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    • 41. 发明授权
    • Motion control system for vehicle
    • 车辆运动控制系统
    • US06567748B2
    • 2003-05-20
    • US09796682
    • 2001-03-02
    • Koji Matsuno
    • Koji Matsuno
    • B60R2100
    • B60T8/1755B60T7/22B60T2201/02B60T2260/02B60W10/184B60W10/20B60W30/09B60W30/18109B60W2520/125B60W2520/14
    • A motion control system controls a vehicle so as to avoid contacting an obstacle in front of the vehicle by applying a braking force or a turning force to the vehicle. In particular, the turning force is applied to the vehicle to avoid the obstacle by turning the vehicle when the system judges that the vehicle can not avoid contact with the obstacle with deceleration presently applied. The turning force is calculated by comparing a first turning force necessary to make a turn to avoid the obstacle with a second turning force presently applied to the vehicle. The system generates the turning force presently applied to the vehicle. The system generates the turning force by controlling at least one of a braking force of a selected wheel, a front wheel steering mechanism and a rear wheel steering mechanism.
    • 运动控制系统控制车辆,以便通过向车辆施加制动力或转向力来避免与车辆前方的障碍物接触。 特别地,当系统判断出车辆不能避免与当前应用的减速度的障碍物接触时,转向力被施加到车辆以避免障碍物转动。 通过比较当前施加到车辆的第二转向力,进行转弯所需的第一转动力来避开障碍物来计算转动力。 该系统产生当前施加到车辆的转向力。 该系统通过控制所选择的车轮,前轮转向机构和后轮转向机构的制动力中的至少一个来产生转向力。
    • 42. 发明授权
    • Braking force control system and the method thereof
    • 制动力控制系统及其方法
    • US6092882A
    • 2000-07-25
    • US999600
    • 1998-01-07
    • Koji Matsuno
    • Koji Matsuno
    • B60T8/1755B60T8/58
    • B60T8/1755
    • A braking force control system and method of a vehicle comprises a steering angle detecting section for detecting a steering angle, a vehicle speed detecting section for detecting a vehicle speed, an actual yaw rate detecting section for detecting an actual yaw rate, a target yaw rate calculating section for calculating a target yaw rate, a target yaw rate restricting section for restricting the target yaw rate to an upper limit value, a yaw rate deviation calculating section for calculating a yaw rate deviation of the actual yaw rate and the target yaw rate, a target braking force calculating section for calculating a target braking force, a braking wheel determining section for determining a braking wheel, an output judging section for judging whether the yaw rate deviation is in a control zone or in a noncontrol zone. When the output judging section judges that the yaw rate deviation is in the control zone, a brake signal outputting section sends a signal to a brake drive apparatus so as to apply the target braking force to the braking wheel and when the output judging section judges that the yaw rate deviation is in the noncontrol zone, the brake signal outputting section sends a brake signal to the brake drive apparatus so as to apply no brake, whereby the vehicle can make a smooth and stable turn even in a case where a vehicle driver turns a steering wheel excessively during cornering.
    • 车辆的制动力控制系统和方法包括:用于检测转向角的转向角检测部,用于检测车速的车速检测部,用于检测实际横摆率的实际横摆率检测部,目标横摆率 用于计算目标横摆角速度的计算部分,用于将目标横摆角速度限制为上限值的目标横摆率限制部分,用于计算实际横摆率和目标横摆角速度的横摆率偏差的横摆率偏差计算部分, 用于计算目标制动力的目标制动力计算部分,用于确定制动轮的制动轮确定部分,用于判断偏航率偏差是在控制区域还是在非控制区域中的输出判断部件。 当输出判断部判定偏航率偏差处于控制区域时,制动信号输出部向制动驱动装置发送信号,以将目标制动力施加到制动轮,并且当输出判断部判断为 横摆率偏差处于非控制区域,制动信号输出部向制动驱动装置发送制动信号,不施加制动,即使在车辆驾驶员转动的情况下车辆也能够平稳稳定地转动 在转弯过程中过载方向盘。
    • 44. 发明授权
    • Traction control system for fourwheel drive vehicle
    • 四轮驱动车牵引力控制系统
    • US5737714A
    • 1998-04-07
    • US588019
    • 1996-01-17
    • Koji MatsunoSaiichiro Oshita
    • Koji MatsunoSaiichiro Oshita
    • B60K17/348B60K17/346B60K23/08B60K28/16B60T8/175F02D29/02F16D48/12
    • B60K23/0808B60K17/3462B60K28/16B60T8/175B60T2270/202B60W2520/105B60W2520/263B60W2710/0666
    • A traction control system for a fourwheel drive vehicle having a center differential comprises a brake pressure control apparatus, an engine output control apparatus, a differential limiting torque control apparatus, vehicle speed calculating means for calculating a reference vehicle speed of a vehicle, slip amount calculating means for calculating a slip amount of each wheel, target slip amount determining means for determining a front target slip amount of front wheels and a rear target slip amount of rear wheels, traction control determining means for determining to operate a traction control when the slip amount of the front wheels exceeds the front target slip amount or when the slip amount of the rear wheels exceeds the rear target slip amount, brake pressure calculating means for calculating a brake pressure so as to apply a brake to the wheels and engine output calculating means for calculating a target engine torque corresponding to a difference between the slip amount and the target slip amount, whereby driving force and side force of the vehicle is properly controlled and the vehicle can be prevented from spins under any driving conditions.
