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1. 发明授权

US08694209B2 Apparatus for controlling motion of vehicle 有权
标题翻译：用于控制车辆运动的装置
公开(公告)号：US08694209B2
公开(公告)日：2014-04-08
申请号：US12931385
申请日：2011-01-31
申请人： Mitsuhiro Tokimasa , Yoshihisa Ogata , Daisuke Tokumochi , Masatoshi Hanzawa , Masayoshi Takeda
发明人： Mitsuhiro Tokimasa , Yoshihisa Ogata , Daisuke Tokumochi , Masatoshi Hanzawa , Masayoshi Takeda
IPC分类号： B60T8/34 , G06F17/00 , G06F19/00 , B60T8/58 , B60K31/02
CPC分类号： B60W10/184 , B60W10/20 , B60W30/09 , B60W2720/14
摘要： A vehicle motion controlling apparatus has an allocating unit for selecting steering or braking control mainly performed in cooperative control, receiving a desired value of vehicle turning motion, allocating steering and braking controls for the motion, determining main yaw rate from vehicle conditions, and determining a non-main yaw rate from difference between the desired value and the main yaw rate. Setting units set assist torque corresponding to the main yaw rate and braking torque corresponding to the non-main yaw rate when the steering control is selected and set braking torque corresponding to the main yaw rate and assist torque corresponding to the non-main yaw rate when the braking control is selected. The assist torque is generated for assisting a change of steering angle of vehicle in steering control. The braking torque is generated for applying braking force to wheel of vehicle in braking control.
摘要翻译：车辆运动控制装置具有分配单元，用于选择主要在协同控制中执行的转向或制动控制，接收车辆转向运动的期望值，分配用于运动的转向和制动控制，从车辆状态确定主偏航率，以及确定非主要偏航率由所需值与主偏航率之间的差异决定。当选择转向控制时，设定单位设定对应于与主非偏航率对应的主偏航率和制动转矩的辅助转矩，并且设定对应于对应于非主偏摆率的主偏航率和辅助转矩的制动转矩，选择制动控制。生成用于辅助转向控制中的车辆的转向角的变化的辅助转矩。在制动控制中产生用于对车辆的车轮施加制动力的制动转矩。

2. 发明申请

US20110196579A1 Apparatus for controlling motion of vehicle 有权
标题翻译：用于控制车辆运动的装置
公开(公告)号：US20110196579A1
公开(公告)日：2011-08-11
申请号：US12931385
申请日：2011-01-31
申请人： Mitsuhiro Tokimasa , Yoshihisa Ogata , Daisuke Tokumochi , Masatoshi Hanzawa , Masayoshi Takeda
发明人： Mitsuhiro Tokimasa , Yoshihisa Ogata , Daisuke Tokumochi , Masatoshi Hanzawa , Masayoshi Takeda
IPC分类号： B60W10/00 , G06F19/00 , B60W10/20 , B60W10/18 , B60W30/00
CPC分类号： B60W10/184 , B60W10/20 , B60W30/09 , B60W2720/14
摘要： A vehicle motion controlling apparatus has an allocating unit for selecting steering or braking control mainly performed in cooperative control, receiving a desired value of vehicle turning motion, allocating steering and braking controls for the motion, determining main yaw rate from vehicle conditions, and determining a non-main yaw rate from difference between the desired value and the main yaw rate. Setting units set assist torque corresponding to the main yaw rate and braking torque corresponding to the non-main yaw rate when the steering control is selected and set braking torque corresponding to the main yaw rate and assist torque corresponding to the non-main yaw rate when the braking control is selected. The assist torque is generated for assisting a change of steering angle of vehicle in steering control. The braking torque is generated for applying braking force to wheel of vehicle in braking control.
摘要翻译：车辆运动控制装置具有分配单元，用于选择主要在协同控制中执行的转向或制动控制，接收车辆转向运动的期望值，分配用于运动的转向和制动控制，从车辆状况确定主偏航率，以及确定非主要偏航率由所需值与主偏航率之间的差异决定。当选择转向控制时，设定单位设定对应于与主非偏航率对应的主偏航率和制动转矩的辅助转矩，并且设定对应于对应于非主偏摆率的主偏航率和辅助转矩的制动转矩，选择制动控制。生成用于辅助转向控制中的车辆的转向角的变化的辅助转矩。在制动控制中产生用于对车辆的车轮施加制动力的制动转矩。

