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1. 发明申请

US20050071061A1 Vehicular steering device 有权
公开(公告)号：US20050071061A1
公开(公告)日：2005-03-31
申请号：US10932114
申请日：2004-09-02
申请人： Hiroaki Kato , Minekazu Momiyama , Takayuki Ohta , Yoshiyuki Yasui , Yuzo Imoto , Hiroaki Aizawa , Eiichi Ono , Yuji Muragishi
发明人： Hiroaki Kato , Minekazu Momiyama , Takayuki Ohta , Yoshiyuki Yasui , Yuzo Imoto , Hiroaki Aizawa , Eiichi Ono , Yuji Muragishi
IPC分类号： B60T8/172 , B62D5/00 , B62D6/00 , B62D101/00 , B62D103/00 , B62D111/00 , B62D113/00 , B62D119/00 , B62D137/00 , B62D5/04
CPC分类号： B62D5/008 , B60T8/172 , B60T2210/12 , B60T2220/03 , B62D6/003 , B62D6/006
摘要： A first ECU 30 detects a steering torque applied to a steering system, estimates a self-aligning torque generated in a front wheel on the basis of the steering torque, and estimates a side force for the front wheel on the basis of lateral acceleration and a yaw rate. The first ECU 30 estimates a grip factor ε for the front wheel on the basis of a change of the self-aligning torque to the side force. The first ECU 30 judges whether the grip factor is below a second OS (oversteer) start threshold value. A second ECU 40 controls the transfer ratio according to the vehicle state when the grip factor is less than the second OS start threshold value.

2. 发明授权

US06931313B2 Vehicular steering device 有权
标题翻译：车辆转向装置
公开(公告)号：US06931313B2
公开(公告)日：2005-08-16
申请号：US10932114
申请日：2004-09-02
申请人： Hiroaki Kato , Minekazu Momiyama , Takayuki Ohta , Yoshiyuki Yasui , Yuzo Imoto , Hiroaki Aizawa , Eiichi Ono , Yuji Muragishi
发明人： Hiroaki Kato , Minekazu Momiyama , Takayuki Ohta , Yoshiyuki Yasui , Yuzo Imoto , Hiroaki Aizawa , Eiichi Ono , Yuji Muragishi
IPC分类号： B60T8/172 , B62D5/00 , B62D6/00 , B62D101/00 , B62D103/00 , B62D111/00 , B62D113/00 , B62D119/00 , B62D137/00 , G06F7/00
CPC分类号： B62D5/008 , B60T8/172 , B60T2210/12 , B60T2220/03 , B62D6/003 , B62D6/006
摘要： A first ECU 30 detects a steering torque applied to a steering system, estimates a self-aligning torque generated in a front wheel on the basis of the steering torque, and estimates a side force for the front wheel on the basis of lateral acceleration and a yaw rate. The first ECU 30 estimates a grip factor ε for the front wheel on the basis of a change of the self-aligning torque to the side force. The first ECU 30 judges whether the grip factor is below a second OS (oversteer) start threshold value. A second ECU 40 controls the transfer ratio according to the vehicle state when the grip factor is less than the second OS start threshold value.
摘要翻译：第一ECU30检测施加于转向系统的转向转矩，基于转向转矩来估计在前轮中产生的自对准转矩，并且基于横向加速度估计前轮的侧向力，并且横摆率。第一ECU30基于自对准转矩与侧向力的变化来估计前轮的抓地系数ε。第一ECU30判断握持系数是否低于第二OS（过度转向）开始阈值。当夹紧系数小于第二OS起始阈值时，第二ECU40根据车辆状态控制传送比。

