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81. 发明授权

US4898431A Brake controlling system 失效
公开(公告)号：US4898431A
公开(公告)日：1990-02-06
申请号：US206735
申请日：1988-06-15
申请人： Dean C. Karnopp , Yoshiyuki Yasui
发明人： Dean C. Karnopp , Yoshiyuki Yasui
IPC分类号： B60T8/24 , B60T8/1755 , B60T8/58 , B62D7/14 , G05D1/08
CPC分类号： G05D1/0891 , B60T8/1755
摘要： The present invention relates to an apparatus and method for controlling vehicle motion. More specifically, the invention relates to an apparatus for improving vehicle stability by controlling the brake torque of a vehicle during, for example, cornering manuevers. In accordance with the present invention, vehicle stability is improved by independently controlling brake torque in response to sensed yaw rate.

82. 发明授权

US09604608B2 Braking control device for vehicle 有权
公开(公告)号：US09604608B2
公开(公告)日：2017-03-28
申请号：US14361760
申请日：2012-11-30
申请人： Yoshiyuki Yasui , Hiroyuki Kodama , Naotoshi Satake
发明人： Yoshiyuki Yasui , Hiroyuki Kodama , Naotoshi Satake
IPC分类号： B60T8/17 , B60T13/58 , F16D61/00 , B60T7/04 , B60T8/171 , B60T8/172 , H02P7/28
CPC分类号： B60T8/17 , B60T7/042 , B60T8/171 , B60T8/172 , B60T8/173 , B60T13/586 , F16D61/00 , H02P3/06 , H02P7/28
摘要： An electric motor is controlled based on a target energization amount calculated based on an operation amount of a braking operation member. Based on the operation amount, it is determined whether or not an inertia compensation control for compensating for the influence of the inertia of a brake actuator is necessary. When the inertia compensation control is determined to be necessary, an inertia compensation energization amount compensating for the influence of the inertia of the brake actuator is calculated using a time-series pattern set in advance based on the maximum response of the brake actuator. Using the inertia compensation energization amount, the target energization amount is calculated. The vehicle brake control device causes an electric motor to generate a braking torque and appropriately compensates for the influence of the inertia of the entire device including the inertia of the electric motor.

83. 发明授权

US09475471B2 Braking control apparatus for vehicle 有权
标题翻译：车辆制动控制装置
公开(公告)号：US09475471B2
公开(公告)日：2016-10-25
申请号：US14368868
申请日：2012-12-25
申请人： Yoshiyuki Yasui , Hiroyuki Kodama , Naotoshi Satake
发明人： Yoshiyuki Yasui , Hiroyuki Kodama , Naotoshi Satake
IPC分类号： G06F7/70 , B60T8/172 , B60T13/74 , B60T7/04 , B60T13/66 , B60T17/22 , F16D65/18 , B60T8/171 , B60T8/58 , F16D66/00 , F16D125/40 , F16D125/48
CPC分类号： B60T8/172 , B60T7/042 , B60T8/171 , B60T8/58 , B60T13/662 , B60T13/741 , B60T17/22 , F16D65/18 , F16D2066/005 , F16D2125/40 , F16D2125/48
摘要： Based on a difference between target and actual values of a friction member force pressing a brake disc, feedback control over the pressing force is executed. As the actual value, a “limit pressing force (Fbs) obtained by placing a limitation on a temporal change amount of the Fba based on a limit value (Lmt)” is used. The limit value (Lmt) is set based on an electric motor speed (dMkt, dMka), a wheel speed (Vwa), and a temporal change amount (ΔTmp) of the friction member temperature. The Lmt is set to increase as the dMkt (dMka) increases and the temporal change amount (ΔTmp) of the temperature increases, and to also increase as the wheel speed (Vwa) decreases. Thus, even when a rotating member (brake disc) is deformed, braking torque control can be appropriately executed without accelerating a fluctuation of a braking torque on the wheel.
摘要翻译：基于按压制动盘的摩擦构件力的目标值和实际值之间的差异，执行对按压力的反馈控制。作为实际值，使用通过基于限制值（Lmt）对Fba的时间变化量进行限制而获得的“限制按压力（Fbs）”。基于电动机速度（dMkt，dMka），车轮速度（Vwa）和摩擦构件温度的时间变化量（ΔTmp）来设定极限值（Lmt）。 Lmt被设置为随着dMkt（dMka）增加而增加，并且温度的时间变化量（ΔTmp）增加，并且随着车轮速度（Vwa）的降低也增加。因此，即使旋转构件（制动盘）变形，也可以适当地执行制动转矩控制，而不会加速车轮上的制动转矩的波动。

