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1. 发明授权

US09499193B2 Vehicle, and method for steering control of same 有权
标题翻译：车辆及其转向控制方法
公开(公告)号：US09499193B2
公开(公告)日：2016-11-22
申请号：US13989908
申请日：2011-11-25
申请人： Yusuke Kageyama , Yutaka Mikuriya
发明人： Yusuke Kageyama , Yutaka Mikuriya
IPC分类号： A01B69/00 , B62D5/00 , B62D7/18 , B62D5/04
CPC分类号： B62D5/001 , B62D5/046 , B62D7/18
摘要： Maneuverability and stability of a suspension unit for a vehicle are improved. A vehicle includes: a steer-by-wire system detecting a displacement of a steering wheel and displacing a steering rack steering steerable wheels on a basis of a detection result of the displacement and a suspension unit suspending the steerable wheels, the suspension unit including: wheel hub mechanisms, each wheel hub mechanism supporting a tire wheel on which a tire is attached, and a plurality of link members supporting the wheel hub mechanisms on the vehicle body; and a kingpin axis passing through an upper pivot point of the link members and lower pivot point of the link members being set to pass through a road surface contact area of the tire at a neutral position of the steering wheel.
摘要翻译：改进了用于车辆的悬架单元的机动性和稳定性。车辆包括：线控转向系统，其基于所述位移的检测结果和悬挂所述可转向轮的悬架单元，检测方向盘的位移并且使转向架转向可转向轮移位;所述悬架单元包括：轮毂机构，每个轮毂机构支撑轮胎上安装有轮胎的轮毂机构，以及多个连杆构件，其支撑车体上的轮毂机构; 并且穿过连杆构件的上枢转点的中心轴线和连杆构件的下枢转点被设置成在方向盘的空档位置处穿过轮胎的路面接触区域。

2. 发明授权

US08255120B2 Steering apparatus, automotive vehicle with the same, and steering control method 有权
标题翻译：转向装置，机动车辆与转向控制方法相同
公开(公告)号：US08255120B2
公开(公告)日：2012-08-28
申请号：US12054732
申请日：2008-03-25
申请人： Yutaka Mikuriya , Tadashi Tamasho , Masahiro Miura , Tetsurou Kamada , Toru Okubo
发明人： Yutaka Mikuriya , Tadashi Tamasho , Masahiro Miura , Tetsurou Kamada , Toru Okubo
IPC分类号： B62D9/00 , B62D7/14
CPC分类号： B62D7/159 , B62D6/002 , B62D6/003
摘要： An automotive vehicle with a steering apparatus includes a steering wheel, front and rear steerable road wheels, and a steering mechanism for steering the front and rear steerable road wheels. The steering apparatus measures a steering wheel angle of the steering wheel; sets a desired position of a center of rotation about which the vehicle is to rotate for changing a heading angle of the vehicle with respect to a path of the vehicle; sets a desired turning behavior of the vehicle in accordance with the measured steering wheel angle and the desired position of the center of rotation; sets the desired front and rear road wheel steer angles in accordance with the desired turning behavior; and controls the steering mechanism in accordance with the desired front and rear road wheel steer angles.
摘要翻译：具有转向装置的机动车辆包括方向盘，前后可转向车轮和用于转向前后可转向车轮的转向机构。转向装置测量方向盘的方向盘角度; 设置车辆旋转所需的旋转中心的期望位置，以改变车辆相对于车辆路径的行进角度; 根据所测量的方向盘角度和旋转中心的期望位置来设定车辆的期望转弯行为; 根据所需的转向行为设定所需的前轮和后轮转向角; 并且根据期望的前轮和后轮转向角来控制转向机构。

3. 发明申请

US20140008141A1 MOTOR VEHICLE AND STEER CONTROL METHOD FOR STEERABLE WHEEL 有权
标题翻译：用于可转向车轮的电动车辆和转向器控制方法
公开(公告)号：US20140008141A1
公开(公告)日：2014-01-09
申请号：US14005130
申请日：2012-03-01
申请人： Yusuke Kageyama , Yutaka Mikuriya
发明人： Yusuke Kageyama , Yutaka Mikuriya
IPC分类号： B62D6/00 , B62D5/00
CPC分类号： B62D6/008 , B60G3/20 , B60G2200/18 , B60G2200/44 , B62D5/00 , B62D5/0463 , B62D7/159 , B62D7/18
摘要： A vehicle suspension apparatus is constructed to improve stability and controllability. Suspension apparatus includes; a tire wheel to be equipped with a tire; a wheel hub mechanism to support the tire wheel; a first link member connecting the wheel hub mechanism and a vehicle body on a lower side of an axle in an vehicle up and down direction; a second link member connecting the wheel hub mechanism and the vehicle body on the lower side of the axle in the vehicle up and down direction and intersecting the first link member in a vehicle top view; and a steering rack moving in a vehicle widthwise direction and steering the wheel hub mechanism.
摘要翻译：构造车辆悬挂装置以提高稳定性和可控性。悬挂装置包括：配备轮胎的轮胎车轮; 用于支撑轮胎轮的轮毂机构; 第一连杆构件，其在车辆上下方向上在轮的下侧连接轮毂机构和车体; 第二连杆构件，其在所述车辆的上下方向上在所述车轴的下侧连接所述车轮轮毂机构和所述车体，并且在所述车辆俯视图中与所述第一连杆构件相交; 以及在车辆宽度方向上移动并转向轮毂机构的转向齿条。