3. 发明授权

US06941213B2 Road condition estimation apparatus 有权
标题翻译：道路状况估计装置
公开(公告)号：US06941213B2
公开(公告)日：2005-09-06
申请号：US10682405
申请日：2003-10-10
申请人： Yoshiyuki Yasui , Eiichi Ono , Yuji Muragishi , Shinji Takeuchi , Minekazu Momiyama , Hiroaki Kato , Yuzo Imoto , Hiroaki Aizawa
发明人： Yoshiyuki Yasui , Eiichi Ono , Yuji Muragishi , Shinji Takeuchi , Minekazu Momiyama , Hiroaki Kato , Yuzo Imoto , Hiroaki Aizawa
IPC分类号： B62D6/00 , B60R16/02 , B60T7/12 , B60T8/00 , B60T8/17 , B60T8/172 , B60T8/175 , B60T8/1755 , B60T8/1763 , B60T8/58 , B60W10/18 , B60W10/188 , B60W10/20 , B60W30/00 , B60W30/02 , B60W30/045 , B60W40/06 , B60W40/068 , B60W40/10 , B60W40/101 , B60W40/103 , B62D6/04 , B62D101/00 , B62D111/00 , B62D137/00 , G06F19/00
CPC分类号： B60W40/064 , B60T8/172 , B60T8/17551 , B60T2210/12 , B60T2260/02 , B60W10/184 , B60W10/20 , B60W40/101 , B60W2530/20 , B62D6/04
摘要： The present invention is directed to a road condition estimation apparatus for estimating a road condition for use in a vehicle having steering control unit for actuating a device mechanically independent of a manually operated steering member to steer each wheel. The apparatus includes a reaction torque detection unit for detecting reaction torque for detecting a reaction torque when at least a wheel of the vehicle is steered by the steering control unit, an aligning torque estimation unit for estimating an aligning torque produced on the wheel on the basis of the reaction torque detected by the reaction torque detection unit, a wheel factor providing unit for providing at least one of wheel factors including a side force and a slip angle applied to the wheel, and a grip factor estimation unit for estimating a grip factor of at least a tire of the wheel, in accordance with a relationship between the aligning torque estimated by the aligning torque estimation unit and the wheel factor estimated by the wheel factor providing unit.
摘要翻译：本发明涉及一种道路状态估计装置，用于估计具有转向控制单元的车辆中使用的道路状况，所述转向控制单元用于致动机械地独立于手动操作的转向构件的装置以转向每个车轮。该装置包括：反作用转矩检测单元，用于当通过转向控制单元转向车辆的至少一个车轮时检测用于检测反作用转矩的反作用转矩;对准扭矩估计单元，用于基于在车轮上产生的对准扭矩由所述反作用转矩检测单元检测到的所述反作用转矩的车轮因子提供单元，用于提供包括施加到所述车轮的侧力和滑移角的车轮因数中的至少一个，以及用于估计所述车轮因素根据由对准转矩估计单元估计出的对准转矩和由车轮系数提供单元估计的车轮系数之间的关系，至少轮胎轮胎。

4. 发明授权

US06925371B2 Vehicle motion control apparatus 有权
标题翻译：车辆运动控制装置
公开(公告)号：US06925371B2
公开(公告)日：2005-08-02
申请号：US10420832
申请日：2003-04-23
申请人： Yoshiyuki Yasui , Wataru Tanaka , Eiichi Ono , Yuji Muragishi , Katsuhiro Asano , Minekazu Momiyama , Hiroaki Kato , Kenji Asano , Yuzo Imoto
发明人： Yoshiyuki Yasui , Wataru Tanaka , Eiichi Ono , Yuji Muragishi , Katsuhiro Asano , Minekazu Momiyama , Hiroaki Kato , Kenji Asano , Yuzo Imoto
IPC分类号： B62D6/00 , B60R16/02 , B60T8/172 , B60T8/1755 , B60T8/58 , B60W10/00 , B60W10/04 , B60W10/06 , B60W10/10 , B60W10/18 , B60W10/188 , B60W10/20 , B60W30/00 , B60W30/02 , B60W40/06 , B60W40/10 , B62D5/00 , B62D5/04 , B62D6/04 , B62D101/00 , B62D111/00 , B62D113/00 , B62D119/00 , B62D137/00 , F02D29/02
CPC分类号： B60W10/184 , B60T8/17551 , B60T2210/12 , B60T2260/02 , B60W10/20 , B60W40/101 , B60W2530/20 , B60W2550/148 , B62D5/008 , B62D6/003 , B62D6/04
摘要： The present invention is directed to a vehicle motion control apparatus, which includes a steering factor detection unit for detecting at least one of steering factors including a steering torque and steering effort applied to a steering system, an aligning torque estimation unit for estimating an aligning torque produced on at least a wheel of the vehicle on the basis of the steering factor, a vehicle state variable detection unit for detecting a state variable of the vehicle, a wheel factor estimation unit for estimating at least one of wheel factors including a side force and slip angle applied to the wheel on the basis of the vehicle state variable, and a grip factor estimation unit for estimating a grip factor of at least a tire of the wheel, in accordance with the estimated alignment torque and the estimated wheel factor. The apparatus further includes a first control unit for performing a closed loop control on the basis of the grip factor, and a second control unit for performing a closed loop control on the basis of a deviation between a detected actual vehicle behavior and a desired vehicle behavior set on the basis of the vehicle state variable.
摘要翻译：本发明涉及一种车辆运动控制装置，其包括：转向因子检测单元，用于检测包括转向转矩和转向系统的转向力的转向因素中的至少一个;对准转矩估计单元，用于估计对准转矩基于转向系数在车辆的至少一个车轮上产生的车辆状态变量检测单元，用于检测车辆的状态变量的车辆状态变量检测单元，用于估计包括侧力和基于车辆状态变量施加到车轮的滑移角，以及用于根据估计的对准扭矩和估计的车轮因数估计车轮的至少轮胎的抓地系数的抓地系数估计单元。该装置还包括：第一控制单元，用于基于夹紧系数执行闭环控制;以及第二控制单元，用于基于检测到的实际车辆行为和期望的车辆行为之间的偏差执行闭环控制根据车辆状态变量设定。

