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31. 发明申请

US20140229068A1 VEHICLE DRIVE-CONTROL DEVICE 有权
标题翻译：车辆驾驶控制装置
公开(公告)号：US20140229068A1
公开(公告)日：2014-08-14
申请号：US14342049
申请日：2011-08-31
申请人： Masao Ueyama , Yoji Kunihiro , Theerawat Limpibunterng , Takahiro Kojo
发明人： Masao Ueyama , Yoji Kunihiro , Theerawat Limpibunterng , Takahiro Kojo
IPC分类号： B62D6/00
CPC分类号： B62D6/002 , B60W10/16 , B60W10/20 , B60W30/045 , B62D6/003 , B62D15/02 , B62D15/0255
摘要： A vehicle drive-control device which executes trajectory control in which steered wheels are controlled so as to make the vehicle travel along a target trajectory. When the possibility exists that the travel direction of the vehicle may be changed by the trajectory control, at least one of an operation position of a steering input unit operated by a driver; a yaw angle of the vehicle; and a lateral position of the vehicle with respect to a lane is changed before a change in the travel direction is made, thereby giving occupants in the vehicle advance notice of the possibility of a change in vehicle travel direction caused by the trajectory control.
摘要翻译：执行轨迹控制的车辆驱动控制装置，其中控制转向轮以使车辆沿着目标轨迹行驶。当存在可以通过轨迹控制来改变车辆行驶方向的可能性时，由驾驶员操作的转向输入单元的操作位置中的至少一个; 车辆的偏航角; 并且在进行行驶方向的变化之前改变车辆相对于车道的横向位置，从而使得车辆中的乘客提前通知由轨迹控制引起的车辆行驶方向改变的可能性。

32. 发明授权

US08612095B2 Vehicle driving control apparatus 有权
标题翻译：车辆驾驶控制装置
公开(公告)号：US08612095B2
公开(公告)日：2013-12-17
申请号：US13502760
申请日：2010-06-23
申请人： Takahiro Kojo , Yoshiaki Tsuchiya , Theerawat Limpibunterng
发明人： Takahiro Kojo , Yoshiaki Tsuchiya , Theerawat Limpibunterng
IPC分类号： B62D12/00
CPC分类号： B62D5/008 , B62D15/025
摘要： A vehicle driving control apparatus is provided at least with: a rudder angle varying device capable of changing a relation between a steering angle, which is a rotation angle of a steering input shaft, and a rudder angle, which is a rotation angle of steered wheels; and a trajectory controlling device for determining a control amount and controlling the rudder angle varying device such that a trajectory of a vehicle approaches a target driving route of the vehicle. The vehicle driving control apparatus is further provided with a correcting device for correcting (i) a rate of change in the rudder angle with respect to a steering amount of the steering input or (ii) the determined control amount, in accordance with whether or not a steering direction of the steering input inputted to the steering input shaft through a steering member by a driver of the vehicle is identical with a rudder angle control direction of the control amount determined by the trajectory controlling device.
摘要翻译：至少提供一种车辆驾驶控制装置，其具有：能够改变作为转向输入轴的旋转角度的转向角与作为转向轮的旋转角度的方向舵角之间的关系的舵角变更装置 ; 以及轨迹控制装置，用于确定控制量并控制方向舵角度变化装置，使得车辆的轨迹接近车辆的目标行驶路线。车辆驱动控制装置还具有校正装置，用于根据转向输入的转向量来修正方向舵角度的变化率，或者根据确定的控制量是否根据确定的控制量通过车辆的驾驶员通过转向构件输入到转向输入轴的转向输入的转向方向与由轨迹控制装置确定的控制量的舵角控制方向相同。

