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1. 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。

2. 发明申请

US20050216155A1 Steering device 审中-公开
标题翻译：转向装置
公开(公告)号：US20050216155A1
公开(公告)日：2005-09-29
申请号：US10514846
申请日：2003-05-26
申请人： Hiroaki Kato , Minekazu Momiyama , Shoji Ogawa , Kenji Asano , Yuzou Imoto , Yoshiyuki Yasui , Wataru Tanaka , Eiichi Ono , Yuji Muragishi
发明人： Hiroaki Kato , Minekazu Momiyama , Shoji Ogawa , Kenji Asano , Yuzou Imoto , Yoshiyuki Yasui , Wataru Tanaka , Eiichi Ono , Yuji Muragishi
IPC分类号： B62D5/00 , B62D5/04 , B62D6/00 , B62D101/00 , B62D113/00 , B62D119/00 , B62D137/00 , G05D1/00
CPC分类号： B62D5/008 , B62D6/006
摘要： In accordance with a steering apparatus (20), a grip state between a ground surface on which a steered wheel is grounded and the steered wheel is estimated by a grip degree estimation arithmetically operating process (30a) which is arithmetically operated by AFS_ECU (30), and VGRS target angle is set such that a steering gear ratio is increased in the case that the grip degree gets close to a grip limit on the basis of an estimated grip state, in accordance with a grip degree vs gear ratio map (30b). Accordingly, since it is possible to estimate the grip degree which is changed in correspondence to a magnitude of the road surface it, for example, in the case that the steered wheel gets close to the grip limit, it is possible to increase the steering gear ratio so as to set large even at a time when the vehicle runs at the low speed. Therefore, since it is possible to prevent a phenomenon that the steered wheel is largely controlled by a smaller steering angle from being generated in the case that the vehicle runs on the road surface having the low μ, there is obtained an effect that a stability in the vehicle motion can be improved.
摘要翻译：根据转向装置（20），通过由AFS_ECU（30）算术运算的夹紧度估计算术运算处理（30a）来估计在转向轮接地的地面和转向轮之间的抓地状态），并且VGRS目标角度被设定为使得在抓地度基于估计的抓地状态接近到抓地限度的情况下，根据握力与齿轮比图（30 b）。因此，由于可以估计与路面的大小相对应地改变的夹紧度，例如在转向轮接近抓地力极限的情况下，可以增加舵机即使在车辆低速行驶时也能够设定为大。因此，由于可以防止在车辆在具有低mu的路面上行驶的情况下由于较小的转向角而导致转向轮受到较大程度的控制的现象，所以获得了在可以改善车辆运动。

3. 发明申请

US20050167181A1 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：US20050167181A1
公开(公告)日：2005-08-04
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： B62D6/00 , B62D5/00 , B62D5/04 , B62D5/22 , B62D15/02 , B62D101/00 , B62D113/00 , B62D119/00
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。

4. 发明授权

US07260458B2 Steering device 有权
标题翻译：转向装置
公开(公告)号：US07260458B2
公开(公告)日：2007-08-21
申请号：US10515178
申请日：2003-05-26
申请人： Hiroaki Kato , Minekazu Momiyama , Shoji Ogawa , Kenji Asano , Yuzou Imoto , Yoshiyuki Yasui , Wataru Tanaka , Eiichi Ono , Yuji Muragishi
发明人： Hiroaki Kato , Minekazu Momiyama , Shoji Ogawa , Kenji Asano , Yuzou Imoto , Yoshiyuki Yasui , Wataru Tanaka , Eiichi Ono , Yuji Muragishi
IPC分类号： G01N19/02 , B60T8/76
CPC分类号： B62D6/008 , B62D6/006 , B62D15/029
摘要： In a steering apparatus, in accordance with a grip limit control process (30b′), it is determined whether or not a grip degree ε estimated by a grip degree estimation arithmetically operating process (30a) is less than a predetermined grip degree (ε′), and in the case that it is determined that an estimated grip degree (ε) is less than the predetermined grip degree (ε′), the process applies such a feeling that a steering operation by a steering wheel suddenly becomes light to a driver, by suddenly increasing an assist quantity by a motor (M), thereby notifying the driver of the matter that the grip degree of a steered wheel is close to a limit. Therefore, it is possible to transmit to the driver a probability that a side slip is generated by further turning the steering wheel 21 in the same direction as the current direction, thereby calling the driver's attention for steering. Accordingly, there is an effect that a stability of a vehicle behavior can be improved without applying any fear of insecurity to the driver.
摘要翻译：在转向装置中，根据握持限制控制处理（30b'），判定通过握持度估计算术运算处理（30a）估计出的抓地力程度ε是否小于预定抓地力（ epsilon'），并且在确定估计抓地力（ε）小于预定抓地力（epsilon））的情况下，该处理应用这样的感觉，即方向盘的转向操作突然变亮驾驶员通过马达（M）突然增加辅助量，从而通知驾驶员转向轮的夹紧度接近极限。因此，通过使方向盘21与当前方向相同的方向进一步转动方向盘21，可以向驾驶员发送侧滑的概率，从而呼叫司机注意转向。因此，存在可以提高车辆行为的稳定性的效果，而不会对驾驶员造成不安全感的担心。

