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51. 发明申请

US20050167181A1 Method and device for controlling maneuverability of vehicle 有权
标题翻译：控制车辆机动性的方法和装置
公开(公告)号：US20050167181A1
公开(公告)日：2005-08-04
申请号：US10507374
申请日：2003-04-21
申请人： Hiroaki Kato , Minekazu Momiyama , Yoshiyuki Yasui , Wataru Tanaka , Kenji Asano , Yuzou Imoto , Eiichi Ono , Yuji Muragishi
发明人： Hiroaki Kato , Minekazu Momiyama , Yoshiyuki Yasui , Wataru Tanaka , Kenji Asano , Yuzou Imoto , Eiichi Ono , Yuji Muragishi
IPC分类号： B62D6/00 , B62D5/00 , B62D5/04 , B62D5/22 , B62D15/02 , B62D101/00 , B62D113/00 , B62D119/00
CPC分类号： B62D15/0235 , B62D5/008
摘要： In accordance with a vehicle motion control apparatus, a steering angle (θh) of a steering wheel is determined on the basis of a rotation angle (θpm) of an assist motor (24m) detected by a rotation angle sensor (24s) and a rotation angle (θvm) of a gear ratio variable motor (32m) detected by a rotation angle sensor (32s), and a VGRS control process (40a) of a gear ratio variable mechanism is executed on the basis of the determined steering angle (θh). Accordingly, since the steering angle (θh) of the steering wheel is determined on the basis of the rotation angle (θvm) used for the VGRS control process (40a) of the gear ratio variable mechanism and the rotation angle (θpm) used for an EPS control process (30a) of an EPS actuator, it is possible to obtain the steering angle (θh) of the steering wheel without a steering angle sensor. Therefore, it is possible to reduce the number of the parts of a vehicle motion control apparatus.
摘要翻译：根据车辆运动控制装置，基于由旋转角度传感器（24s）检测到的辅助马达（24m）的旋转角度（ttm）来确定方向盘的转向角（thetah），并且通过旋转角度传感器（32s）检测到的齿轮比可变马达（32m）的旋转角（tavm）和齿轮比可变机构的VGRS控制处理（40a），基于所确定的转向角（thetah）。因此，由于根据用于变速比可变机构的VGRS控制处理（40a）的旋转角（tavm）和用于变速比可变机构的旋转角度（ttm）来确定方向盘的转向角（thetah） EPS致动器的EPS控制过程（30a），可以获得没有转向角传感器的方向盘的转向角（thetah）。因此，可以减少车辆运动控制装置的部件的数量。

52. 发明授权

US08788171B2 Sensor drift amount estimating device 有权
标题翻译：传感器漂移量估计装置
公开(公告)号：US08788171B2
公开(公告)日：2014-07-22
申请号：US12988914
申请日：2009-04-21
申请人： Eiichi Ono , Yumiko Miura , Katsuyuki Yamaguchi , Taisuke Yasutomi
发明人： Eiichi Ono , Yumiko Miura , Katsuyuki Yamaguchi , Taisuke Yasutomi
IPC分类号： G06F19/00 , G06G7/00 , B60T8/1755 , B60T8/172 , G01C21/30 , G01C7/04
CPC分类号： B60T8/1755 , B60T8/172 , B60T2250/06 , B60T2250/062 , G01C7/04 , G01C19/00 , G01C21/30 , G01P21/00
摘要： An attitude angle estimating means computes a derivative amount of an attitude angle with respect to a vertical axis of a vehicle body, and integrates the computed derivative amount of the attitude angle, and estimates the attitude angle. On the basis of the sensor signal and the attitude angle estimated by the attitude angle estimating means, a computing means computes a derivative amount of the attitude angle obtained from equations of motion for vehicle motion. A drift amount estimating means estimates a sensor drift amount of the sensor signal by using a relationship that, when taking a sensor drift amount of the sensor signal into consideration, the derivative amount of the attitude angle computed by the attitude angle estimating means, and a value that considers a sensor drift amount in the derivative amount of the attitude angle computed by the computing means, are equal.
摘要翻译：姿态角估计装置计算相对于车身的垂直轴的姿态角的微分量，并且对计算出的姿态角的导数进行积分，并且估计姿态角。基于由姿态角估计装置估计出的传感器信号和姿态角，计算装置计算由车辆运动的运动方程获得的姿态角的导数。漂移量估计装置通过使用以下关系来估计传感器信号的传感器漂移量：当考虑到传感器信号的传感器漂移量时，由姿态角度估计装置计算的姿态角的导数量和考虑由计算装置计算的姿态角的导数量中的传感器漂移量的值相等。