33. 发明授权

US08511420B2 Vehicle steering control device 有权
标题翻译：车辆转向控制装置
公开(公告)号：US08511420B2
公开(公告)日：2013-08-20
申请号：US12743701
申请日：2008-11-19
申请人： Takahiro Kojo , Theerawat Limpibunterng
发明人： Takahiro Kojo , Theerawat Limpibunterng
IPC分类号： B62D5/04
CPC分类号： B62D5/008 , B62D5/0481 , B62D6/002
摘要： A vehicle steering control device includes an electric power steering unit, a steering ratio varying unit which drives an output member relative to an input member driven by steering operation of a driver to vary a steering ratio, and a control unit which controls the steering ratio varying unit. The control unit decreases in magnitude the relative drive velocity of the output member driven by the steering ratio varying unit relative to the input member when the magnitude of a difference between the maximum value of the steering drive velocity range of said steerable wheels which allows said power steering unit to generate a required steering assisting power and an actual steering drive velocity of said steerable wheels is small in contrast to the large difference.
摘要翻译：车辆转向控制装置包括电动转向单元，转向比变化单元，其相对于由驾驶员的转向操作驱动的输入构件驱动输出构件以改变转向比;以及控制单元，其控制转向比变化单元。当所述可转向轮的转向驱动速度范围的最大值之间的差的大小允许所述功率时，所述控制单元在幅度上减小由转向比变化单元相对于输入构件驱动的输出构件的相对驱动速度转向单元以产生所需的转向辅助动力和所述可转向轮的实际转向驱动速度与较大的差异相反。

34. 发明申请

US20120029772A1 STEERING CONTROL APPARATUS 有权
标题翻译：转向控制装置
公开(公告)号：US20120029772A1
公开(公告)日：2012-02-02
申请号：US13001928
申请日：2009-08-25
申请人： Yoshitaka Fujita , Taro Hirose , Theerawat Limpibunterng
发明人： Yoshitaka Fujita , Taro Hirose , Theerawat Limpibunterng
IPC分类号： B62D6/00
CPC分类号： B62D6/002 , B62D7/159
摘要： A steering control apparatus (100) controls a steering mechanism to limit a behavior of a vehicle in the vehicle (10) equipped with the steering mechanism (200) which can independently steer front wheels and rear wheels. The steering control apparatus is provided with: a controlling device for controlling the steering mechanism such that a rudder angle of the front wheels and a rudder angle of the rear wheels are reverse-phased and such that a rudder angle speed of the front wheels is higher than a rudder angle speed of the rear wheels.
摘要翻译：转向控制装置（100）控制转向机构以限制配备有能够独立地转向前轮和后轮的转向机构（200）的车辆（10）中的车辆的行为。转向控制装置设置有：用于控制转向机构的控制装置，使得前轮的舵角和后轮的舵角相反，并且前轮的舵角速度更高比后轮的方向舵角速度快。

35. 发明申请

US20110264329A1 DRIVING SUPPORT APPARATUS OF VEHICLE 审中-公开
标题翻译：车辆驾驶辅助装置
公开(公告)号：US20110264329A1
公开(公告)日：2011-10-27
申请号：US13141875
申请日：2008-12-26
申请人： Theerawat Limpibunterng , Takahiro Kojo
发明人： Theerawat Limpibunterng , Takahiro Kojo
IPC分类号： B62D6/00 , B62D5/04
CPC分类号： B62D6/003 , B62D5/008 , B62D5/0472 , B62D15/025
摘要： A vehicle is provided with: an EPS a VGRS actuator as a rudder angle varying device; and an EPS actuator as a steering torque assisting device. In following a target driving route, a LKA target assist torque TLK is outputted from the EPS actuator on the basis of target lateral acceleration GYTG. On the other hand, in order to suppress the steering of a steering wheel by the assist torque, which is against a driver's will, steered wheels are steered by the VGRS actuator, excessively by a LKA correction target angle θLK. At this time, it does not influence a relation between a steering angle and the rotation angle of a lower steering shaft. Thus, the following for the target driving route is realized without reducing the robustness of the vehicle with respect to the driver's steering.
摘要翻译：车辆设有：作为方向舵角度变化装置的EPS作为VGRS致动器; 以及作为转向助力装置的EPS致动器。在跟随目标行驶路线时，基于目标横向加速度GYTG，从EPS致动器输出LKA目标辅助扭矩TLK。另一方面，为了通过与驾驶员意愿相反的辅助转矩来抑制方向盘的转向，由VGRS执行机构转向转向轮过度LKA修正目标角度LK。此时，不影响转向角与下转向轴的旋转角度的关系。因此，在不降低车辆相对于驾驶员转向的鲁棒性的情况下，实现目标驾驶路线的以下。