5. 发明授权

US07699137B2 Motor-driven steering controller and automobile anti-skid controller 有权
标题翻译：电动转向控制器和汽车防滑控制器
公开(公告)号：US07699137B2
公开(公告)日：2010-04-20
申请号：US11889761
申请日：2007-08-16
申请人： Yoshiyuki Yasui , Wataru Tanaka , Yuji Muragishi , Eiichi Ono , Katsuhiro Asano , Minekazu Momiyama , Hiroaki Kato , Kenji Asano
发明人： Yoshiyuki Yasui , Wataru Tanaka , Yuji Muragishi , Eiichi Ono , Katsuhiro Asano , Minekazu Momiyama , Hiroaki Kato , Kenji Asano
IPC分类号： B62D5/04
CPC分类号： B62D5/0472 , B60T8/1755 , B60T8/1764 , B60T2220/03 , B60T2260/024 , B60W10/184 , B60W10/20 , B60W2520/10 , B60W2520/30 , B60W2720/14 , B62D5/046 , B62D6/003
摘要： A motor-driven steering controller for controlling a steering wheel of a vehicle. The controller includes a steering torque controlling unit, a braking force estimating unit, a right and left braking force difference estimating unit and an assist steering torque providing unit. The steering torque controlling unit controls a steering torque on the steering wheel depending on a steering operation. The braking force estimating unit estimates braking forces to be imposed on wheels of the vehicle. The right and left braking force difference estimating unit estimates difference between the braking forces to be imposed on the right and left wheels each estimated by the braking forces estimating unit. The assist steering torque providing unit provides an assist steering torque for the steering torque controlling unit on the basis of the difference in braking force between right and left wheels estimated by the right and left braking force difference estimating unit.
摘要翻译：一种用于控制车辆的方向盘的电动转向控制器。控制器包括转向转矩控制单元，制动力估计单元，左右制动力差推定单元和辅助转向转矩提供单元。转向转矩控制单元根据转向操作来控制方向盘上的转向转矩。制动力估计单元估计要施加在车辆的车轮上的制动力。左右制动力差推定部判定由制动力推定部估计出的施加在左右车轮上的制动力之差。辅助转向转矩提供单元基于由右和左制动力差估计单元估计的左右车轮之间的制动力的差异，为转向转矩控制单元提供辅助转向转矩。

6. 发明授权

US08997919B2 Motor-driven steering controller and automobile anti-skid controller 有权
公开(公告)号：US08997919B2
公开(公告)日：2015-04-07
申请号：US12718545
申请日：2010-03-05
申请人： Yoshiyuki Yasui , Wataru Tanaka , Yuji Muragishi , Eiichi Ono , Katsuhiro Asano , Minekazu Momiyama , Hiroaki Kato , Kenji Asano
发明人： Yoshiyuki Yasui , Wataru Tanaka , Yuji Muragishi , Eiichi Ono , Katsuhiro Asano , Minekazu Momiyama , Hiroaki Kato , Kenji Asano
IPC分类号： B62D5/04 , B60T8/1755 , B60T8/1764 , B60W10/184 , B60W10/20 , B62D6/00
CPC分类号： B62D5/0472 , B60T8/1755 , B60T8/1764 , B60T2220/03 , B60T2260/024 , B60W10/184 , B60W10/20 , B60W2520/10 , B60W2520/30 , B60W2720/14 , B62D5/046 , B62D6/003
摘要： A motor-driven steering controller for controlling a steering wheel of a vehicle. The controller includes a steering torque controlling unit, a braking force estimating unit, a right and left braking force difference estimating unit and an assist steering torque providing unit. The steering torque controlling unit controls a steering torque on the steering wheel depending on a steering operation. The braking force estimating unit estimates braking forces to be imposed on wheels of the vehicle. The right and left braking force difference estimating unit estimates difference between the braking forces to be imposed on the right and left wheels each estimated by the braking forces estimating unit. The assist steering torque providing unit provides an assist steering torque for the steering torque controlling unit on the basis of the difference in braking force between right and left wheels estimated by the right and left braking force difference estimating unit.