84. 发明授权

US09221442B2 Brake control apparatus for vehicle 有权
标题翻译：车辆制动控制装置
公开(公告)号：US09221442B2
公开(公告)日：2015-12-29
申请号：US14369243
申请日：2012-12-25
申请人： Yoshiyuki Yasui , Hiroyuki Kodama , Naotoshi Satake
发明人： Yoshiyuki Yasui , Hiroyuki Kodama , Naotoshi Satake
IPC分类号： G06F7/70 , G06F19/00 , G06G7/00 , G06G7/76 , B60T8/32 , B60T7/04 , B60T13/74 , B60T17/22 , F16D65/18 , B60T8/171 , B60T8/172 , F16D66/00 , F16D125/40 , F16D125/48
CPC分类号： B60T8/3255 , B60T7/042 , B60T8/171 , B60T8/172 , B60T13/741 , B60T17/22 , F16D65/18 , F16D2066/005 , F16D2125/40 , F16D2125/48
摘要： Electric motor control is based on a target energization amount calculated using a braking operation member operation amount. A state quantity is acquired as an actual value, indicating an actual actuation state of a movable member located in a power transmission path from the electric motor to a friction member. Using the operation amount, it is determined whether or not inertia compensation control is necessary, which compensates for the inertia influence of a brake actuator during electric motor deceleration. “A target value corresponding to the actual value” is determined as a reference value, which is calculated based on the operation amount at a time when inertia compensation control is necessary. Based on the actual and reference values, “an inertia compensation energization amount for decreasing the target energization amount to compensate for the influence of inertia” is calculated, and the target energization amount is adjusted using the inertia compensation energization amount.
摘要翻译：电动机控制基于使用制动操作构件操作量计算出的目标通电量。获取状态量作为实际值，指示位于从电动机到摩擦构件的动力传递路径中的可动构件的实际动作状态。使用操作量，确定是否需要惯性补偿控制，这补偿了电动机减速期间制动致动器的惯性影响。 “对应于实际值”的目标值被确定为基于需要惯性补偿控制时的操作量来计算的参考值。根据实际值和基准值，计算“用于减小目标通电量的惯性补偿通电量，以补偿惯性的影响”，并且使用惯性补偿通电量来调整目标通电量。

85. 发明授权

US08989964B2 Vehicle speed control device 有权
标题翻译：车速控制装置
公开(公告)号：US08989964B2
公开(公告)日：2015-03-24
申请号：US12977904
申请日：2010-12-23
申请人： Yoshiyuki Yasui , Hiroaki Aizawa
发明人： Yoshiyuki Yasui , Hiroaki Aizawa
IPC分类号： B60K7/00 , B60B35/10 , B62D11/00 , B62D11/24
CPC分类号： B62D11/003 , B62D11/24 , Y02T10/7258
摘要： A vehicle speed control device is provided. The device includes a steering device which steers left and right wheels, first and second electric motors which separately apply power to the left and right wheels, an operation amount acquisition unit which acquires an acceleration operation amount by the driver of the vehicle, a steering angle acquisition unit which acquires a steering angle which is a value between an inner wheel steering angle and an outer wheel steering angle; a vehicle speed acquisition unit configured to acquire an actual speed of the vehicle; and a control unit configured to control the first electric motor and the second electric motor on the basis of the acceleration operation amount, the actual speed, the steering angle, and a steering geometry indicating a geometric relationship between the steering angle and a turning center of the vehicle.
摘要翻译：提供车速控制装置。该装置包括转向左右车轮的转向装置，分别向左右车轮供电的第一电动机和第二电动机，由车辆的驾驶员取得加速操作量的操作量取得部，转向角获取单元，其获取作为内轮转向角与外轮转向角之间的值的转向角; 车速获取单元，被配置为获取车辆的实际速度; 以及控制单元，其被配置为基于加速操作量，实际速度，转向角以及指示转向角和转向中心之间的几何关系的转向几何形状来控制第一电动机和第二电动机机动车。