36. 发明申请

US20110036660A1 VEHICLE STEERING CONTROL DEVICE 有权
标题翻译：车辆转向控制装置
公开(公告)号：US20110036660A1
公开(公告)日：2011-02-17
申请号：US12743701
申请日：2008-11-19
申请人： Takahiro Kojo , Theerawat Limpibunterng
发明人： Takahiro Kojo , Theerawat Limpibunterng
IPC分类号： B62D5/04
CPC分类号： B62D5/008 , B62D5/0481 , B62D6/002
摘要： An object of the present invention is to reduce the possibility of a power assistance failure because of the phenomenon that steering assisting power which an electric power steering unit can generate is lower than the steering assisting power which is required for the electric power steering unit. A vehicle steering control device comprises an electric power steering unit, a steering ratio varying unit which drives an output member relative to an input member driven by steering operation of a driver to vary a steering ratio, and a control means which controls the steering ratio varying unit. The control means decreases in magnitude the relative drive velocity of the output member driven by the steering ratio varying unit relative to the input member when the magnitude of a difference between the maximum value of the steering drive velocity range of said steerable wheels which allows said power steering unit to generate a required steering assisting power and an actual steering drive velocity of said steerable wheels is small in contrast to the large difference.
摘要翻译：本发明的目的在于减少由于电动助力转向装置能够产生的转向辅助动力低于电动助力转向装置所需的转向辅助动力的现象而导致动力辅助失效的可能性。车辆转向控制装置包括电动助力转向单元，转向比变化单元，其相对于由驾驶员的转向操作驱动的输入构件驱动输出构件以改变转向比;以及控制装置，其控制转向比变化单元。当所述可转向轮的转向驱动速度范围的最大值之间的差异的大小允许所述功率时，所述控制装置在大小上减小由转向比变化单元相对于输入构件驱动的输出构件的相对驱动速度转向单元以产生所需的转向辅助动力和所述可转向轮的实际转向驱动速度与较大的差异相反。

37. 发明申请

US20100228444A1 VEHICLE TRAVEL CONTROL DEVICE 有权
标题翻译：车辆行驶控制装置
公开(公告)号：US20100228444A1
公开(公告)日：2010-09-09
申请号：US12738092
申请日：2008-11-19
申请人： Takahiro Kojo , Theerawat Limpibunterng
发明人： Takahiro Kojo , Theerawat Limpibunterng
IPC分类号： B60W30/02 , B62D6/00 , B60T8/1755 , B62D5/04 , B60W10/18 , B60W10/20
CPC分类号： B60T8/1755 , B60W10/18 , B60W10/20 , B60W30/045 , B60W40/11 , B60W40/112 , B60W40/114 , B60W50/12 , B62D5/0481 , B62D6/003
摘要： An object of the present invention is to cover a drop in turning responsiveness of a vehicle to a driver's steering operation caused by a limit on the operating speed of a steerable wheel turning unit by a turn assist yaw moment independent of turn lateral forces of steerable wheels to thereby prevent the drop in turning responsiveness of the vehicle when the operating speed of the steerable wheel turning unit is limited. A vehicle travel control device comprises a steerable wheel turning unit capable of turning steerable wheels to steer independently of steering of a driver and a braking unit as a turn assist yaw moment generating means capable of generating a turn assist yaw moment independently of turn lateral forces of the steerable wheels. When a predetermined controlled variable limiting condition is established and the controlled variable of the steerable wheel turning unit is limited, the influence of limiting the controlled variable of the steerable wheel turning unit on the turn yaw moment of the vehicle can be reduced by changing braking forces of individual wheels and generating a yaw moment by differences in braking force between left and right wheels.
摘要翻译：本发明的目的是通过转向辅助横摆力矩来限制车辆对驾驶员的转向操作的转弯响应的下降，这是由于转向辅助横摆力矩的限制而导致的，而转向辅助横摆力矩与转向轮的转向横向力无关从而能够防止在转向车轮转向单元的运转速度受限时车辆的转向响应性下降。车辆行驶控制装置包括可转向的车轮转向单元，其能够转向可转向的车轮以独立于驾驶员和制动单元的转向而转向，作为转向辅助横摆力矩产生装置，其能够独立于产生转向辅助横摆力矩，可转向的轮子。当建立了预定的受控变量限制条件并且限制可转向车轮转向单元的控制变量时，可以通过改变制动力来减小限制可转向车轮转向单元的受控变量对车辆的转弯横摆力矩的影响并且通过左右轮之间的制动力的差异产生偏航力矩。

