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    • 5. 发明授权
    • Vehicle control system
    • 车辆控制系统
    • US08155818B2
    • 2012-04-10
    • US12307873
    • 2007-09-27
    • Kenji NakajimaToshihide SatakeHiroshi FujiokaTakanori MatsunagaMasahiko Kurishige
    • Kenji NakajimaToshihide SatakeHiroshi FujiokaTakanori MatsunagaMasahiko Kurishige
    • G01M17/00
    • B60W40/06B60L15/20B60L2240/24B60T8/175B60T2260/04B60W10/04B60W10/10B60W2550/14F02D29/00F16H61/21Y02T10/645Y02T10/72Y02T10/7275
    • Provided is a vehicle control system which can maintain stability of the vehicle with an inexpensive configuration without bringing discomfort to a driver when control intervenes. The vehicle control system includes: road surface reaction torque detecting means 15 for detecting an actual road surface reaction torque Talign received by a tire 9 of the vehicle from a road surface; steering angle detecting means 5 for detecting a steering angle θ of a handle 2 of the vehicle; vehicle speed detecting means 10 for detecting a vehicle speed V of the vehicle; reference road surface reaction torque computing means 16 for computing a reference road surface reaction torque Tref corresponding to a linear road surface reaction torque based on the steering angle θ and the vehicle speed V; behavior state estimating means 17 for estimating a behavior state of the vehicle based on at least one of a deviation and a ratio between the actual road surface reaction torque Talign and the reference road surface reaction torque Tref; and driving force control means 18 for controlling a driving force of the vehicle according to the behavior state.
    • 提供一种车辆控制系统,其可以以便宜的构造保持车辆的稳定性,而在控制干预时不会给驾驶员带来不便。 车辆控制系统包括:路面反作用转矩检测装置15,用于检测由车辆的轮胎9从路面接收的实际路面反作用转矩Talign; 用于检测转向角度的转向角检测装置5; 的车辆的手柄2; 用于检测车辆的车速V的车速检测装置10; 参考路面反作用力矩计算装置16,用于计算与基于转向角度的线性路面反作用力矩对应的基准路面反作用转矩Tref; 和车速V; 基于实际路面反作用转矩Talign与基准路面反作用转矩Tref之间的偏差和比率中的至少一个来估计车辆的行为状态的行为状态估计装置17; 以及用于根据行为状态控制车辆的驱动力的驱动力控制装置18。
    • 6. 发明申请
    • VEHICLE CONTROL SYSTEM
    • 车辆控制系统
    • US20090204284A1
    • 2009-08-13
    • US12307873
    • 2007-09-27
    • Kenji NakajimaToshihide SatakeHiroshi FujiokaTakanori MatsunagaMasahiko Kurishige
    • Kenji NakajimaToshihide SatakeHiroshi FujiokaTakanori MatsunagaMasahiko Kurishige
    • B60W40/06
    • B60W40/06B60L15/20B60L2240/24B60T8/175B60T2260/04B60W10/04B60W10/10B60W2550/14F02D29/00F16H61/21Y02T10/645Y02T10/72Y02T10/7275
    • Provided is a vehicle control system which can maintain stability of the vehicle with an inexpensive configuration without bringing discomfort to a driver when control intervenes. The vehicle control system includes: road surface reaction torque detecting means 15 for detecting an actual road surface reaction torque Talign received by a tire 9 of the vehicle from a road surface; steering angle detecting means 5 for detecting a steering angle θ of a handle 2 of the vehicle; vehicle speed detecting means 10 for detecting a vehicle speed V of the vehicle; reference road surface reaction torque computing means 16 for computing a reference road surface reaction torque Tref corresponding to a linear road surface reaction torque based on the steering angle θ and the vehicle speed V; behavior state estimating means 17 for estimating a behavior state of the vehicle based on at least one of a deviation and a ratio between the actual road surface reaction torque Talign and the reference road surface reaction torque Tref; and driving force control means 18 for controlling a driving force of the vehicle according to the behavior state.
