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1. 发明授权

US11858574B2 Steering control device and steering control method 有权
公开(公告)号：US11858574B2
公开(公告)日：2024-01-02
申请号：US15734456
申请日：2019-03-01
申请人： Hitachi Automotive Systems, Ltd.
发明人： Go Sakayori , Junya Takahashi , Hiroshi Nakano , Tomoaki Fujibayashi
IPC分类号： B62D7/00 , B62D7/15
CPC分类号： B62D7/159
摘要： Provided is a steering control device and a steering control method that can suppress the deterioration of the turning responsiveness at the initial stage of steering that may occur in a four-wheel steering vehicle and improve the steering stability when the front and rear wheels of the four-wheel steering vehicle are controlled in the same phase. A steering control device 1 of a vehicle that controls a rear wheel steering angle based on a front wheel steering angle includes a control unit 19 that controls an amount obtained by dividing an integrated value of a change in the rear wheel steering angle in a second steering section where an absolute value of the front wheel steering angle is constant and/or decreases by a time to be larger than an amount obtained by dividing an integrated value of a change in the rear wheel steering angle in a first steering section where the absolute value of the front wheel steering angle increases by a time.

2. 发明授权

US11731631B2 Vehicle movement control device, method, program, and system, and target trajectory generating device, method, program, and system 有权
公开(公告)号：US11731631B2
公开(公告)日：2023-08-22
申请号：US16757507
申请日：2018-10-09
申请人： Hitachi Automotive Systems, Ltd.
发明人： Junya Takahashi , Kenta Maeda , Masamichi Imamura
IPC分类号： B60W30/18
CPC分类号： B60W30/18163 , B60W2520/10 , B60W2520/12 , B60W2720/125
摘要： Provided are a vehicle motion control device, a method thereof, a program thereof, a system thereof in which it is adapted for traveling situation while an occurrence of an unstable behavior of a vehicle at the time of automatic lane change is suppressed, and a target trajectory generation device, a method thereof, a method thereof, a program thereof, and a system thereof. In a vehicle that can automatically control a lateral acceleration generated in the vehicle at the time of lane change, the lateral acceleration at the time of lane change is controlled such that an absolute value of a maximum lateral acceleration generated on a lateral acceleration generation phase (the secondary steering side) in a lateral direction opposite to the moving direction at the time of lane change is equal or more than an absolute value of a maximum lateral acceleration generated on a lateral acceleration generation phase (primary steering side) in the same direction as a lateral moving direction at the time of lane change.

3. 发明授权

US11273810B2 Vehicle control device 有权
公开(公告)号：US11273810B2
公开(公告)日：2022-03-15
申请号：US16090806
申请日：2017-06-02
申请人： HITACHI AUTOMOTIVE SYSTEMS, LTD.
发明人： Naoki Hiraga , Toshiyuki Innami , Junya Takahashi , Seiichi Satoh
IPC分类号： B60T8/26 , B60T7/22 , B60T8/24 , B60T8/32 , B60T8/58
摘要： The present invention provides a vehicle control device that can reduce the delay in the deceleration response of a vehicle to a deceleration command. The present invention modifies the distribution ratio of brake fluid pressure between front brakes and rear brakes on the basis of lateral motion information, vehicle information, and a collision risk or a traveling scene obtained from information pertaining to the external surroundings. The brake fluid pressure is distributed to only one of the front brakes or the rear brakes.

4. 发明授权

US11092967B2 Vehicle movement control device 有权
公开(公告)号：US11092967B2
公开(公告)日：2021-08-17
申请号：US16325367
申请日：2017-07-31
申请人： HITACHI AUTOMOTIVE SYSTEMS, LTD.
发明人： Yuki Akiyama , Junya Takahashi , Toshiyuki Innami
IPC分类号： G05D1/02 , B60W10/04 , B60W10/20 , B62D15/02 , B62D6/00 , B60W10/06 , B60W30/02 , B60W30/09 , B60W40/11 , B60W10/08 , B60W30/10 , B60W30/095 , B60W40/114
摘要： The present invention provides a vehicle movement control device which is capable of achieving stable vehicle behavior during the movement of a vehicle in lane changing mode. When calculating a travel path for turning a vehicle to the left side or the right side and then turning the vehicle to the other side, this vehicle movement control device calculates the travel path so that the peak value of the curvature of the travel path decreases in a section where the vehicle speed is higher.