86. 发明授权

US08265847B2 Speed control device for vehicle 有权
标题翻译：车速调速装置
公开(公告)号：US08265847B2
公开(公告)日：2012-09-11
申请号：US12557255
申请日：2009-09-10
申请人： Takayuki Miyajima , Yoshiyuki Yasui , Hideaki Koto , Hiroyuki Kodama , Masaki Maruyama
发明人： Takayuki Miyajima , Yoshiyuki Yasui , Hideaki Koto , Hiroyuki Kodama , Masaki Maruyama
IPC分类号： G05D1/00
CPC分类号： B60W40/076 , B60K31/0066 , B60W30/16 , B60W40/072 , B60W2550/143 , B60W2720/10
摘要： A speed control device includes: a reference point setting unit that sets, based on shape and position of a curve in advance of a vehicle, first and second reference points within the curve, the second reference point being nearer the curve exit than the first reference point; a distance calculating unit that calculates, based on the vehicle location and the reference points, first and second distances, between the vehicle and the first and second reference points, respectively; a target speed determination unit that determines, based on the curve shape and the first and second distances, the first and second target vehicle speeds to be maintained, respectively, before and after passing the first reference point; and a speed control unit that controls the speed of the vehicle based on the target speeds and the detected speed of the vehicle.
摘要翻译：速度控制装置包括：基准点设定单元，其基于车辆前方的曲线的形状和位置来设定曲线内的第一和第二参考点，第二参考点比第一参考点更靠近曲线出口点; 距离计算单元，其基于车辆位置和参考点分别计算车辆与第一和第二参考点之间的第一和第二距离; 目标速度确定单元，其在经过所述第一参考点之前和之后分别基于所述曲线形状和所述第一和第二距离确定要保持的所述第一和第二目标车辆速度; 以及速度控制单元，其基于目标速度和车辆的检测速度来控制车辆的速度。

87. 发明申请

US20110035131A1 SPEED CONTROL APPARATUS FOR VEHICLE 有权
标题翻译：车辆速度控制装置
公开(公告)号：US20110035131A1
公开(公告)日：2011-02-10
申请号：US12849494
申请日：2010-08-03
申请人： Yoshiyuki Yasui , Hideaki Koto , Manabu Tanaka , Takayuki Miyajima
发明人： Yoshiyuki Yasui , Hideaki Koto , Manabu Tanaka , Takayuki Miyajima
IPC分类号： F16H59/00 , G06F7/00
CPC分类号： B60W30/146 , B60W2550/143
摘要： A plurality of position data sets representing a plurality of points on a road ahead of a vehicle are acquired, and the degree of curvature of the road at each point is computed. On the basis of the degree of curvature, a constant curvature degree section of a curve is identified, and the degree of curvature and the end position of the constant curvature degree section are determined. In order to cause the vehicle to properly pass through the curve, curve deceleration control is executed on the basis of the actual vehicle speed, a proper vehicle speed determined from the degree of curvature, and the end position of the constant curvature degree section. That is, the curve deceleration control is performed on the basis of the start point of a section of a curve having the maximum degree of curvature and the constant degree of curvature of that section.
摘要翻译：获取表示车辆前方道路上的多个点的多个位置数据组，并计算出各点的道路的曲率。基于曲率，确定曲率的恒定曲率部分，并且确定恒定曲率部分的曲率和终点位置。为了使车辆正确地通过曲线，基于实际车速，从曲率度确定的适当车速和恒定曲率度部分的终点位置来执行曲线减速控制。也就是说，曲线减速控制是基于具有该部分的最大曲率半径和恒定曲率的曲线的一部分的起点进行的。