53. 发明申请

US20100217527A1 OBSTACLE AVOIDANCE CONTROL DEVICE AND RECORDING MEDIUM 有权
标题翻译：障碍避免控制装置和记录介质
公开(公告)号：US20100217527A1
公开(公告)日：2010-08-26
申请号：US11917429
申请日：2006-06-13
申请人： Yoshikazu Hattori , Eiichi Ono
发明人： Yoshikazu Hattori , Eiichi Ono
IPC分类号： G08G1/16
CPC分类号： B60W40/105 , B60T7/22 , B60T2201/022 , B60T2210/32 , B60W10/12 , B60W10/184 , B60W10/20 , B60W30/08 , B60W30/09 , B60W30/095 , B60W2050/0026 , B60W2520/10 , B60W2520/12 , B60W2550/302 , B60W2550/304 , B62D15/0265 , G08G1/166
摘要： An obstacle avoidance control device has a detector for detecting the distance between a vehicle and an obstacle and the relative speed of the vehicle with respect to the obstacle, a memory for storing a map for calculating vehicle generation force to avoid the obstacle based on a parameter set by a physical quantity determined by a component Vx in the vehicle front-rear direction as of the relative speed, a component Vy in the vehicle lateral direction of the relative speed, and a distance Ye′ in the vehicle lateral direction, for avoiding the obstacle, and a computing unit for computing the parameter based on the distance and the relative speed that are detected by the detector and computing vehicle generation force by using the calculated parameter and the map.
摘要翻译：障碍物回避控制装置具有用于检测车辆与障碍物之间的距离的检测器以及车辆相对于障碍物的相对速度的存储器，用于存储用于计算车辆产生力以用于基于参数的障碍物的地图的存储器通过由车辆前后方向上的分量Vx确定的相对速度的物理量，车辆横向方向上的相对速度的分量Vy和车辆横向方向上的距离Ye'来设定，以避免障碍物和计算单元，用于基于由检测器检测到的距离和相对速度来计算参数，并通过使用计算的参数和地图来计算车辆生成力。

54. 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。

55. 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）。

56. 发明授权

US07260458B2 Steering device 有权
标题翻译：转向装置
公开(公告)号：US07260458B2
公开(公告)日：2007-08-21
申请号：US10515178
申请日：2003-05-26
申请人： Hiroaki Kato , Minekazu Momiyama , Shoji Ogawa , Kenji Asano , Yuzou Imoto , Yoshiyuki Yasui , Wataru Tanaka , Eiichi Ono , Yuji Muragishi
发明人： Hiroaki Kato , Minekazu Momiyama , Shoji Ogawa , Kenji Asano , Yuzou Imoto , Yoshiyuki Yasui , Wataru Tanaka , Eiichi Ono , Yuji Muragishi
IPC分类号： G01N19/02 , B60T8/76
CPC分类号： B62D6/008 , B62D6/006 , B62D15/029
摘要： In a steering apparatus, in accordance with a grip limit control process (30b′), it is determined whether or not a grip degree ε estimated by a grip degree estimation arithmetically operating process (30a) is less than a predetermined grip degree (ε′), and in the case that it is determined that an estimated grip degree (ε) is less than the predetermined grip degree (ε′), the process applies such a feeling that a steering operation by a steering wheel suddenly becomes light to a driver, by suddenly increasing an assist quantity by a motor (M), thereby notifying the driver of the matter that the grip degree of a steered wheel is close to a limit. Therefore, it is possible to transmit to the driver a probability that a side slip is generated by further turning the steering wheel 21 in the same direction as the current direction, thereby calling the driver's attention for steering. Accordingly, there is an effect that a stability of a vehicle behavior can be improved without applying any fear of insecurity to the driver.
摘要翻译：在转向装置中，根据握持限制控制处理（30b'），判定通过握持度估计算术运算处理（30a）估计出的抓地力程度ε是否小于预定抓地力（ epsilon'），并且在确定估计抓地力（ε）小于预定抓地力（epsilon））的情况下，该处理应用这样的感觉，即方向盘的转向操作突然变亮驾驶员通过马达（M）突然增加辅助量，从而通知驾驶员转向轮的夹紧度接近极限。因此，通过使方向盘21与当前方向相同的方向进一步转动方向盘21，可以向驾驶员发送侧滑的概率，从而呼叫司机注意转向。因此，存在可以提高车辆行为的稳定性的效果，而不会对驾驶员造成不安全感的担心。

