦系数的车轮与具有预定制动参数的第二校准值而被致动，而不用转向校正同时致动转向装置。转向校正可以具有从车辆相对侧上的两个车轮的车轮滑移之间的差导出的开环部分和/或由偏航率，侧滑和/或侧滑率误差导出的闭环部分。

18. 发明申请

US20030120435A1 Device and method for diagnosing brake and drive pull 有权
标题翻译：用于诊断制动器和驱动器拉力的装置和方法
公开(公告)号：US20030120435A1
公开(公告)日：2003-06-26
申请号：US10299190
申请日：2002-11-18
发明人： Friedhelm Burkard , Klaus Landesfeind
IPC分类号： G01L001/00
CPC分类号： B60W30/02 , B60T8/172 , B60T8/1764 , B60T8/885 , B60T13/665 , B60W2520/28
摘要： A device for a vehicle equipped with a wheel slip control system is described as having a determination device for determining first variables, each of which may be assigned to one wheel and/or the associated wheel brake. In addition, it includes a calculation device in which at least one second variable is calculated for at least one wheel axle of the vehicle from the first variables associated with the wheels of this wheel axle, this second variable being a measure of the difference between the first variables associated with this wheel axle. In addition, this device includes an averaging device in which a third variable is determined by averaging over time and/or filtering the at least one second variable, and it includes a comparator device which compares the value of the third variable with a preselectable limit value. The averaging and/or filtering in the averaging device covers such a long period of time that the third variable determined there is a measure of a difference between the values of the first variables associated with this wheel axle from one another which is not due to an intervention by the wheel slip control system, and the device is used to detect a pull brake or a pull drive.
摘要翻译：具有车轮滑动控制系统的车辆的装置被描述为具有用于确定第一变量的确定装置，每个变量可被分配给一个车轮和/或相关联的车轮制动器。另外，它包括一个计算装置，在该计算装置中，根据与该车轮轴的车轮相关联的第一变量，为车辆的至少一个轮轴计算至少一个第二变量，该第二变量是与该轮轴相关联的第一个变量。另外，该装置还包括一个平均装置，其中通过对时间进行平均和/或对该至少一个第二变量进行滤波来确定第三变量，并且其包括比较器装置，该比较器装置将第三变量的值与预选的极限值进行比较。平均装置中的平均和/或滤波覆盖这样长的时间段，其中确定的第三个变量是与这个轮轴相关联的第一变量的值之间的差值的量度，其不是由于由车轮滑动控制系统进行干预，该装置用于检测拉制动器或牵引驱动装置。

19. 发明授权

US06572202B2 Vehicle brake control system and method therefor 有权
公开(公告)号：US06572202B2
公开(公告)日：2003-06-03
申请号：US10165964
申请日：2002-06-11
申请人： Ryochi Watanabe
发明人： Ryochi Watanabe
IPC分类号： B60T866
CPC分类号： B60T8/4872 , B60T8/1755 , B60T8/1764 , B60T8/24 , B60T8/266 , B60T8/363 , B60T2201/16
摘要： A method and brake control system that calculates a target brake pressure of each wheel based on a braking amount by a vehicle operator and a product of a lateral acceleration of the vehicle and a vehicle speed. The brake control system comprises a first detector that detects a lateral acceleration of the vehicle and a second detector that detects a speed of the vehicle. A controller is provided that controls a braking force applied to each of front wheels and rear wheels. The controller increases the braking force applied to the front wheels by a vehicle operator so that the ratio of the braking force applied to the front wheels versus the braking force applied to the rear wheels increases as a product of the detected lateral acceleration and the detected speed of the vehicle increases.

20. 发明授权

US06550569B2 Method for operating electric power steering system of automobile 有权
公开(公告)号：US06550569B2
公开(公告)日：2003-04-22
申请号：US09995841
申请日：2001-11-20
申请人： Seong Joo Kim , Seong Kyu Kim , Dai Jong Chung , Wan Seop Kim
发明人： Seong Joo Kim , Seong Kyu Kim , Dai Jong Chung , Wan Seop Kim
IPC分类号： B62D504
CPC分类号： B62D6/008 , B60T7/12 , B60T8/1764 , B60T8/321 , B60T13/662 , B60T2260/02 , B60T2260/024 , B62D5/0472
摘要： A method for operating an automobile electric power steering (EPS) system is provided. Whether or not the automatic adjustment of the steering angle is performed is decided based on a speed of the automobile and a rotational state of each wheel. A cooperative steering angle to cooperate a braking state of the automobile is set based on the decision and the speed of the automobile. A target steering angle is determined to adjust the steering angle based on the cooperative steering angle and a manual steering angle; and a feedback control on the steering angle is performed such that the steering angle of each wheel become to close to the determined target steering angle.

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