5. 发明授权

US08989981B2 Vehicle motion control device 有权
标题翻译：车辆运动控制装置
公开(公告)号：US08989981B2
公开(公告)日：2015-03-24
申请号：US14248863
申请日：2014-04-09
申请人： Hitachi Automotive Systems, Ltd.
发明人： Makoto Yamakado , Shinjiro Saito , Atsushi Yokoyama , Junya Takahashi , Tatsuya Yoshida
IPC分类号： B60T8/24 , B60W10/04 , B60T8/1755 , B60W10/08 , B60W10/18 , B60W10/184 , B60W30/045 , B60W10/119
CPC分类号： B60W10/04 , B60T8/1755 , B60T2270/302 , B60W10/08 , B60W10/119 , B60W10/18 , B60W10/184 , B60W30/045 , B60W2720/14 , B60W2720/30
摘要： There is provided a vehicle drive control system that feels less unnatural and that enables an improvement in safety performance. A vehicle motion control system capable of independently controlling a driving force and a braking force of four wheels comprises: a first mode (G-Vectoring control) in which substantially the same driving force and braking force are generated with respect to left and right wheels among the four wheels based on a longitudinal acceleration/deceleration control command that is coordinated with the vehicle's lateral motion; and a second mode (sideslip prevention control) in which different driving forces and braking forces are generated with respect to the left and right wheels among the four wheels based on a target yaw moment derived from the vehicle's sideslip information, wherein the first mode is selected when the target yaw moment is equal to or less than a pre-defined threshold, and the second mode is selected when the target yaw moment is greater than the threshold.
摘要翻译：提供了一种感觉不太自然的车辆驱动控制系统，并且能够提高安全性能。能够独立地控制四个车轮的驱动力和制动力的车辆运动控制系统包括：第一模式（G矢量控制），其中相对于左右车轮产生大致相同的驱动力和制动力，基于与车辆的横向运动协调的纵向加速/减速控制命令的四个车轮; 以及基于从车辆侧滑信息导出的目标横摆力矩，在四个车轮之间相对于左右车轮产生不同的驱动力和制动力的第二模式（侧滑防止控制），其中选择第一模式当目标横摆力矩等于或小于预定阈值时，并且当目标横摆力矩大于阈值时选择第二模式。

6. 发明授权

US11148665B2 Vehicular motion control device and method 有权
公开(公告)号：US11148665B2
公开(公告)日：2021-10-19
申请号：US15765443
申请日：2016-10-11
申请人： HITACHI AUTOMOTIVE SYSTEMS, LTD.
发明人： Junya Takahashi , Atsushi Yokoyama , Masamichi Imamura
IPC分类号： B60W30/10 , B60T7/12 , B60T8/1755 , B60W30/045 , B60T8/17 , B62D6/00 , B60L15/20 , B60W10/04 , B60W10/20 , B60W30/02 , G05D1/02 , G05D1/08 , B62D15/02
摘要： Provided are a vehicular motion control device and method such that, even when a vehicle is turning, the target trajectory can be followed while maintaining traveling stability, with a reduced sense of incongruity felt by the driver. This vehicular motion control device is equipped with: a target trajectory acquisition unit that acquires a target trajectory for a vehicle to travel; and a speed control unit that increases or decreases the longitudinal acceleration generated in the vehicle, the longitudinal acceleration being positive in the vehicle travel direction. If the vehicle deviates from the target trajectory during turning, the speed control unit performs longitudinal acceleration control to increase or decrease the longitudinal acceleration.

7. 发明授权

US11383698B2 Device and method for controlling vehicle movement, and device and method for generating target course 有权
公开(公告)号：US11383698B2
公开(公告)日：2022-07-12
申请号：US16631708
申请日：2018-07-26
申请人： Hitachi Automotive Systems, Ltd.
发明人： Junya Takahashi , Yuki Akiyama , Kenta Maeda , Naoki Hiraga , Toshiyuki Innami
IPC分类号： B60W30/045 , B60W30/02 , B60W40/08 , G05D1/00 , G05D1/02
摘要： Provided are: a device and a method for controlling vehicle movement, with which it is possible to suppress causing uncomfortableness to vehicle occupants and causing unstable behavior during turning by automatic travel control; and a device and a method for generating a target course. In a vehicle capable of automatically controlling lateral acceleration occurring in the vehicle, the present invention controls the acceleration occurring in the vehicle such that jerk, which is the change over time of acceleration, becomes the greatest in a region where the lateral acceleration that occurs upon entering a curve is equal to or less than half the acceleration during normal turning, and the jerk decreases as the acceleration increases.

