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31. 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.

32. 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。

33. 发明授权

US07698043B2 Vehicle control system and vehicle control method 有权
标题翻译：车辆控制系统和车辆控制方法
公开(公告)号：US07698043B2
公开(公告)日：2010-04-13
申请号：US11363066
申请日：2006-02-28
申请人： Eiichi Ono , Yoshikazu Hattori , Yuji Muragishi
发明人： Eiichi Ono , Yoshikazu Hattori , Yuji Muragishi
IPC分类号： B60T8/175
CPC分类号： B60W10/18 , B60T8/1755 , B60T2260/022 , B60T2260/08 , B60W10/04 , B60W10/20 , B60W30/045 , B60W40/101 , B60W2520/26 , B62D6/003 , B62D6/006 , B62D7/159
摘要： A vehicle control system includes a calculator that calculates an integrated controlled variable including a first controlled variable used for controlling the braking/driving force of each wheel so as to optimize the μ utilization ratio of the wheel and a second controlled variable used for controlling the steering angle of each wheel, based on constraints including a target resultant force to be applied to the vehicle body and a limit friction circle of each wheel, a calculator that calculates a steering controlled variable used for controlling only the steering angle of each wheel so as to achieve the target resultant force, and a controller that controls only the steering angle of each wheel, or the steering angle and braking/driving force of each wheel, based on a controlled variable obtained by linearly interpolating the integrated controlled variable and the steering controlled variable.
摘要翻译：车辆控制系统包括计算器，其计算包括用于控制每个车轮的制动/驱动力的第一控制变量的综合控制变量，以便优化车轮的μ利用率和用于控制转向的第二控制变量基于包括要施加到车体的目标合力和每个车轮的极限摩擦圆的约束的每个车轮的角度，计算器，其计算用于仅控制每个车轮的转向角的转向控制变量，以便基于通过线性内插积分控制变量和转向控制变量获得的控制变量，实现目标合力，控制器仅控制每个车轮的转向角，或每个车轮的转向角度和制动/驱动力。

34. 发明申请

US20060217867A1 Vehicle control system and vehicle control method 有权
标题翻译：车辆控制系统和车辆控制方法
公开(公告)号：US20060217867A1
公开(公告)日：2006-09-28
申请号：US11363066
申请日：2006-02-28
申请人： Eiichi Ono , Yoshikazu Hattori , Yuji Muragishi
发明人： Eiichi Ono , Yoshikazu Hattori , Yuji Muragishi
IPC分类号： G06F19/00
CPC分类号： B60W10/18 , B60T8/1755 , B60T2260/022 , B60T2260/08 , B60W10/04 , B60W10/20 , B60W30/045 , B60W40/101 , B60W2520/26 , B62D6/003 , B62D6/006 , B62D7/159
摘要： A vehicle control system includes a calculator that calculates an integrated controlled variable including a first controlled variable used for controlling the braking/driving force of each wheel so as to optimize the μ utilization ratio of the wheel and a second controlled variable used for controlling the steering angle of each wheel, based on constraints including a target resultant force to be applied to the vehicle body and a limit friction circle of each wheel, a calculator that calculates a steering controlled variable used for controlling only the steering angle of each wheel so as to achieve the target resultant force, and a controller that controls only the steering angle of each wheel, or the steering angle and braking/driving force of each wheel, based on a controlled variable obtained by linearly interpolating the integrated controlled variable and the steering controlled variable.
摘要翻译：车辆控制系统包括计算器，其计算包括用于控制每个车轮的制动/驱动力的第一控制变量的综合控制变量，以便优化车轮的利用率和用于控制转向的第二控制变量基于包括要施加到车体的目标合力和每个车轮的极限摩擦圆的约束的每个车轮的角度，计算器，其计算用于仅控制每个车轮的转向角的转向控制变量，以便基于通过线性内插积分控制变量和转向控制变量获得的控制变量，实现目标合力，控制器仅控制每个车轮的转向角，或每个车轮的转向角度和制动/驱动力。