4. 发明申请

US20080249686A1 STEERING APPARATUS, AUTOMOTIVE VEHICLE WITH THE SAME, AND STEERING CONTROL METHOD 有权
标题翻译：转向装置，具有相同的汽车和转向控制方法
公开(公告)号：US20080249686A1
公开(公告)日：2008-10-09
申请号：US12054732
申请日：2008-03-25
申请人： Yutaka MIKURIYA , Tadashi Tamasho , Masahiro Miura , Tetsurou Kamada , Toru Okubo
发明人： Yutaka MIKURIYA , Tadashi Tamasho , Masahiro Miura , Tetsurou Kamada , Toru Okubo
IPC分类号： G05D1/02
CPC分类号： B62D7/159 , B62D6/002 , B62D6/003
摘要： An automotive vehicle with a steering apparatus includes a steering wheel, front and rear steerable road wheels, and a steering mechanism for steering the front and rear steerable road wheels. The steering apparatus measures a steering wheel angle of the steering wheel; sets a desired position of a center of rotation about which the vehicle is to rotate for changing a heading angle of the vehicle with respect to a path of the vehicle; sets a desired turning behavior of the vehicle in accordance with the measured steering wheel angle and the desired position of the center of rotation; sets the desired front and rear road wheel steer angles in accordance with the desired turning behavior; and controls the steering mechanism in accordance with the desired front and rear road wheel steer angles.
摘要翻译：具有转向装置的机动车辆包括方向盘，前后可转向车轮和用于转向前后可转向车轮的转向机构。转向装置测量方向盘的方向盘角度; 设置车辆旋转所需的旋转中心的期望位置，以改变车辆相对于车辆路径的行进角度; 根据所测量的方向盘角度和旋转中心的期望位置来设定车辆的期望转弯行为; 根据所需的转向行为设定所需的前轮和后轮转向角; 并且根据期望的前轮和后轮转向角来控制转向机构。

5. 发明授权

US07793955B2 Suspension device for vehicle 有权
标题翻译：车辆悬挂装置
公开(公告)号：US07793955B2
公开(公告)日：2010-09-14
申请号：US11995245
申请日：2006-06-12
申请人： Takuma Suzuki , Tadashi Tamasho , Yutaka Mikuriya
发明人： Takuma Suzuki , Tadashi Tamasho , Yutaka Mikuriya
IPC分类号： B60G3/18 , B60G3/20
CPC分类号： B60G3/26 , B60G7/008 , B60G2200/144 , B60G2200/18 , B60G2200/46 , B60G2204/148 , B60G2204/422
摘要： To control a camber angle to an adequate value by the use of a lateral force acting on a wheel, without causing a displacement of a tire ground contact point.A suspension device includes a link mechanism replaceable by a first virtual link 11 which, when a lateral force acts at a tire ground contact point, inclines a wheel in a camber angle direction with respect to a vehicle body so as to increase the lateral force, and a second virtual link 12 which is connected virtually and rotatably between the first virtual link 11 and the vehicle body 1 and which is arranged to allow the wheel 2 to move in the up-and-down direction with respect to the vehicle body 1 in accordance with a load variation of the wheel in the up-and-down direction. A rotation center A in the camber angle direction and a rotation center B in the up-and-down direction, of the wheel with respect to the vehicle body are arranged so that a lateral movement amount of the tire ground contact point due to a change in the position of the first virtual link 11 is canceled by a lateral movement amount of the tire ground contact point due to a change in the position of the second virtual link 12.
摘要翻译：通过使用作用在车轮上的横向力来将外倾角控制在适当的值，而不会引起轮胎地面接触点的位移。悬挂装置包括可由第一虚拟连杆11替代的连杆机构，当第一虚拟连杆11在侧向力作用于轮胎接地点时，相对于车身以相对于车体的外倾角方向倾斜车轮以增加横向力，以及第二虚拟连杆12，其虚拟地和可旋转地连接在第一虚拟连杆11和车身1之间，并且被布置成允许车轮2相对于车身1在上下方向上移动根据车轮在上下方向上的负载变化。车轮相对于车身的外倾角方向的旋转中心A和上下方向的旋转中心B被配置为使得轮胎接地点由于变化而产生的横向移动量由于第二虚拟连杆12的位置的变化，第一虚拟连杆11的位置被轮胎接地点的横向移动量所抵消。