38. 发明授权

US07711465B2 Vehicular steering control apparatus and control method thereof 有权
标题翻译：车辆转向控制装置及其控制方法
公开(公告)号：US07711465B2
公开(公告)日：2010-05-04
申请号：US12385061
申请日：2009-03-30
申请人： Theerawat Limpibunterng , Takahiro Kojo
发明人： Theerawat Limpibunterng , Takahiro Kojo
IPC分类号： B62D6/00
CPC分类号： B62D5/008 , B62D5/0466
摘要： An operation torque estimating portion estimates an operation torque Th of a driver based on an input angle θh and an input torque T output from a torque sensor. A non-holding state detecting portion determines whether the driver is holding a steering wheel by comparing an absolute value of the operation torque Th and a predetermined value ε1. An equilibrium detecting portion determines whether an equilibrium point is reached by comparing the absolute value of the input torque T with a predetermined value ε2. When it is determined that the driver is not holding the steering wheel and the equilibrium point is reached, a switching portion switches to such a position that causes a target steering adjusting portion to multiply a target output angle θpm by a predetermined gain G according to the input torque T so that the target steering angle is made smaller.
摘要翻译：运转转矩推定部基于输入角度＆amp; h和从转矩传感器输出的输入转矩T来推定驾驶员的运转转矩Th。 1，非保持状态检测部分通过比较操作扭矩Th的绝对值和预定值＆amp; 1来确定驾驶员是否保持方向盘。平衡检测部分通过将输入转矩T的绝对值与预定值egr进行比较来确定是否达到平衡点; 2。当确定驾驶员没有握住方向盘并且达到平衡点时，切换部分切换到这样的位置，使得目标转向调节部分将目标输出角度＆amp; pm; pm乘以预定增益G，根据到输入转矩T，使得目标转向角变小。

39. 发明申请

US20070107979A1 Vehicular steering control apparatus and control method thereof 有权
标题翻译：车辆转向控制装置及其控制方法
公开(公告)号：US20070107979A1
公开(公告)日：2007-05-17
申请号：US11581460
申请日：2006-10-17
申请人： Theerawat Limpibunterng , Takahiro Kojo
发明人： Theerawat Limpibunterng , Takahiro Kojo
IPC分类号： B62D5/04
CPC分类号： B62D5/008 , B62D5/0466
摘要： An operation torque estimating portion estimates an operation torque Th of a driver based on an input angle θh and an input torque T output from a torque sensor. A non-holding state detecting portion determines whether the driver is holding a steering wheel by comparing an absolute value of the operation torque Th and a predetermined value ε1. An equilibrium detecting portion determines whether an equilibrium point is reached by comparing the absolute value of the input torque T with a predetermined value ε2. When it is determined that the driver is not holding the steering wheel and the equilibrium point is reached, a switching portion switches to such a position that causes a target steering adjusting portion to multiply a target output angle θ pm by a predetermined gain G according to the input torque T so that the target steering angle is made smaller.
摘要翻译：操作转矩估计部分基于输入角度和从转矩传感器输出的输入转矩T来估计驾驶员的操作扭矩Th。非保持状态检测部分通过比较操作扭矩Th的绝对值和预定值ε1来确定驾驶员是否保持方向盘。平衡检测部分通过将操作扭矩Th的绝对值与预定值ε1进行比较来确定是否达到平衡点具有预定值ε2的输入转矩T.当确定驾驶员不保持方向盘并且达到平衡点时，切换部分切换到这样的位置，使得目标转向调节部分将目标输出角θpm根据输入转矩T预定的增益G，使得目标转向角变小。

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