3. 发明申请

US20120109461A1 LATERAL MOTION CONTROL APPARATUS FOR A VEHICLE 有权
标题翻译：车辆侧向运动控制装置
公开(公告)号：US20120109461A1
公开(公告)日：2012-05-03
申请号：US13282738
申请日：2011-10-27
申请人： Hirofumi NITTA , Yuichi Mizutani , Mitsuhiro Tokimasa , Junpei Tatsukawa , Yasuhiko Mukai , Yoshihisa Ogata , Hajime Kumabe , Masatoshi Hanzawa , Masaki Maruyama
发明人： Hirofumi NITTA , Yuichi Mizutani , Mitsuhiro Tokimasa , Junpei Tatsukawa , Yasuhiko Mukai , Yoshihisa Ogata , Hajime Kumabe , Masatoshi Hanzawa , Masaki Maruyama
IPC分类号： B62D6/00
CPC分类号： B62D6/003 , B60W10/184 , B60W10/20 , B60W30/02 , B60W40/114 , B60W50/035 , B60W50/045 , B60W50/14 , B60W2050/0095 , B60W2050/021 , B60W2520/14 , B60W2540/18 , B62D6/005 , B62D7/159
摘要： A lateral motion control apparatus includes a target value obtaining unit, a control amount calculation unit, a steering intent determination unit that determines whether a driver of the vehicle is steering with intent, and a control object control unit that controls the control object so as to control the control object based on the control amount when the driver is not steering with intent, and to stop the control of the control object when the driver is steering with intent. The steering intent determination unit includes a steering operation amount obtaining unit and a threshold value setting unit that sets a threshold value for the steering operation amount based on the target value, and determines whether or not the driver is steering with intent by comparing the magnitude of the steering operation amount with the threshold value.
摘要翻译：横向运动控制装置包括目标值获取单元，控制量计算单元，确定车辆的驾驶员是否意图转向的转向意图确定单元，以及控制对象控制单元，其控制控制对象，以便当驾驶员没有意图转向时，基于控制量来控制控制对象，并且当驾驶员意图转向时停止控制对象的控制。转向意图确定单元包括转向操作量获取单元和阈值设置单元，其基于目标值设置用于转向操作量的阈值，并且通过比较驾驶员的意图的大小来确定驾驶员是否意图转向转向操作量与阈值。

4. 发明授权

US08855833B2 Vehicle dynamic control platform between application and controlled object 有权
标题翻译：应用与受控对象之间的车辆动态控制平台
公开(公告)号：US08855833B2
公开(公告)日：2014-10-07
申请号：US13282626
申请日：2011-10-27
申请人： Hajime Kumabe , Yoshihisa Ogata , Junpei Tatsukawa , Mitsuhiro Tokimasa , Yasuhiko Mukai , Masatoshi Hanzawa , Masaki Maruyama , Hirofumi Nitta , Yuichi Mizutani
发明人： Hajime Kumabe , Yoshihisa Ogata , Junpei Tatsukawa , Mitsuhiro Tokimasa , Yasuhiko Mukai , Masatoshi Hanzawa , Masaki Maruyama , Hirofumi Nitta , Yuichi Mizutani
IPC分类号： B60W50/00 , B60W30/02 , B60W10/20 , B60W10/18 , B60W50/04 , B60W10/00 , B60W50/14 , B60W50/035
CPC分类号： B60W50/045 , B60W30/02 , B60W50/035 , B60W50/14 , B60W2050/0095
摘要： In a vehicle dynamic control platform arranged between a controlled object and an application, an availability obtainer obtains an availability corresponding to a controllable range of a second parameter of the controlled object, and outputs the availability of the second parameter of the controlled object to the application. The application is programmed to output the target value of the first parameter based on the availability of the second parameter of the controlled object. A comparator compares the target value of the first parameter with the availability of the second parameter when the target value of the first parameter is outputted from the application, and determines, based on a result of the comparison, whether to perform dynamic control of the vehicle by controlling the controlled object.
摘要翻译：在可控对象和应用之间布置的车辆动态控制平台中，可用性获取器获得对应于受控对象的第二参数的可控范围的可用性，并将受控对象的第二参数的可用性输出到应用。应用程序被编程为基于受控对象的第二参数的可用性来输出第一参数的目标值。当从应用输出第一参数的目标值时，比较器将第一参数的目标值与第二参数的可用性进行比较，并且基于比较的结果确定是否执行车辆的动态控制通过控制受控对象。