    • 提供一种车辆控制系统,其可以以便宜的构造保持车辆的稳定性,而在控制干预时不会给驾驶员带来不便。 车辆控制系统包括:路面反作用转矩检测装置15,用于检测由车辆的轮胎9从路面接收的实际路面反作用转矩Talign; 用于检测车辆的手柄2的转向角θ的转向角检测装置5; 用于检测车辆的车速V的车速检测装置10; 参考路面反作用转矩计算装置16,用于基于转向角θ和车速V计算对应于线性路面反作用转矩的基准路面反作用转矩Tref; 基于实际路面反作用转矩Talign与基准路面反作用转矩Tref之间的偏差和比率中的至少一个来估计车辆的行为状态的行为状态估计装置17; 以及用于根据行为状态控制车辆的驱动力的驱动力控制装置18。
    • 8. 发明授权
    • Electric power steering control apparatus
    • 电动助力转向控制装置
    • US08267220B2
    • 2012-09-18
    • US12132209
    • 2008-06-03
    • Akinobu SugiyamaTakanori MatsunagaHideyuki TanakaHiroyuki Kozuki
    • Akinobu SugiyamaTakanori MatsunagaHideyuki TanakaHiroyuki Kozuki
    • B62D5/04
    • B62D5/0463B62D5/0472
    • An electric power steering control apparatus can reduce a steering vibration such as shimmy vibration generated due to the structure of a vehicle without adding new mechanism elements. The apparatus includes a torque sensor for detecting steering torque generated by a driver, a torque controller for calculating an assist torque current for assisting the steering torque based on the detected steering torque, a vehicle speed detector for detecting the speed of the vehicle, a specific frequency detector for detecting a specific frequency from the detected vehicle speed, a motor angular velocity calculator for calculating a motor angular velocity from a motor angle detected by an angle detector, a phase compensator for converting a vibration frequency of the motor angular velocity, and a vibration suppression current calculator for calculating a vibration suppression current to suppress the steering vibration from respective output signals of the phase compensator and the specific frequency detector.
    • 电动助力转向控制装置可以减少由于车辆结构而产生的振动振动的转向振动,而不增加新的机构元件。 该装置包括用于检测由驾驶员产生的转向转矩的转矩传感器,用于基于检测到的转向转矩计算用于辅助转向转矩的辅助转矩电流的转矩控制器,用于检测车辆速度的车速检测器, 频率检测器,用于从检测到的车速检测特定频率;马达角速度计算器,用于从由角度检测器检测的马达角计算马达角速度,用于转换马达角速度的振动频率的相位补偿器,以及 振动抑制电流计算器,用于计算振动抑制电流,以抑制来自相位补偿器和特定频率检测器的各个输出信号的转向振动。
    • 9. 发明申请
    • ELECTRIC POWER STEERING CONTROL APPARATUS
    • 电动转向控制装置
    • US20090000857A1
    • 2009-01-01
    • US12132209
    • 2008-06-03
    • Akinobu SugiyamaTakanori MatsunagaHideyuki TanakaHiroyuki Kozuki
    • Akinobu SugiyamaTakanori MatsunagaHideyuki TanakaHiroyuki Kozuki
    • B62D5/04
    • B62D5/0463B62D5/0472
    • An electric power steering control apparatus can reduce a steering vibration such as shimmy vibration generated due to the structure of a vehicle without adding new mechanism elements. The apparatus includes a torque sensor for detecting steering torque generated by a driver, a torque controller for calculating an assist torque current for assisting the steering torque based on the detected steering torque, a vehicle speed detector for detecting the speed of the vehicle, a specific frequency detector for detecting a specific frequency from the detected vehicle speed, a motor angular velocity calculator for calculating a motor angular velocity from a motor angle detected by an angle detector, a phase compensator for converting a vibration frequency of the motor angular velocity, and a vibration suppression current calculator for calculating a vibration suppression current to suppress the steering vibration from respective output signals of the phase compensator and the specific frequency detector.
    • 电动助力转向控制装置可以减少由于车辆结构而产生的振动振动的转向振动,而不增加新的机构元件。 该装置包括用于检测由驾驶员产生的转向转矩的转矩传感器,用于基于检测到的转向转矩计算用于辅助转向转矩的辅助转矩电流的转矩控制器,用于检测车辆速度的车速检测器, 频率检测器,用于从检测到的车速检测特定频率;马达角速度计算器,用于从由角度检测器检测的马达角度计算马达角速度,用于转换马达角速度的振动频率的相位补偿器,以及 振动抑制电流计算器,用于计算振动抑制电流,以抑制来自相位补偿器和特定频率检测器的各个输出信号的转向振动。