7. 发明申请

US20100161180A1 MOTOR-DRIVEN STEERING CONTROLLER AND AUTOMOBILE ANTI-SKID CONTROLLER 审中-公开
标题翻译：电动转向控制器和汽车防滑控制器
公开(公告)号：US20100161180A1
公开(公告)日：2010-06-24
申请号：US12718545
申请日：2010-03-05
申请人： Yoshiyuki Yasui , Wataru Tanaka , Yuji Muragishi , Eiichi Ono , Katsuhiro Asano , Minekazu Momiyama , Hiroaki Kato , Kenji Asano
发明人： Yoshiyuki Yasui , Wataru Tanaka , Yuji Muragishi , Eiichi Ono , Katsuhiro Asano , Minekazu Momiyama , Hiroaki Kato , Kenji Asano
IPC分类号： G06F19/00
CPC分类号： B62D5/0472 , B60T8/1755 , B60T8/1764 , B60T2220/03 , B60T2260/024 , B60W10/184 , B60W10/20 , B60W2520/10 , B60W2520/30 , B60W2720/14 , B62D5/046 , B62D6/003
摘要： A motor-driven steering controller for controlling a steering wheel of a vehicle. The controller includes a steering torque controlling unit, a braking force estimating unit, a right and left braking force difference estimating unit and an assist steering torque providing unit. The steering torque controlling unit controls a steering torque on the steering wheel depending on a steering operation. The braking force estimating unit estimates braking forces to be imposed on wheels of the vehicle. The right and left braking force difference estimating unit estimates difference between the braking forces to be imposed on the right and left wheels each estimated by the braking forces estimating unit. The assist steering torque providing unit provides an assist steering torque for the steering torque controlling unit on the basis of the difference in braking force between right and left wheels estimated by the right and left braking force difference estimating unit.
摘要翻译：一种用于控制车辆的方向盘的电动转向控制器。控制器包括转向转矩控制单元，制动力估计单元，左右制动力差推定单元和辅助转向转矩提供单元。转向转矩控制单元根据转向操作来控制方向盘上的转向转矩。制动力估计单元估计要施加在车辆的车轮上的制动力。左右制动力差推定部判定由制动力推定部估计出的施加在左右车轮上的制动力之差。辅助转向转矩提供单元基于由右和左制动力差估计单元估计的左右车轮之间的制动力的差异，为转向转矩控制单元提供辅助转向转矩。

8. 发明授权

US07374014B2 Motor-driven steering controller and automobile anti-skid controller 有权
标题翻译：电动转向控制器和汽车防滑控制器
公开(公告)号：US07374014B2
公开(公告)日：2008-05-20
申请号：US10408356
申请日：2003-04-08
申请人： Yoshiyuki Yasui , Wataru Tanaka , Yuji Muragishi , Eiichi Ono , Katsuhiro Asano , Minekazu Momiyama , Hiroaki Kato , Kenji Asano
发明人： Yoshiyuki Yasui , Wataru Tanaka , Yuji Muragishi , Eiichi Ono , Katsuhiro Asano , Minekazu Momiyama , Hiroaki Kato , Kenji Asano
IPC分类号： B62D5/04
CPC分类号： B62D5/0472 , B60T8/1755 , B60T8/1764 , B60T2220/03 , B60T2260/024 , B60W10/184 , B60W10/20 , B60W2520/10 , B60W2520/30 , B60W2720/14 , B62D5/046 , B62D6/003
摘要： A motor-driven steering controller for controlling a steering wheel of a vehicle. The controller includes a steering torque controlling unit, a braking force estimating unit, a right and left braking force difference estimating unit and an assist steering torque providing unit. The steering torque controlling unit controls a steering torque on the steering wheel depending on a steering operation. The braking force estimating unit estimates braking forces to be imposed on wheels of the vehicle. The right and left braking force difference estimating unit estimates difference between the braking forces to be imposed on the right and left wheels each estimated by the braking forces estimating unit. The assist steering torque providing unit provides an assist steering torque for the steering torque controlling unit on the basis of the difference in braking force between right and left wheels estimated by the right and left braking force difference estimating unit.
摘要翻译：一种用于控制车辆的方向盘的电动转向控制器。控制器包括转向转矩控制单元，制动力估计单元，左右制动力差推定单元和辅助转向转矩提供单元。转向转矩控制单元根据转向操作来控制方向盘上的转向转矩。制动力估计单元估计要施加在车辆的车轮上的制动力。左右制动力差推定部判定由制动力推定部估计出的施加在左右车轮上的制动力之差。辅助转向转矩提供单元基于由右和左制动力差估计单元估计的左右车轮之间的制动力的差异，为转向转矩控制单元提供辅助转向转矩。