5. 发明授权

US06895317B2 Wheel grip factor estimation apparatus 有权
标题翻译：车轮牵引因子估计装置
公开(公告)号：US06895317B2
公开(公告)日：2005-05-17
申请号：US10420826
申请日：2003-04-23
申请人： Yoshiyuki Yasui , Wataru Tanaka , Eiichi Ono , Yuji Muragishi , Katsuhiro Asano , Minekazu Momiyama , Syoji Ogawa , Kenji Asano , Yuzo Imoto , Hiroaki Kato
发明人： Yoshiyuki Yasui , Wataru Tanaka , Eiichi Ono , Yuji Muragishi , Katsuhiro Asano , Minekazu Momiyama , Syoji Ogawa , Kenji Asano , Yuzo Imoto , Hiroaki Kato
IPC分类号： B60G17/0195 , B60T8/172 , B60W30/02 , B60W40/06 , B60T8/58 , B60C19/00
CPC分类号： B60W30/02 , B60G17/0195 , B60G2400/0523 , B60G2400/106 , B60G2400/822 , B60G2800/24 , B60G2800/702 , B60G2800/95 , B60T8/172 , B60T2210/12 , B60W40/064 , B60W40/101 , B60W2050/0028 , B60W2510/20 , B60W2510/22 , B60W2520/125 , B60W2520/14 , B60W2520/20 , B60W2530/20 , B60W2550/148 , B60W2900/00
摘要： The present invention is directed to a wheel grip factor estimation apparatus, which includes a steering factor detection unit for detecting at least one of steering factors including a steering torque and steering effort applied to a steering system extending from a steering wheel to a suspension of a vehicle, an aligning torque estimation unit for estimating an aligning torque produced on at least a wheel of the vehicle on the basis of the steering factor detected by the steering factor detection unit, and a vehicle state variable detection unit for detecting a state variable of the vehicle. The apparatus further includes a wheel factor estimation unit for estimating at least one of wheel factors including a side force and slip angle applied to the wheel on the basis of the vehicle state variable, and a grip factor estimation unit for estimating a grip factor of at least a tire of the wheel, in accordance with a relationship between the estimated alignment torque and the estimated wheel factor.
摘要翻译：本发明涉及一种车轮牵引因子估计装置，其包括转向因子检测单元，用于检测转向因素中的至少一个，所述转向因素包括转向转矩和施加到从方向盘延伸到转向系统车辆，用于基于由转向因子检测单元检测到的转向因子来估计在车辆的至少车轮上产生的对准转矩的对准转矩估计单元，以及用于检测车辆状态变量检测单元车辆。该装置还包括车轮因素估计单元，用于基于车辆状态变量估计包括施加到车轮的侧力和滑移角的车轮因数中的至少一个，以及用于估计车辆状态变量的抓地系数的抓地系数估计单元根据估计的对准转矩和估计的车轮因子之间的关系，至少轮胎轮胎。

