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21. 发明申请

US20050071061A1 Vehicular steering device 有权
公开(公告)号：US20050071061A1
公开(公告)日：2005-03-31
申请号：US10932114
申请日：2004-09-02
申请人： Hiroaki Kato , Minekazu Momiyama , Takayuki Ohta , Yoshiyuki Yasui , Yuzo Imoto , Hiroaki Aizawa , Eiichi Ono , Yuji Muragishi
发明人： Hiroaki Kato , Minekazu Momiyama , Takayuki Ohta , Yoshiyuki Yasui , Yuzo Imoto , Hiroaki Aizawa , Eiichi Ono , Yuji Muragishi
IPC分类号： B60T8/172 , B62D5/00 , B62D6/00 , B62D101/00 , B62D103/00 , B62D111/00 , B62D113/00 , B62D119/00 , B62D137/00 , B62D5/04
CPC分类号： B62D5/008 , B60T8/172 , B60T2210/12 , B60T2220/03 , B62D6/003 , B62D6/006
摘要： A first ECU 30 detects a steering torque applied to a steering system, estimates a self-aligning torque generated in a front wheel on the basis of the steering torque, and estimates a side force for the front wheel on the basis of lateral acceleration and a yaw rate. The first ECU 30 estimates a grip factor ε for the front wheel on the basis of a change of the self-aligning torque to the side force. The first ECU 30 judges whether the grip factor is below a second OS (oversteer) start threshold value. A second ECU 40 controls the transfer ratio according to the vehicle state when the grip factor is less than the second OS start threshold value.

22. 发明申请

US20050049778A1 Vehicle roll sensing using load shift estimation 失效
标题翻译：使用负载偏移估计的车辆感知
公开(公告)号：US20050049778A1
公开(公告)日：2005-03-03
申请号：US10895120
申请日：2004-07-21
申请人： Eiichi Ono , Yuji Muragishi , Hiroaki Aizawa , Hiroaki Niino , Yoshiyuki Yasui , Minekazu Momiyama , Hiroaki Kato
发明人： Eiichi Ono , Yuji Muragishi , Hiroaki Aizawa , Hiroaki Niino , Yoshiyuki Yasui , Minekazu Momiyama , Hiroaki Kato
IPC分类号： B60R16/02 , B60R16/023 , B60T8/172 , B60W30/00 , B60W30/04 , B60W40/10 , B60W40/13 , B60T8/18
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： In vehicle roll sensing of the present invention, a self-aligning torque (SAT) estimator estimates a composite value of SATs generated on tire contact patch of right and left wheels. A slip angle computer detects a vehicle speed and a steering angle and computes a slip angle of the wheel from the measured vehicle speed and steering angle. An SAT model value computer estimates an SAT model value as a composite value of SATs of the right and left wheels when no load shifts between the right and left wheels on the basis of the slip angle. A load shift ratio estimator estimates a load shift state of the right and left wheels on the basis of the composite value of the SATs of the wheels and the SAT model value. A vehicle rollover estimator estimates a rollover of the vehicle on the basis of the estimated load-shift state.
摘要翻译：在本发明的车辆感知中，自对准扭矩（SAT）估计器估计在左右车轮的轮胎接触片上产生的SAT的复合值。滑差计算机检测车速和转向角，并根据测量的车速和转向角计算车轮的滑移角。 SAT模型值计算机基于滑移角度估计在左右车轮之间没有负载偏移时，SAT模型值作为左右车轮的SAT的复合值。负载偏移比估计器基于车轮的SAT和SAT模型值的复合值来估计左右车轮的负载偏移状态。车辆翻车估算器基于估计的负载转移状态来估计车辆的翻转。

23. 发明授权

US06377885B2 Braking force control device 失效
公开(公告)号：US06377885B2
公开(公告)日：2002-04-23
申请号：US09824131
申请日：2001-04-03
申请人： Yoshiyuki Yasui , Kenji Asano , Shoji Ito , Akira Tanaka , Hiroaki Yoshida , Mamoru Sawada , Yuji Muragishi , Michio Ishiguro , Tsugiharu Matsunaga , Eiichi Ono
发明人： Yoshiyuki Yasui , Kenji Asano , Shoji Ito , Akira Tanaka , Hiroaki Yoshida , Mamoru Sawada , Yuji Muragishi , Michio Ishiguro , Tsugiharu Matsunaga , Eiichi Ono
IPC分类号： B60T800
CPC分类号： B60T8/17636 , B60T8/172 , B60T2210/12
摘要： A braking force control device is provided in which wheel speeds of respective wheels of a vehicle are detected. On the basis of detected wheel speeds, a road surface &mgr; slope, which is a slope of a coefficient of friction &mgr; between a wheel and a road surface, is estimated for each wheel. On the basis of the road surface &mgr; slope estimated for each wheel, a braking force of each wheel is controlled such that the braking force of each wheel is adjusted.