9. 发明申请

US20070294011A1 Motor-driven steering controller and automobile anti-skid controller 有权
标题翻译：电动转向控制器和汽车防滑控制器
公开(公告)号：US20070294011A1
公开(公告)日：2007-12-20
申请号：US11889761
申请日：2007-08-16
申请人： Yoshiyuki Yasui , Wataru Tanaka , Yuji Muragishi , Eiichi Ono , Katsuhiro Asano , Minekazu Momiyama , Hiroaki Kato , Kenji Asano
发明人： Yoshiyuki Yasui , Wataru Tanaka , Yuji Muragishi , Eiichi Ono , Katsuhiro Asano , Minekazu Momiyama , Hiroaki Kato , Kenji Asano
IPC分类号： B62D6/04 , B60T8/1764 , B60T8/62
CPC分类号： B62D5/0472 , B60T8/1755 , B60T8/1764 , B60T2220/03 , B60T2260/024 , B60W10/184 , B60W10/20 , B60W2520/10 , B60W2520/30 , B60W2720/14 , B62D5/046 , B62D6/003
摘要： A motor-driven steering controller for controlling a steering wheel of a vehicle. The controller includes a steering torque controlling unit, a braking force estimating unit, a right and left braking force difference estimating unit and an assist steering torque providing unit. The steering torque controlling unit controls a steering torque on the steering wheel depending on a steering operation. The braking force estimating unit estimates braking forces to be imposed on wheels of the vehicle. The right and left braking force difference estimating unit estimates difference between the braking forces to be imposed on the right and left wheels each estimated by the braking forces estimating unit. The assist steering torque providing unit provides an assist steering torque for the steering torque controlling unit on the basis of the difference in braking force between right and left wheels estimated by the right and left braking force difference estimating unit.
摘要翻译：一种用于控制车辆的方向盘的电动转向控制器。控制器包括转向转矩控制单元，制动力估计单元，左右制动力差推定单元和辅助转向转矩提供单元。转向转矩控制单元根据转向操作来控制方向盘上的转向转矩。制动力估计单元估计要施加在车辆的车轮上的制动力。左右制动力差推定部判定由制动力推定部估计出的施加在左右车轮上的制动力之差。辅助转向转矩提供单元基于由右和左制动力差估计单元估计的左右车轮之间的制动力的差异，为转向转矩控制单元提供辅助转向转矩。

10. 发明申请

US20050240327A1 Method for controlling motion of vehicle and motion controller of vehicle 审中-公开
标题翻译：控制车辆和运动控制器运动的方法
公开(公告)号：US20050240327A1
公开(公告)日：2005-10-27
申请号：US10506690
申请日：2003-04-21
申请人： Hiroaki Kato , Minekazu Momiyama , Yoshiyuki Yasui , Wataru Tanaka , Kenji Asano , Yuzuo Imoto , Eiichi Ono , Yuji Muragishi
发明人： Hiroaki Kato , Minekazu Momiyama , Yoshiyuki Yasui , Wataru Tanaka , Kenji Asano , Yuzuo Imoto , Eiichi Ono , Yuji Muragishi
IPC分类号： B62D5/00 , B62D5/04 , B62D5/22 , B62D6/00 , B62D101/00 , B62D113/00 , B62D119/00 , G05D1/00
CPC分类号： B62D5/0463 , B62D5/008 , B62D6/008
摘要： In accordance with a vehicle motion control apparatus, a steering wheel torque (Th) generated in accordance with an operation of a steering wheel is determined in accordance with a steering wheel torque arithmetic process (30b) by EPS_ECU by using a steering torque (Tp) generated in a second steering shaft of a gear ratio variable mechanism, a motor torque (Tvm) generated by a motor (32m) of the gear ratio variable mechanism and a rotation angle (θvm) of the motor (32m), on the basis of a dynamic equation expressing a torque transfer by the gear ratio variable mechanic Accordingly, even in the case that the vehicle motion control apparatus employs a structure that the gear ratio variable mechanism is interposed between the steering wheel and a torque sensor, the steering wheel torque (Th) can be known without adding any new torque sensor or the like. Therefore, it is possible to improve a motion controllability of the vehicle without increasing a number of parts by using the steering wheel torque (Th) for an ESP control process (30a).
摘要翻译：根据车辆运动控制装置，通过使用转向转矩（Tp）根据EPS_ECU的方向盘扭矩运算处理（30b）来确定根据方向盘的操作而生成的方向盘扭矩（Th）），齿轮比可变机构的第二转向轴中产生的电动机转矩（Tvm），以及由变速比可变机构的电动机（32m）产生的电动机转矩（Tvm）和电动机（32m）的旋转角度（tavm）表示通过齿轮比可变机构的转矩传递的动态方程式的基础因此，即使在车辆运动控制装置采用将变速比可变机构夹在方向盘和转矩传感器之间的结构的情况下，转向可以知道车轮扭矩（Th），而不添加任何新的扭矩传感器等。因此，通过使用用于ESP控制处理（30A）的方向盘扭矩（Th），可以不增加部件数量来提高车辆的运动控制性。

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