6. 发明授权

US07191048B2 Vehicle motion control apparatus 有权
标题翻译：车辆运动控制装置
公开(公告)号：US07191048B2
公开(公告)日：2007-03-13
申请号：US10925925
申请日：2004-08-26
申请人： Hiroaki Aizawa , Hiroaki Niino , Minekazu Momiyama , Hiroaki Kato , Eiichi Ono , Yuji Muragishi , Yoshiyuki Yasui
发明人： Hiroaki Aizawa , Hiroaki Niino , Minekazu Momiyama , Hiroaki Kato , Eiichi Ono , Yuji Muragishi , Yoshiyuki Yasui
IPC分类号： B60T8/58 , G06F7/00
CPC分类号： B62D6/006 , B60T8/1755 , B60T2260/02
摘要： A vehicle motion control apparatus is provided for performing a vehicle stability control on the basis of a parameter indicative of lateral margin for a tire on a road. The apparatus includes a steering control device for controlling a relationship between a steering angle and a tire angle to be varied, and a decelerating control device for controlling a vehicle speed to be decreased. The parameter indicative of lateral margin for the tire is monitored, and the steering control device and the decelerating control device are controlled on the basis of the monitored parameter. The steering control device is controlled to decrease the tire angle relative to the steering angle, when the parameter is decreased from a value of relatively large lateral margin to a value of relatively small lateral margin, which is smaller than a first threshold value, and the decelerating control device is controlled to decrease the vehicle speed in addition to the steering control by the steering control device, when the parameter is further decreased to a value of lateral margin smaller than a second threshold value, which is smaller than the first threshold value.
摘要翻译：提供一种车辆运动控制装置，用于基于表示道路上的轮胎的侧向余量的参数来执行车辆稳定性控制。该装置包括用于控制转向角和要改变的轮胎角度之间的关系的转向控制装置，以及用于控制车速降低的减速控制装置。监测表示轮胎的侧向余量的参数，并且基于所监视的参数来控制转向控制装置和减速控制装置。控制转向控制装置，当参数从相对大的侧向余量的值减小到小于第一阈值的相对小的侧向余量的值时，相对于转向角减小轮胎角度，并且当所述参数进一步减小到小于小于所述第一阈值的第二阈值的横向边缘的值时，除了所述转向控制装置的转向控制之外，控制所述减速控制装置以减小所述车速。

7. 发明授权

US07164974B2 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：US07164974B2
公开(公告)日：2007-01-16
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： G05D1/00
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。

8. 发明申请

US20050085986A1 Vehicle motion control apparatus 有权
标题翻译：车辆运动控制装置
公开(公告)号：US20050085986A1
公开(公告)日：2005-04-21
申请号：US10925925
申请日：2004-08-26
申请人： Hiroaki Aizawa , Hiroaki Niino , Minekazu Momiyama , Hiroaki Kato , Eiichi Ono , Yuji Muragishi , Yoshiyuki Yasui
发明人： Hiroaki Aizawa , Hiroaki Niino , Minekazu Momiyama , Hiroaki Kato , Eiichi Ono , Yuji Muragishi , Yoshiyuki Yasui
IPC分类号： B60T8/1755 , B60W10/00 , B60W10/04 , B60W10/06 , B60W10/10 , B60W10/18 , B60W10/188 , B60W10/20 , B62D5/04 , B62D6/00 , B62D103/00 , B62D113/00 , B62D119/00 , B62D137/00 , G05D1/00 , G06F7/00
CPC分类号： B62D6/006 , B60T8/1755 , B60T2260/02
摘要： A vehicle motion control apparatus is provided for performing a vehicle stability control on the basis of a parameter indicative of lateral margin for a tire on a road. The apparatus includes a steering control device for controlling a relationship between a steering angle and a tire angle to be varied, and a decelerating control device for controlling a vehicle speed to be decreased. The parameter indicative of lateral margin for the tire is monitored, and the steering control device and the decelerating control device are controlled on the basis of the monitored parameter. The steering control device is controlled to decrease the tire angle relative to the steering angle, when the parameter is decreased from a value of relatively large lateral margin to a value of relatively small lateral margin, which is smaller than a first threshold value, and the decelerating control device is controlled to decrease the vehicle speed in addition to the steering control by the steering control device, when the parameter is further decreased to a value of lateral margin smaller than a second threshold value, which is smaller than the first threshold value.
摘要翻译：提供一种车辆运动控制装置，用于基于表示道路上的轮胎的侧向余量的参数来执行车辆稳定性控制。该装置包括用于控制转向角和要改变的轮胎角度之间的关系的转向控制装置，以及用于控制车速降低的减速控制装置。监测表示轮胎的侧向余量的参数，并且基于所监视的参数来控制转向控制装置和减速控制装置。控制转向控制装置，当参数从相对大的侧向余量的值减小到小于第一阈值的相对小的侧向余量的值时，相对于转向角减小轮胎角度，并且当所述参数进一步减小到小于小于所述第一阈值的第二阈值的横向边缘的值时，除了所述转向控制装置的转向控制之外，控制所述减速控制装置以减小所述车速。

9. 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。

10. 发明授权

US07055645B2 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：US07055645B2
公开(公告)日：2006-06-06
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： B62D5/04
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。

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