24. 发明授权

US07600762B2 Suspension control device 失效
标题翻译：悬架控制装置
公开(公告)号：US07600762B2
公开(公告)日：2009-10-13
申请号：US10947370
申请日：2004-09-23
申请人： Yoshiyuki Yasui , Hiroaki Kato , Yuji Muragishi , Eiichi Ono , Hiroaki Aizawa
发明人： Yoshiyuki Yasui , Hiroaki Kato , Yuji Muragishi , Eiichi Ono , Hiroaki Aizawa
IPC分类号： B60G17/04 , B60G21/073
CPC分类号： B60G17/0195 , B60G21/0555 , B60G2400/208 , B60G2400/252 , B60G2400/5122 , B60G2400/822 , B60G2800/012 , B60G2800/702 , B60G2800/9122 , B60G2800/96 , B60W10/20 , B60W10/22 , B60W30/02 , B60W2510/22 , B60W2520/125 , B60W2550/148
摘要： A suspension control device includes a wheel grip state estimation device for estimating grip state of vehicle wheels based on variations of aligning torque of wheels to be steered, a vehicle rolling control device for controlling vehicle rolling, and a control parameter setting device for setting a control parameter of the vehicle rolling control device based on at least estimated grip state of the wheel grip state estimation device.
摘要翻译：悬架控制装置包括：车轮夹持状态估计装置，用于根据要转向的车轮的对准扭矩的变化来估计车轮的抓握状态;车辆滚动控制装置，用于控制车辆滚动;以及控制参数设定装置，用于设定控制基于车轮夹持状态估计装置的至少估计的夹持状态的车辆滚动控制装置的参数。

25. 发明申请

US20050067213A1 Suspension control device 失效
标题翻译：悬架控制装置
公开(公告)号：US20050067213A1
公开(公告)日：2005-03-31
申请号：US10947370
申请日：2004-09-23
申请人： Yoshiyuki Yasui , Hiroaki Kato , Yuji Muragishi , Eiichi Ono , Hiroaki Aizawa
发明人： Yoshiyuki Yasui , Hiroaki Kato , Yuji Muragishi , Eiichi Ono , Hiroaki Aizawa
IPC分类号： B60G17/015 , B60G17/018 , B60G17/0195 , B60G21/055 , B60R16/02 , B60T8/24 , B60W10/20 , B60W10/22 , B60W40/10 , B62D5/06 , B62D6/00 , B62D101/00 , B62D113/00 , B62D119/00
CPC分类号： B60G17/0195 , B60G21/0555 , B60G2400/208 , B60G2400/252 , B60G2400/5122 , B60G2400/822 , B60G2800/012 , B60G2800/702 , B60G2800/9122 , B60G2800/96 , B60W10/20 , B60W10/22 , B60W30/02 , B60W2510/22 , B60W2520/125 , B60W2550/148
摘要： A suspension control device includes a wheel grip state estimation device for estimating grip state of vehicle wheels based on variations of aligning torque of wheels to be steered, a vehicle rolling control device for controlling vehicle rolling, and a control parameter setting device for setting a control parameter of the vehicle rolling control device based on at least estimated grip state of the wheel grip state estimation device.
摘要翻译：悬架控制装置包括：车轮夹持状态估计装置，用于根据要转向的车轮的对准扭矩的变化来估计车轮的抓握状态;车辆滚动控制装置，用于控制车辆滚动;以及控制参数设定装置，用于设定控制基于车轮夹持状态估计装置的至少估计的夹持状态的车辆滚动控制装置的参数。