57. 发明申请

US20050240327A1 Method for controlling motion of vehicle and motion controller of vehicle 审中-公开
标题翻译：控制车辆和运动控制器运动的方法
公开(公告)号：US20050240327A1
公开(公告)日：2005-10-27
申请号：US10506690
申请日：2003-04-21
申请人： Hiroaki Kato , Minekazu Momiyama , Yoshiyuki Yasui , Wataru Tanaka , Kenji Asano , Yuzuo Imoto , Eiichi Ono , Yuji Muragishi
发明人： Hiroaki Kato , Minekazu Momiyama , Yoshiyuki Yasui , Wataru Tanaka , Kenji Asano , Yuzuo Imoto , Eiichi Ono , Yuji Muragishi
IPC分类号： B62D5/00 , B62D5/04 , B62D5/22 , B62D6/00 , B62D101/00 , B62D113/00 , B62D119/00 , G05D1/00
CPC分类号： B62D5/0463 , B62D5/008 , B62D6/008
摘要： In accordance with a vehicle motion control apparatus, a steering wheel torque (Th) generated in accordance with an operation of a steering wheel is determined in accordance with a steering wheel torque arithmetic process (30b) by EPS_ECU by using a steering torque (Tp) generated in a second steering shaft of a gear ratio variable mechanism, a motor torque (Tvm) generated by a motor (32m) of the gear ratio variable mechanism and a rotation angle (θvm) of the motor (32m), on the basis of a dynamic equation expressing a torque transfer by the gear ratio variable mechanic Accordingly, even in the case that the vehicle motion control apparatus employs a structure that the gear ratio variable mechanism is interposed between the steering wheel and a torque sensor, the steering wheel torque (Th) can be known without adding any new torque sensor or the like. Therefore, it is possible to improve a motion controllability of the vehicle without increasing a number of parts by using the steering wheel torque (Th) for an ESP control process (30a).
摘要翻译：根据车辆运动控制装置，通过使用转向转矩（Tp）根据EPS_ECU的方向盘扭矩运算处理（30b）来确定根据方向盘的操作而生成的方向盘扭矩（Th）），齿轮比可变机构的第二转向轴中产生的电动机转矩（Tvm），以及由变速比可变机构的电动机（32m）产生的电动机转矩（Tvm）和电动机（32m）的旋转角度（tavm）表示通过齿轮比可变机构的转矩传递的动态方程式的基础因此，即使在车辆运动控制装置采用将变速比可变机构夹在方向盘和转矩传感器之间的结构的情况下，转向可以知道车轮扭矩（Th），而不添加任何新的扭矩传感器等。因此，通过使用用于ESP控制处理（30A）的方向盘扭矩（Th），可以不增加部件数量来提高车辆的运动控制性。

58. 发明授权

US06898966B2 Road surface friction state estimating apparatus and method thereof 有权
公开(公告)号：US06898966B2
公开(公告)日：2005-05-31
申请号：US10626561
申请日：2003-07-25
申请人： Eiichi Ono , Shoji Inagaki
发明人： Eiichi Ono , Shoji Inagaki
IPC分类号： G01N19/02 , B60L3/10 , B60R16/02 , B60T8/172 , B60W40/068 , B60W40/10 , B60W50/00 , B62D6/00 , B62D101/00 , B62D111/00 , B62D113/00 , B62D119/00 , B62D137/00 , G01M17/02
CPC分类号： B60W40/101 , B60T8/172 , B60T2210/12 , B60W40/068 , B60W2050/0055 , B60W2050/0056 , B60W2510/20 , B60W2520/10 , B60W2520/125 , B60W2520/14
摘要： A SAT estimating portion supplies a grip degree estimating portion with the estimated SAT value. A summing device sums a front wheel slip angle on which high pass filter processing has been performed and a front wheel slip angle on which low pass filter processing has been performed so as to obtain an integrated slip angle. A grip degree estimating portion estimates a grip degree of a tire, by calculating a SAT reference value which is based on the integrated slip angle, and calculating a ratio between the SAT reference value and the estimated SAT value. A road surface μ value estimating portion estimates a road surface μ value when the grip degree becomes equal to or lower than a reference value.

59. 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。

60. 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。

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