6. 发明申请

US20080319613A1 Turning Behavior Control Apparatus and Turning Behavior Control Process for a Motor Vehicle 审中-公开
标题翻译：车辆行驶控制装置和车削行为控制过程
公开(公告)号：US20080319613A1
公开(公告)日：2008-12-25
申请号：US12279587
申请日：2007-02-15
申请人： Yutaka Mikuriya , Takuma Suzuki , Tadashi Tamasho
发明人： Yutaka Mikuriya , Takuma Suzuki , Tadashi Tamasho
IPC分类号： B62D6/00 , B62D7/15
CPC分类号： B62D6/003 , B60T2260/022 , B62D7/159
摘要： A turning behavior control apparatus and turning behavior control process for a motor vehicle is disclosed. The apparatus is configured to set a target vehicle turning behavior (such as the target side slip angle and the target yaw rate) in accordance with a driver's steering operation, to independently set a target vehicle yaw direction, to modify the target vehicle turning behavior in accordance with the target vehicle yaw direction, to calculate target front and rear wheel steer angles in accordance with the modified target turning behavior and to control steer mechanisms in accordance therewith.
摘要翻译：公开了一种用于机动车辆的转弯行为控制装置和转弯行为控制过程。该装置被配置为根据驾驶员的转向操作来设定目标车辆转向行为（诸如目标侧滑角和目标横摆角速度），以独立地设定目标车辆偏航方向，以修改目标车辆转向行为根据目标车辆偏航方向，根据改进的目标转弯行为来计算目标前后轮转向角度，并根据其控制转向机构。

7. 发明授权

US09669869B2 Motor vehicle and steer control method for steerable wheel 有权
公开(公告)号：US09669869B2
公开(公告)日：2017-06-06
申请号：US14005130
申请日：2012-03-01
申请人： Yusuke Kageyama , Yutaka Mikuriya
发明人： Yusuke Kageyama , Yutaka Mikuriya
IPC分类号： B62D6/00 , B62D5/04 , B62D7/15 , B60G3/20 , B62D5/00 , B62D7/18
CPC分类号： B62D6/008 , B60G3/20 , B60G2200/18 , B60G2200/44 , B62D5/00 , B62D5/0463 , B62D7/159 , B62D7/18
摘要： A vehicle suspension apparatus is constructed to improve stability and controllability. Suspension apparatus includes; a tire wheel to be equipped with a tire; a wheel hub mechanism to support the tire wheel; a first link member connecting the wheel hub mechanism and a vehicle body on a lower side of an axle in an vehicle up and down direction; a second link member connecting the wheel hub mechanism and the vehicle body on the lower side of the axle in the vehicle up and down direction and intersecting the first link member in a vehicle top view; and a steering rack moving in a vehicle widthwise direction and steering the wheel hub mechanism.

8. 发明授权

US08160776B2 Steering apparatus, automotive vehicle with the same, and steering control method 有权
公开(公告)号：US08160776B2
公开(公告)日：2012-04-17
申请号：US12054732
申请日：2008-03-25
申请人： Yutaka Mikuriya , Tadashi Tamasho , Masahiro Miura , Tetsurou Kamada , Toru Okubo
发明人： Yutaka Mikuriya , Tadashi Tamasho , Masahiro Miura , Tetsurou Kamada , Toru Okubo
IPC分类号： B62D9/00 , B62D7/14
摘要： An automotive vehicle with a steering apparatus includes a steering wheel, front and rear steerable road wheels, and a steering mechanism for steering the front and rear steerable road wheels. The steering apparatus measures a steering wheel angle of the steering wheel; sets a desired position of a center of rotation about which the vehicle is to rotate for changing a heading angle of the vehicle with respect to a path of the vehicle; sets a desired turning behavior of the vehicle in accordance with the measured steering wheel angle and the desired position of the center of rotation; sets the desired front and rear road wheel steer angles in accordance with the desired turning behavior; and controls the steering mechanism in accordance with the desired front and rear road wheel steer angles.