26. 发明授权

US06619422B2 Steering unit and internal drag calculation apparatus used therein 有权
公开(公告)号：US06619422B2
公开(公告)日：2003-09-16
申请号：US10000133
申请日：2001-12-04
申请人： Shinji Takeuchi , Toshihiro Takahashi , Minekazu Momiyama , Eiichi Ono , Shoji Asai , Hiroshi Kuroyanagi
发明人： Shinji Takeuchi , Toshihiro Takahashi , Minekazu Momiyama , Eiichi Ono , Shoji Asai , Hiroshi Kuroyanagi
IPC分类号： B62D504
CPC分类号： B62D5/0463 , B62D5/0472 , B62D6/008
摘要： A power steering apparatus is provided to generate an assistant force corresponding to a change of viscous friction in the steering unit or the like, without losing information on reaction force from a road surface. An external force calculation portion calculates an external force, that is, a force other than a force for steering (i.e. a steering force) among forces (action forces) acting on the steering unit of a vehicle. The external force is assumed to be composed of an outside force received from the road surface, such as an SAT (self-aligning torque), and an internal drag resulting from a viscous friction generated in the steering unit, and the like and these two forces are separated in an outside force and internal drag calculation portion. In separating these two forces, under the assumption that the outside force is a function of a side slip angle and an internal drag is a function of a steering angular velocity, and coefficients of functions are obtained. On the basis of the thus calculated internal drag, a motor control portion controls a motor so as to generate an adequate assistant force.

27. 发明申请

US20060276944A1 Vehicle motion stability control apparatus 有权
公开(公告)号：US20060276944A1
公开(公告)日：2006-12-07
申请号：US11442535
申请日：2006-05-30
申请人： Yoshiyuki Yasui , Toshihisa Kato , Eiichi Ono , Yuji Muragishi , Tomoko Sugawara
发明人： Yoshiyuki Yasui , Toshihisa Kato , Eiichi Ono , Yuji Muragishi , Tomoko Sugawara
IPC分类号： B60G17/018
CPC分类号： B60T8/1755 , B60T8/172 , B60T2230/03 , B60W10/04 , B60W10/18 , B60W30/04 , B60W30/045 , B60W40/11 , B60W40/112 , B60W40/114
摘要： An angular velocity detection device is provided for detecting an angular velocity about a single axis tilted in a longitudinal direction of a vehicle to a normal axis thereof. An actual motion state variable of the vehicle is calculated on the basis of the detected angular velocity. At least one of the braking force and driving force applied to a vehicle is controlled to stabilize a yawing motion and a rolling motion of the vehicle, on the basis of a motion state variable deviation between a desired motion state variable and the actual motion state variable, e.g., a deviation between a yaw velocity and a roll velocity of the vehicle.

28. 发明授权

US07489995B2 Vehicle motion stability control apparatus 有权
标题翻译：车辆运动稳定性控制装置
公开(公告)号：US07489995B2
公开(公告)日：2009-02-10
申请号：US11442535
申请日：2006-05-30
申请人： Yoshiyuki Yasui , Toshihisa Kato , Eiichi Ono , Yuji Muragishi , Tomoko Sugawara
发明人： Yoshiyuki Yasui , Toshihisa Kato , Eiichi Ono , Yuji Muragishi , Tomoko Sugawara
IPC分类号： B60G17/018 , B60G23/00
CPC分类号： B60T8/1755 , B60T8/172 , B60T2230/03 , B60W10/04 , B60W10/18 , B60W30/04 , B60W30/045 , B60W40/11 , B60W40/112 , B60W40/114
摘要： An angular velocity detection device is provided for detecting an angular velocity about a single axis tilted in a longitudinal direction of a vehicle to a normal axis thereof. An actual motion state variable of the vehicle is calculated on the basis of the detected angular velocity. At least one of the braking force and driving force applied to a vehicle is controlled to stabilize a yawing motion and a rolling motion of the vehicle, on the basis of a motion state variable deviation between a desired motion state variable and the actual motion state variable, e.g., a deviation between a yaw velocity and a roll velocity of the vehicle.
摘要翻译：提供一种角速度检测装置，用于检测围绕在车辆的纵向方向上倾斜的单个轴相对于其法线的角速度。基于检测到的角速度来计算车辆的实际运动状态变量。控制施加到车辆的制动力和驱动力中的至少一个，以基于期望运动状态变量与实际运动状态变量之间的运动状态可变偏差来稳定车辆的偏转运动和滚动运动例如，车辆的偏航速度和侧倾速度之间的偏差。