88. 发明申请

US20100106374A1 VEHICLE STABILIZATION CONTROL DEVICE 有权
标题翻译：车辆稳定控制装置
公开(公告)号：US20100106374A1
公开(公告)日：2010-04-29
申请号：US12570722
申请日：2009-09-30
申请人： Takayuki MIYAJIMA , Yoshiyuki Yasui , Toshihisa Kato
发明人： Takayuki MIYAJIMA , Yoshiyuki Yasui , Toshihisa Kato
IPC分类号： B60W30/02
CPC分类号： B60T8/1755 , B60T2201/16 , B60T2210/36
摘要： A vehicle stabilization control device includes: an actual turning state quantity acquisition unit that acquires an actual turning state quantity indicating an actual turning state of a vehicle; a curve information acquisition unit that acquires the shape of a curve ahead of the vehicle; a vehicle speed acquisition unit that acquires speed of the vehicle; and a curve traverse possibility determination unit that determines a possibility that the vehicle can stably traverse the curve, based on the curve shape and speed of the vehicle; a control quantity computation unit that, to control braking force on each wheel and suppress understeering, computes a target control quantity for each wheel, based on the actual turning state quantity and on the possibility that the vehicle can stably traverse the curve; and a control unit controlling the braking force for each wheel, based on the target control quantity for each wheel.
摘要翻译：车辆稳定控制装置包括：实际转弯状态量获取单元，其获取表示车辆的实际转弯状态的实际转弯状态量; 曲线信息获取单元，其获取车辆前方的曲线的形状; 获取车辆速度的车速获取单元; 以及曲线横移可能性判定单元，其基于车辆的曲线形状和速度来确定车辆能够稳定地横越所述曲线的可能性; 控制量计算单元，其用于控制每个车轮上的制动力并抑制转向不足，根据实际的转弯状态量以及车辆能够稳定地行驶曲线的可能性来计算每个车轮的目标控制量; 以及基于每个车轮的目标控制量来控制每个车轮的制动力的控制单元。

89. 发明授权

US07384047B2 Stabilizer control apparatus 有权
标题翻译：稳定器控制装置
公开(公告)号：US07384047B2
公开(公告)日：2008-06-10
申请号：US11056291
申请日：2005-02-14
申请人： Yoshiyuki Yasui , Yuuki Ohta , Daisuke Yamada , Shuuichi Buma , Masaaki Kawashima
发明人： Yoshiyuki Yasui , Yuuki Ohta , Daisuke Yamada , Shuuichi Buma , Masaaki Kawashima
IPC分类号： B60G21/045
CPC分类号： B60G21/0555 , B60G17/0162 , B60G2202/42 , B60G2202/442 , B60G2204/419 , B60G2400/0523 , B60G2400/104 , B60G2400/208 , B60G2400/41 , B60G2800/9122
摘要： In a stabilizer control apparatus for a vehicle, a stabilizer includes a pair of stabilizer bars disposed between a right wheel and a left wheel of the vehicle, and an actuator having an electric motor disposed between the stabilizer bars. A turning determination device is provided for determining a turning operation of the vehicle. And, a controller is provided for controlling the electric motor in response to the result determined by the turning determination device. The electric motor is substantially prohibited from being fed with electric current, when the turning operation of the vehicle is being decreased.
摘要翻译：在用于车辆的稳定器控制装置中，稳定器包括设置在车辆的右轮和左轮之间的一对稳定杆，以及具有设置在稳定杆之间的电动机的致动器。提供用于确定车辆的转向操作的转动判定装置。并且，提供控制器，用于响应于由转动判定装置确定的结果来控制电动机。当车辆的转动操作减少时，电动机基本上被禁止供给电流。

90. 发明申请

US20060241828A1 Rolling motion stability control apparatus for a vehicle 有权
标题翻译：一种用于车辆的滚动运动稳定性控制装置
公开(公告)号：US20060241828A1
公开(公告)日：2006-10-26
申请号：US11190822
申请日：2005-07-28
申请人： Yoshiyuki Yasui , Toshihisa Kato , Hiroshi Matsuoka , Junya Nagaya
发明人： Yoshiyuki Yasui , Toshihisa Kato , Hiroshi Matsuoka , Junya Nagaya
IPC分类号： G05D1/00 , G06F17/00
CPC分类号： G05D1/0891 , B60T8/17554 , B60T2230/03
摘要： A rolling motion stability control apparatus restrains a roll increasing tendency of a vehicle, with each wheel of the vehicle being braked by a wheel brake device. A first braking force control device is provided for applying a first braking force to the wheel, when the vehicle is turned to one direction. A second braking force control device is provided for applying a second braking force to the wheel, when the vehicle is turned to the other direction. References for starting controls of the first and second braking force control devices are set to be of predetermined values, respectively. The reference for starting the control of the second braking force control device is modified to be smaller than a predetermined value, when the vehicle is turned to the one direction.
摘要翻译：滚动运动稳定性控制装置抑制车辆的卷轴增加趋势，车辆的每个车轮由车轮制动装置制动。第一制动力控制装置用于当车辆向一个方向转动时，向车轮施加第一制动力。第二制动力控制装置用于当车辆向另一方向转动时，向车轮施加第二制动力。将第一和第二制动力控制装置的启动控制的参考分别设定为预定值。当车辆向一个方向转动时，用于启动第二制动力控制装置的控制的参考被修改为小于预定值。

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