9. 发明申请

US20090200090A1 Multiple-point grounding type foot portion supporting mechanism, biped walking robot equipped with the same, and control structrure therefor 审中-公开
标题翻译：多点接地型脚部支撑机构，配备相同的两足步行机器人及其控制结构
公开(公告)号：US20090200090A1
公开(公告)日：2009-08-13
申请号：US11630784
申请日：2005-07-28
申请人： Atsuo Takanishi , Kenji Hashimoto , Akihiro Ohta , Takuya Hosobata , Yusuke Sugahara , Yutaka Mikuriya , Masamiki Kawase , Hiroyuki Sunazuka , Chiaki Tanaka , Yoichi Takamoto , Katsuyuki Baba , Shigeaki Ino
发明人： Atsuo Takanishi , Kenji Hashimoto , Akihiro Ohta , Takuya Hosobata , Yusuke Sugahara , Yutaka Mikuriya , Masamiki Kawase , Hiroyuki Sunazuka , Chiaki Tanaka , Yoichi Takamoto , Katsuyuki Baba , Shigeaki Ino
IPC分类号： B62D57/032 , B25J5/00 , B25J13/08
CPC分类号： B25J13/085 , B25J19/0004
摘要： The present invention provides a multiple-point grounding type foot portion supporting mechanism having excellent reliability, in which the respective supporting points passively follow unevenness of the grounding surface such as a road surface, and which is capable of quickly supporting foot bottoms at polygonal points and preventing falling over even on a grounding surface having level differences by fixing the supporting points when all supporting points are grounded. The multiple-point grounding type foot portion supporting mechanism includes: base portions each disposed on the foot bottom of the foot portion of a walking robot; three or more foot bottom supporting portions each having its one end part disposed and protruding downward from the bottom face of the base portion, each of which independently moves upward when being grounded and is slidably or rotatably supported; grounding sensors each disposed at the base portion or the foot bottom supporting portion, which detect grounding of the respective foot bottom supporting portions; and lock mechanisms disposed at the base portion, which control and brake the movements of all foot bottom supporting portions when the grounding sensors detect grounding of all foot bottom supporting portions.
摘要翻译：本发明提供一种具有优异的可靠性的多点接地型脚部支撑机构，其中各个支撑点被动地跟随诸如路面的接地面的不平坦，并且能够在多边形点处快速地支撑脚底部，当所有支撑点接地时，通过固定支撑点来防止甚至在具有电平差的接地表面上落下。多点接地型脚部支撑机构包括：各自设置在步行机器人的脚部的脚底部的基部; 三个或更多个脚底部支撑部分，每个底部支撑部分的一个端部从基部的底面设置并向下突出，每个底部支撑部分在接地时独立地向上移动并且可滑动或可旋转地支撑; 接地传感器，每个接地传感器设置在基部或底部底部支撑部分处，其检测相应的脚底支撑部分的接地; 以及设置在基部的锁定机构，当接地传感器检测到所有脚底支撑部分的接地时，其控制和制动所有脚底支撑部分的运动。

10. 发明申请

US20130245890A1 VEHICLE, AND METHOD FOR STEERING CONTROL OF SAME 有权
标题翻译：车辆及其控制方法
公开(公告)号：US20130245890A1
公开(公告)日：2013-09-19
申请号：US13989908
申请日：2011-11-25
申请人： Yusuke Kageyama , Yutaka Mikuriya
发明人： Yusuke Kageyama , Yutaka Mikuriya
IPC分类号： B62D5/00
CPC分类号： B62D5/001 , B62D5/046 , B62D7/18
摘要： Maneuverability and stability of a suspension unit for a vehicle are improved. A vehicle includes: a steer-by-wire system detecting a displacement of a steering wheel and displacing a steering rack steering steerable wheels on a basis of a detection result of the displacement and a suspension unit suspending the steerable wheels, the suspension unit including: wheel hub mechanisms, each wheel hub mechanism supporting a tire wheel on which a tire is attached, and a plurality of link members supporting the wheel hub mechanisms on the vehicle body; and a kingpin axis passing through an upper pivot point of the link members and lower pivot point of the link members being set to pass through a road surface contact area of the tire at a neutral position of the steering wheel.
摘要翻译：改进了用于车辆的悬架单元的机动性和稳定性。车辆包括：线控转向系统，其基于所述位移的检测结果和悬挂所述可转向轮的悬架单元，检测方向盘的位移并且使转向架转向可转向轮移位;所述悬架单元包括：轮毂机构，每个轮毂机构支撑轮胎上安装有轮胎的轮毂机构，以及多个连杆构件，其支撑车体上的轮毂机构; 并且穿过连杆构件的上枢转点的中心轴线和连杆构件的下枢转点被设置成在方向盘的空档位置处穿过轮胎的路面接触区域。

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