29. 发明授权

US08370025B2 Steering apparatus, steering method, and computer readable storage medium 有权
标题翻译：转向装置，转向方法和计算机可读存储介质
公开(公告)号：US08370025B2
公开(公告)日：2013-02-05
申请号：US13420154
申请日：2012-03-14
申请人： Eiichi Ono , Yuji Muragishi , Daisuke Yamada , Shinsuke Sato
发明人： Eiichi Ono , Yuji Muragishi , Daisuke Yamada , Shinsuke Sato
IPC分类号： G06F19/00
CPC分类号： B62D6/008 , B62D6/003
摘要： A target value for yaw angle velocity gain is computed according to a map expressing a relationship between steering wheel angle and yaw angle velocity gain predetermined such that a direction as seen from a driver of a target destination point for vehicle travel at a predetermined time after a forward gaze and a direction as seen from the driver are caused to match each other, and a steering gear ratio is controlled accordingly. A target value for a steering wheel torque corresponding to the detected steering wheel angle and the acquired yaw angular velocity is set, based on a relationship between yaw angular velocity and resistance-feel level predetermined such that the resistance feel level for a driver monotonically increases with increasing yaw angular velocity. Control is then preformed so as to realize the steering wheel torque target value.
摘要翻译：根据表示方向盘角度和偏航角速度增益之间的关系的映射来计算偏航角速度增益的目标值，所述映射表示预定的偏航角速度增益之间的关系，使得从车辆行驶的目标目标点的驾驶员所看到的方向在使前进目视和从驾驶员看到的方向彼此匹配，并且相应地控制舵机比。基于所确定的横摆角速度和电阻感觉水平之间的关系，设定与检测到的方向盘角度和所获得的横摆角速度相对应的方向盘扭矩的目标值，使得驾驶员的阻力感觉水平随着驾驶员的电阻感觉水平随单位增加而单调增加增加偏航角速度。然后进行控制，以实现方向盘转矩目标值。

30. 发明授权

US07966127B2 Vehicle motion control device 失效
标题翻译：车辆运动控制装置
公开(公告)号：US07966127B2
公开(公告)日：2011-06-21
申请号：US11813037
申请日：2005-12-28
申请人： Eiichi Ono , Yoshiki Ninomiya , Yoshikatsu Kisanuki , Takero Hongo , Kiyokazu Sunami , Yuichi Tanaka , Kazunori Furukawa , Yoshikazu Hattori , Yuji Muragishi , Arata Takahashi , Yojiro Koike
发明人： Eiichi Ono , Yoshiki Ninomiya , Yoshikatsu Kisanuki , Takero Hongo , Kiyokazu Sunami , Yuichi Tanaka , Kazunori Furukawa , Yoshikazu Hattori , Yuji Muragishi , Arata Takahashi , Yojiro Koike
IPC分类号： G06F17/10
CPC分类号： B60R21/0134 , B60R21/36 , B60R2021/346 , B60T7/22 , B60W10/04 , B60W10/10 , B60W10/18 , B60W10/20 , B60W40/04 , B60W2420/52 , B62D15/0265
摘要： The invention provides a vehicle motion control device capable of realizing optimum avoidance control in the case of an emergency. The vehicle motion control device includes an external environment detection unit for detecting external environment, and a travel state detection unit for detecting a travel state of a driver's vehicle. An obstruction is detected based on the external environment detected by the external environment detection unit, and an environment map indicating obstructions is created. A control device estimates a plurality of possible avoidance actions for avoiding an obstruction based on the environment map and the travel state of the driver's vehicle detected by the travel state detection unit. The control device estimates collision damage according to each avoidance action estimated by the avoidance action estimation unit, and selects an appropriate avoidance action based on the estimated collision damage. The control device controls a vehicle such that the selected avoidance action is carried out.
摘要翻译：本发明提供一种能够在紧急情况下实现最佳回避控制的车辆运动控制装置。车辆运动控制装置包括用于检测外部环境的外部环境检测单元和用于检测驾驶员车辆的行驶状态的行驶状态检测单元。基于由外部环境检测单元检测到的外部环境来检测障碍物，并且创建指示障碍物的环境地图。控制装置基于由行驶状态检测单元检测到的驾驶员车辆的环境映射和行驶状态来估计用于避免障碍物的多个可能的回避动作。控制装置根据由回避动作估计部估计出的每个回避动作来估计碰撞破坏，并且基于所估计的碰撞破坏选择合适的回避动作。控制装置控制车辆，使得执行所选择的回避动作。

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