35. 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。

36. 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。

37. 发明申请

US20070055432A1 Vehicle body motion realization method and apparatus 失效
标题翻译：车身运动实现方法及装置
公开(公告)号：US20070055432A1
公开(公告)日：2007-03-08
申请号：US10577732
申请日：2004-11-12
申请人： Ken Koibuchi , Eiichi Ono , Yoshikazu Hattori , Yuji Muragishi
发明人： Ken Koibuchi , Eiichi Ono , Yoshikazu Hattori , Yuji Muragishi
IPC分类号： B60T8/24
CPC分类号： B62D6/006 , B60T8/172 , B60T8/17551 , B60T2210/12 , B60T2270/86 , B60W40/11 , B60W40/112 , B60W40/114 , B60W2710/207
摘要： Various state amounts of a vehicle body detected by various types of sensors are captured (step 102). A maximum frictional force Fimax is calculated for each of wheels (steps 104 to 110). By use of the maximum frictional force Fimax and other physical quantities, a performance function not dependent on respective magnitudes of a vehicle body generating force and a yaw moment is defined, which performance function is prepared by means of a performance function in a case in which the vehicle body generating force is larger than the yaw moment, and a performance function in a case in which the vehicle body generating force is not larger than the yaw moment (step 112). A resultant force qi of tire generating forces acting on respective wheels is calculated by means of a third performance function (step 114), and braking and driving forces of each wheel, and a steering angle of each wheel are obtained by means of the calculated direction in which the resultant force of tire generating forces acts on the wheels (step 116). Based on the obtained braking and driving forces and steering wheel of each of the wheels, these wheels are each controlled (step 118).
摘要翻译：捕获各种类型的传感器检测到的各种状态的车体（步骤102）。对于每个车轮计算最大摩擦力F imax （步骤104至110）。通过使用最大摩擦力F max和其他物理量，定义不依赖于车体产生力和横摆力矩的相应大小的性能函数，该性能函数通过在车体产生力大于横摆力矩的情况下的演奏功能以及车身产生力不大于横摆力矩的情况下的演奏功能（步骤112）。通过第三性能函数（步骤114）和每个车轮的制动和驱动力以及每个车轮的转向角来计算作用在相应车轮上的轮胎产生力的合力q 通过计算出的轮胎产生力的合力的方向（步骤116）获得。基于获得的每个车轮的制动和驱动力和方向盘，这些轮被分别控制（步骤118）。

38. 发明授权

US08515623B2 Steering apparatus 失效
标题翻译：转向装置
公开(公告)号：US08515623B2
公开(公告)日：2013-08-20
申请号：US13496767
申请日：2011-01-11
申请人： Eiichi Ono , Yuji Muragishi , Shinsuke Sato , Yutaka Onuma , Kimiaki Ono
发明人： Eiichi Ono , Yuji Muragishi , Shinsuke Sato , Yutaka Onuma , Kimiaki Ono
IPC分类号： A01B69/00 , B62D6/00 , B62D11/00 , B62D12/00 , B63G8/20 , B63H25/04 , G05D1/00 , G06F7/00
CPC分类号： B62D6/002 , B60W10/20 , B60W2540/00 , B60W2540/18 , B62D5/008 , B62D6/001
摘要： A steering apparatus that by effecting a predetermined relationship between a steering wheel angle and a yaw angular velocity generated for a vehicle makes a direction θgaze β, seen from the view point of the driver, of a target destination point on a target course for vehicle travel after a predetermined forward gaze time, and a direction δSW of a steering wheel reference position, seen from the view point of the driver, coincide with each other. The steering apparatus can accordingly enhance the sensation of driver-vehicle togetherness, thereby enabling steering to be performed that matches driver sensation and does not cause discomfort.
摘要翻译：通过对车辆产生的方向盘角度和偏航角速度之间的预定关系实现的转向装置，从驾驶员的观察点看到的车辆行驶目标路线上的目标目的地点的方向为“ 在预定的向前注视时间之后，并且从驾驶员的视点看到的方向盘参考位置的方向ΔSW彼此一致。因此，转向装置能够增强驾驶员车辆一体感的感觉，由此能够进行与驾驶员感觉匹配的转向，不会引起不适。