    • 具有中心差速器的四轮驱动车辆的牵引力控制系统包括制动压力控制装置,发动机输出控制装置,差动限制转矩控制装置,用于计算车辆的参考车辆速度的车速计算装置,滑移量计算 用于计算每个车轮的滑移量的装置,用于确定前轮的前目标滑移量的目标滑移量确定装置和后轮的后目标滑移量的牵引力控制确定装置,用于当滑移量 的前轮超过前目标滑移量,或者当后轮的滑移量超过后目标滑移量时,制动压力计算装置,用于计算制动压力,以便向车轮和发动机输出计算装置施加制动, 计算与滑移量之间的差对应的目标发动机转矩 目标滑动量,从而适当地控制车辆的驱动力和侧向力,并且可以防止车辆在任何驾驶条件下旋转。
    • 47. 发明授权
    • Road-surface friction-coefficient estimating device
    • 路面摩擦系数估计装置
    • US08244432B2
    • 2012-08-14
    • US12081245
    • 2008-04-11
    • Masaru KogureKoji MatsunoTakeshi Yoneda
    • Masaru KogureKoji MatsunoTakeshi Yoneda
    • B62D6/00
    • B60W40/068B60W2510/202
    • A road-surface friction-coefficient estimating device compares a rack-thrust-force deviation value with a preliminarily set maximum-value-determination threshold value. If the rack-thrust-force deviation value is above the maximum-value-determination threshold value, the device determines that tires are slipping, and sets a front-wheel friction-circle utilization rate in that state as a road-surface friction coefficient. If the rack-thrust-force deviation value is below the maximum-value-determination threshold value, the device refers to a preliminarily set map to determine a restoring speed at which the road-surface friction coefficient is to be restored to 1.0 based on a vehicle speed and a front-wheel slip angle. While restoring the road-surface friction coefficient at the restoring speed, the device calculates and outputs the road-surface friction coefficient.
    • 路面摩擦系数估计装置将机架推力偏差值与预先设定的最大值判定阈值进行比较。 如果齿条推力偏差值超过最大值判定阈值,则判断为轮胎滑动,并将该轮胎摩擦圆利用率设定为路面摩擦系数。 如果齿条推力偏差值低于最大值判定阈值,则该装置参照预先设定的地图,以基于以下方式确定路面摩擦系数为1.0的恢复速度 车速和前轮滑移角。 在恢复速度下恢复路面摩擦系数的同时,该装置计算并输出路面摩擦系数。
    • 49. 发明申请
    • Road-surface friction-coefficient estimating device
    • 路面摩擦系数估计装置
    • US20080262692A1
    • 2008-10-23
    • US12081245
    • 2008-04-11
    • Masaru KogureKoji MatsunoTakeshi Yoneda
    • Masaru KogureKoji MatsunoTakeshi Yoneda
    • G06F7/00
    • B60W40/068B60W2510/202
    • A road-surface friction-coefficient estimating device compares a rack-thrust-force deviation value with a preliminarily set maximum-value-determination threshold value. If the rack-thrust-force deviation value is above the maximum-value-determination threshold value, the device determines that tires are slipping, and sets a front-wheel friction-circle utilization rate in that state as a road-surface friction coefficient. If the rack-thrust-force deviation value is below the maximum-value-determination threshold value, the device refers to a preliminarily set map to determine a restoring speed at which the road-surface friction coefficient is to be restored to 1.0 based on a vehicle speed and a front-wheel slip angle. While restoring the road-surface friction coefficient at the restoring speed, the device calculates and outputs the road-surface friction coefficient.
    • 路面摩擦系数估计装置将机架推力偏差值与预先设定的最大值判定阈值进行比较。 如果齿条推力偏差值超过最大值判定阈值,则判断为轮胎滑动,并将该轮胎摩擦圆利用率设定为路面摩擦系数。 如果齿条推力偏差值低于最大值判定阈值,则该装置参照预先设定的地图,以基于以下方式确定路面摩擦系数为1.0的恢复速度 车速和前轮滑移角。 在恢复速度下恢复路面摩擦系数的同时,该装置计算并输出路面摩擦系数。
    • 50. 发明申请
    • Vehicle Driving Assist System
    • 车辆驾驶辅助系统
    • US20080221769A1
    • 2008-09-11
    • US12041049
    • 2008-03-03
    • Koji Matsuno
    • Koji Matsuno
    • B60T7/00
    • B60T7/042B60W40/101B60W50/16B60W2050/143B60W2050/146B62D6/006B62D6/008G05G1/30G05G5/03
    • An driving assist control unit controls actuators such as a front wheel steering device, an accelerator pedal mechanism, an alarm lamp. The control units estimates permissible tire-force being capable of acting on the vehicle tire on the basis of road-surface friction coefficient and ground load of the tire, and then calculates tire-force margin by subtracting current tire-force currently acting on the tire, such as total driving force and lateral force, from the permissible tire-force. The control unit then controls steering reaction force of the front wheel steering device, reaction force of the accelerator pedal, and flashing frequency of the alarm lamp in accordance with the magnitude of the tire-force margin, respectively.
    • 驾驶辅助控制单元控制诸如前轮转向装置,加速器踏板机构,报警灯的致动器。 控制单元基于轮胎的路面摩擦系数和地面载荷来估计能够作用在车辆轮胎上的容许轮胎力,然后通过减去当前作用在轮胎上的当前轮胎力来计算轮胎力裕度 ,例如总动力和横向力,从允许的轮胎力。 控制单元分别根据轮胎力余量的大小来控制前轮转向装置的转向反作用力,加速器踏板的反作用力和报警灯的闪光频率。