8. 发明授权

US11292308B2 Vehicle motion state estimation apparatus 有权
公开(公告)号：US11292308B2
公开(公告)日：2022-04-05
申请号：US16348468
申请日：2017-11-22
申请人： HITACHI AUTOMOTIVE SYSTEMS, LTD.
发明人： Shingo Nasu , Junya Takahashi , Nobuyuki Ichimaru , Ryusuke Hirao
IPC分类号： B60G17/018 , G07C5/08 , B60W40/11 , B60G17/015 , B60W40/10
摘要： An object of the present invention is to provide a vehicle motion state estimation device capable of estimating a vertical momentum of a vehicle with high accuracy from a wheel speed sensor signal during traveling such as acceleration or deceleration, turning, or the like where wheel slips in longitudinal and lateral directions occur. The present invention estimates and removes a variation component caused by a wheel slip from variation components of a wheel speed sensor signal to extract a variation component caused by a displacement of a suspension, and estimates a vertical momentum of a vehicle from the extracted variation component caused by the displacement of the suspension.

9. 发明授权

US10843683B2 Vehicle control device and method 有权
公开(公告)号：US10843683B2
公开(公告)日：2020-11-24
申请号：US16086463
申请日：2017-03-24
申请人： Hitachi Automotive Systems, Ltd.
发明人： Yuki Akiyama , Junya Takahashi , Toshiyuki Innami
IPC分类号： B60W30/045 , B62D6/00 , B60G17/0195 , B60W10/188 , B60W10/20 , B60W10/22 , B60W30/12 , B60W10/08 , B60G17/016 , B60T8/00 , B62D5/00 , B60W10/18 , B62D5/04 , B60W10/04 , B60W10/00 , B62D7/14 , B62D6/04
CPC分类号： B60W30/045 , B60G17/016 , B60G17/0162 , B60G17/0195 , B60T8/00 , B60W10/00 , B60W10/04 , B60W10/08 , B60W10/18 , B60W10/188 , B60W10/20 , B60W10/22 , B60W30/12 , B62D5/006 , B62D5/008 , B62D5/0409 , B62D5/0463 , B62D6/00 , B62D6/002 , B62D6/003 , B62D6/04 , B62D7/146 , B60W2520/10 , B60W2520/125 , B60W2520/14 , B60W2540/18 , B60W2710/18 , B60W2710/182 , B60W2710/207 , B60W2710/22 , B60W2720/30 , Y02T10/72
摘要： The present invention provides a vehicle control device and method capable of ensuring steering accuracy. In a vehicle provided with a left-right pair of steered wheels for which the braking/driving forces can each be controlled, and a steering force generation device that generates steering force for the steered wheels and controls the steering angle of the steered wheels, this vehicle control device and method control the steering force and the steering reaction force from the steering force generation device by controlling the braking/driving force of each of the steered wheels on the basis of the lateral force acting on the steered wheels.

10. 发明授权

US11117559B2 Vehicle movement control device, vehicle movement control method, and vehicle movement control program 有权
公开(公告)号：US11117559B2
公开(公告)日：2021-09-14
申请号：US16340819
申请日：2017-08-22
申请人： Hitachi Automotive Systems, Ltd.
发明人： Junya Takahashi , Yuki Akiyama , Masamichi Imamura
IPC分类号： B60W30/045 , B60T8/1755 , B60T7/12 , B60T8/17 , B60T8/171 , B60T8/24 , B60T8/32 , B60W10/04 , B60W10/184 , B60W30/04 , B60W30/10 , B62D6/08
摘要： An object of the invention is to realize an M+ control which is suitable to a driving scene without depending on pedal operation information of a driver. A vehicle motion control device according to the invention sets an absolute value of deceleration generated in the vehicle in a period in which the lateral motion of the vehicle is predicted to be changed from a state where the vehicle takes the lateral motion to a state where the vehicle does not take the lateral motion to be smaller than that generated in a period in which the lateral motion of the vehicle is predicted to be changed from a state the vehicle takes one of right and left lateral motions to a state where the vehicle takes the other lateral motion.

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