39. 发明授权

US06266580B1 Control apparatus and method of control system having dead time 失效
标题翻译：具有死区时间的控制装置和控制系统的方法
公开(公告)号：US06266580B1
公开(公告)日：2001-07-24
申请号：US09577160
申请日：2000-05-24
申请人： Norimi Asahara , Masami Kondo , Toshinari Suzuki , Katsumi Kono , Ryoichi Hibino , Eiichi Ono , Masataka Osawa , Yuji Muragishi
发明人： Norimi Asahara , Masami Kondo , Toshinari Suzuki , Katsumi Kono , Ryoichi Hibino , Eiichi Ono , Masataka Osawa , Yuji Muragishi
IPC分类号： G05D1100
CPC分类号： G05B13/0255
摘要： A deviation between a target value of a quantity of state and an actual value of the quantity of state that is caused to follow the target value or a time-integral of the deviation is filtered. Based on the filtered value, a switching surface &sgr; is calculated. Based on a value of the switching surface &sgr;, a control input value u is outputted. The filter is set through comparison in Bode diagrams between a design model of a control system based on an ordinary sliding mode control method and a characteristic variation model of the control system, and by performing compensation in such a direction as to cancel out the variation. The filtering process makes it possible to properly control the control system having a dead time by the sliding mode control method.
摘要翻译：过滤状态量的目标值与导致跟随目标值的状态量的实际值或偏差的时间积分之间的偏差。基于滤波值，计算切换表面sigma。基于开关面sigma的值，输出控制输入值u。通过比较Bode图中的过滤器，在基于普通滑动模式控制方法的控制系统的设计模型和控制系统的特征变化模型之间进行比较，并且通过在消除变化的方向上进行补偿来设定。滤波处理使得可以通过滑动模式控制方法适当地控制具有死区时间的控制系统。

40. 发明授权

US07567865B2 Vehicle body motion realization method and apparatus 失效
标题翻译：车身运动实现方法及装置
公开(公告)号：US07567865B2
公开(公告)日：2009-07-28
申请号：US10577732
申请日：2004-11-12
申请人： Ken Koibuchi , Eiichi Ono , Yoshikazu Hattori , Yuji Muragishi
发明人： Ken Koibuchi , Eiichi Ono , Yoshikazu Hattori , Yuji Muragishi
IPC分类号： B60T8/58 , B62D6/00
CPC分类号： B62D6/006 , B60T8/172 , B60T8/17551 , B60T2210/12 , B60T2270/86 , B60W40/11 , B60W40/112 , B60W40/114 , B60W2710/207
摘要： Various state amounts of a vehicle body detected by various types of sensors are captured (step 102). A maximum frictional force Fimax is calculated for each of wheels (steps 104 to 110). By use of the maximum frictional force Fimax and other physical quantities, a performance function not dependent on respective magnitudes of a vehicle body generating force and a yaw moment is defined, which performance function is prepared by means of a performance function in a case in which the vehicle body generating force is larger than the yaw moment, and a performance function in a case in which the vehicle body generating force is not larger than the yaw moment (step 112). A resultant force qi of tire generating forces acting on respective wheels is calculated by means of a third performance function (step 114), and braking and driving forces of each wheel, and a steering angle of each wheel are obtained by means of the calculated direction in which the resultant force of tire generating forces acts on the wheels (step 116). Based on the obtained braking and driving forces and steering wheel of each of the wheels, these wheels are each controlled (step 118).
摘要翻译：捕获各种类型的传感器检测到的各种状态的车体（步骤102）。对于每个车轮计算最大摩擦力Fimax（步骤104至110）。通过使用最大摩擦力Fimax和其他物理量，定义不依赖于车体产生力和横摆力矩的相应大小的性能函数，哪个性能函数通过在下列情况下的性能函数来制备：车体产生力大于横摆力矩，并且在车身产生力不大于横摆力矩的情况下的性能函数（步骤112）。通过第三性能函数（步骤114）计算作用在各车轮上的轮胎产生力的合力qi，并且通过所计算的方向获得每个车轮的制动和驱动力以及每个车轮的转向角其中轮胎产生力的合力作用在车轮上（步骤116）。基于获得的每个车轮的制动和驱动力和方向盘，这些轮被分别控制（步骤118）。

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