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    • 76. 发明授权
    • Automatic lateral guidance control system
    • 自动横向引导控制系统
    • US5390118A
    • 1995-02-14
    • US156944
    • 1993-11-24
    • Donald MargolisYoshiyuki Yasui
    • Donald MargolisYoshiyuki Yasui
    • B62D1/28G01S17/93G05D1/02G06F15/50
    • G01S17/936B62D1/28G05D1/0236G05D1/0255G05D1/0272G05D2201/0213
    • An improved automatic lateral guidance control system for guiding moving vehicles is provided which includes a sensing subsystem for viewing an area in front of a vehicle, a plurality of energy radiating or energy reflective devices disposed adjacent a predetermined length of road, an apparatus for translating the radiated or reflected information from the viewed area into coordinate data representing an approximation of the predetermined path along the road, and a vehicle controller for determining the vehicle's heading with respect to the approximated path and providing an output control signal to correct the vehicle's heading with respect to the approximated path. The system uses past and present position data to calculate a predetermined path for the vehicle. Gain factors and comfort factors are determined to maximize comfort to passengers of the system and to optimize performance of the system.
    • 提供了一种用于引导移动车辆的改进的自动横向引导控制系统,其包括用于观察车辆前方的区域的感测子系统,邻近预定长度的道路设置的多个能量辐射或能量反射装置,用于将 辐射或反射的信息从所观看的区域转换为表示沿着道路的预定路径的近似的坐标数据,以及车辆控制器,用于相对于近似路径确定车辆的航向,并提供输出控制信号以相对于车辆的航向进行校正 到近似路径。 系统使用过去和现在的位置数据来计算车辆的预定路径。 确定增益因素和舒适因素以最大程度地提高系统乘客的舒适度并优化系统的性能。
    • 78. 发明授权
    • Hydrostatic power steering system
    • 静液压动力转向系统
    • US5279380A
    • 1994-01-18
    • US858498
    • 1992-03-27
    • Andrew A. FrankYoshiyuki Yasui
    • Andrew A. FrankYoshiyuki Yasui
    • B62D5/07B62D5/04B62D5/06B62D5/065B62D6/02B62D6/08B62D6/00
    • B62D6/08B62D5/065
    • A hydrostatic power steering system including an electric motor is provided for a automotive vehicle. The hydrostatic power steering system utilizes a power steering piston responsive to movement of the rack element of the rack and pinion steering connection. The power steering piston is provided in a piston chamber divided by a valve land into first and second portions, each of which are connected to first and second hydraulic lines. A torque sensor is connected to the steering shaft for providing an output torque signal to a power steering controller. The electric motor of the system is responsive to a command signal generated by the power steering controller. An electrically operated valve is connected to the hydraulic lines and is adapted to receive a signal from the power steering controller for controlling flow of hydraulic fluid to the power steering chamber. The electrically operated valve arrangement is rendered inoperative within a predetermined zone defined by the command signal and the output torque signal.
    • 为汽车提供了包括电动机的静液压动力转向系统。 液压动力转向系统利用响应于齿条和小齿轮转向连接的齿条元件运动的动力转向活塞。 动力转向活塞设置在由阀岛分隔的活塞室中,第一和第二部分分别连接到第一和第二液压管线。 扭矩传感器连接到转向轴,用于向动力转向控制器提供输出转矩信号。 该系统的电动机响应于由动力转向控制器产生的指令信号。 电动阀连接到液压管路,并且适于接收来自动力转向控制器的信号,用于控制液压流体到动力转向室的流动。 电动阀装置在由指令信号和输出转矩信号限定的预定区域内不起作用。
    • 79. 发明授权
    • Steering and brake controlling system
    • 转向和制动控制系统
    • US4998593A
    • 1991-03-12
    • US331343
    • 1989-03-31
    • Dean C. KarnoppYoshiyuki Yasui
    • Dean C. KarnoppYoshiyuki Yasui
    • B60T8/1755B60T8/1761B60T8/24B60T8/58B62D6/00B62D7/15B62D101/00B62D105/00B62D113/00
    • B62D6/003B60T8/1755B62D7/159B60G2400/0523B60G2400/1042B60G2800/702B60T2230/03B60T2260/024
    • Steering and braking are coordinated and controlled according to a sensed yaw rate error or lateral acceleration error to increase vehicle stability without increasing braking distance. A desired yaw rate or lateral acceleration rate is computed from the vehicle velocity and the steering wheel angle. If the yaw rate or the lateral acceleration is excessive, indicating instability, and the brakes are being operated, then both steering and braking are controlled to reduce the yaw rate or lateral acceleration rate. In all other cases, steering control alone is performed. The yaw rate or lateral acceleration rate is reduced under steering control by adjusting wheel positions in a direction opposite the direction of yaw or lateral acceleration. The control system of the present invention is applicable to both two-wheel and four-wheel steering and braking. The yaw rate or lateral acceleration is further reduced under braking control by decreasing brake pressure on a side of the vehicle corresponding to the direction of yaw or lateral acceleration and increasing brake pressure on the opposite side of the vehicle. In the case of anti-lock brakes, pressure is not increased beyond a slip rate threshold. Rather than controlling brake pressure, the slip rate threshold itself may be controlled in like manner to reduce the yaw rate or lateral acceleration.
    • 根据感测到的横摆角速度误差或横向加速度误差来协调和控制转向和制动,以增加车辆稳定性而不增加制动距离。 从车辆速度和方向盘角度计算出期望的偏航率或横向加速度。 如果偏航率或横向加速度过大,指示不稳定性,并且制动器正在操作,则控制转向和制动以减小偏航率或横向加速度。 在所有其他情况下,仅执行转向控制。 通过在与偏航方向或横向加速度方向相反的方向上调整车轮位置,在转向控制下减小偏航率或横向加速度。 本发明的控制系统适用于两轮和四轮转向和制动。 在制动控制下,横摆速度或横向加速度进一步减小,通过减少对应于偏航方向或侧向加速度的车辆侧的制动压力并增加车辆相对侧上的制动压力。 在防抱死制动器的情况下,压力不会超过滑动率阈值。 而不是控制制动压力,可以以相似的方式控制滑移率阈值本身以减小横摆率或横向加速度。
    • 80. 发明授权
    • Steering control methods and apparatus
    • 转向控制方法和装置
    • US4941097A
    • 1990-07-10
    • US243822
    • 1988-09-13
    • Dean C. KarnoppYoshiyuki Yasui
    • Dean C. KarnoppYoshiyuki Yasui
    • B62D6/00B62D6/04B62D7/15B62D9/00
    • B62D6/04B62D7/159B62D9/00
    • The steering stability of a moving vehicle is maintained by measuring an actual yaw rate of the vehicle and determining a desired yaw rate of the vehicle. An output signal is produced in response to a comparison of the actual and desired yaw rates. The angle of steerable wheels of the vehicle is controlled in response to the output signal in a manner tending to substantially conform the actual yaw rate to the desired yaw rate, thereby maintaining vehicle stability. The steerable wheels are steered by a steering wheel, and are independently steered in response to the output signal. Alternatively, the steerable wheels are steered solely in response to the output signal.
    • 通过测量车辆的实际横摆角速度并确定车辆的期望偏航角速度来维持移动车辆的操纵稳定性。 响应于实际和所需偏航率的比较而产生输出信号。 车辆的可转向轮的角度响应于输出信号而受到控制,倾向于使实际横摆率基本上符合所需的横摆角速度,从而保持车辆的稳定性。 可转向轮由方向盘转向,并响应于输出信号独立转向。 或者,可转向的车轮仅仅响应于输出信号转向。