5. 发明授权

US08548682B2 Lateral motion control apparatus for a vehicle 有权
标题翻译：一种用于车辆的横向运动控制装置
公开(公告)号：US08548682B2
公开(公告)日：2013-10-01
申请号：US13282738
申请日：2011-10-27
申请人： Hirofumi Nitta , Yuichi Mizutani , Mitsuhiro Tokimasa , Junpei Tatsukawa , Yasuhiko Mukai , Yoshihisa Ogata , Hajime Kumabe , Masatoshi Hanzawa , Masaki Maruyama
发明人： Hirofumi Nitta , Yuichi Mizutani , Mitsuhiro Tokimasa , Junpei Tatsukawa , Yasuhiko Mukai , Yoshihisa Ogata , Hajime Kumabe , Masatoshi Hanzawa , Masaki Maruyama
IPC分类号： G05D1/00
CPC分类号： B62D6/003 , B60W10/184 , B60W10/20 , B60W30/02 , B60W40/114 , B60W50/035 , B60W50/045 , B60W50/14 , B60W2050/0095 , B60W2050/021 , B60W2520/14 , B60W2540/18 , B62D6/005 , B62D7/159
摘要： A lateral motion control apparatus includes a target value obtaining unit, a control amount calculation unit, a steering intent determination unit that determines whether a driver of the vehicle is steering with intent, and a control object control unit that controls the control object so as to control the control object based on the control amount when the driver is not steering with intent, and to stop the control of the control object when the driver is steering with intent. The steering intent determination unit includes a steering operation amount obtaining unit and a threshold value setting unit that sets a threshold value for the steering operation amount based on the target value, and determines whether or not the driver is steering with intent by comparing the magnitude of the steering operation amount with the threshold value.
摘要翻译：横向运动控制装置包括目标值获取单元，控制量计算单元，确定车辆的驾驶员是否意图转向的转向意图确定单元，以及控制对象控制单元，其控制控制对象，以便当驾驶员没有意图转向时，基于控制量控制控制对象，并且当驾驶员意图转向时停止控制对象的控制。转向意图确定单元包括转向操作量获取单元和阈值设置单元，其基于目标值设置用于转向操作量的阈值，并且通过比较驾驶员的意图的大小来确定驾驶员是否意图转向转向操作量与阈值。

6. 发明授权

US09145166B2 Momentum control apparatus 有权
标题翻译：动量控制装置
公开(公告)号：US09145166B2
公开(公告)日：2015-09-29
申请号：US13283106
申请日：2011-10-27
申请人： Yuichi Mizutani , Hirofumi Nitta , Junpei Tatsukawa , Mitsuhiro Tokimasa , Yasuhiko Mukai , Yoshihisa Ogata , Hajime Kumabe , Masatoshi Hanzawa , Masaki Maruyama
发明人： Yuichi Mizutani , Hirofumi Nitta , Junpei Tatsukawa , Mitsuhiro Tokimasa , Yasuhiko Mukai , Yoshihisa Ogata , Hajime Kumabe , Masatoshi Hanzawa , Masaki Maruyama
IPC分类号： G06F7/00 , B62D6/00 , B60W10/184 , B60W10/20 , B60W30/02 , B60W30/09 , B60W30/12 , B60W50/00
CPC分类号： B62D6/003 , B60W10/08 , B60W10/18 , B60W10/184 , B60W10/20 , B60W30/02 , B60W30/09 , B60W30/12 , B60W30/20 , B60W2050/0008 , B60W2050/0013 , B60W2050/0024 , B60W2050/0026 , B60W2720/14
摘要： The momentum control apparatus includes: an optimal feedback gain obtaining part for obtaining a plurality of optimal feedback gains used when each of the plurality of actuators is independently actuated to feedback control the momentum of the controlled object; and a feedback gain setting part for extracting a minimum feedback gain out of the plurality of optimal feedback gains obtained by the optimal feedback gain obtaining part as a feedback gain of a control system.
摘要翻译：动量控制装置包括：最佳反馈增益获得部分，用于获得多个最佳反馈增益，当多个致动器中的每一个被独立地致动以反馈控制受控对象的动量时，以及反馈增益设定部，用于从作为控制系统的反馈增益的最佳反馈增益获取部获得的多个最优反馈增益中提取最小反馈增益。

7. 发明授权

US08565935B2 Lateral motion control apparatus for a vehicle 有权
标题翻译：一种用于车辆的横向运动控制装置
公开(公告)号：US08565935B2
公开(公告)日：2013-10-22
申请号：US13283004
申请日：2011-10-27
申请人： Yuichi Mizutani , Hirofumi Nitta , Yasuhiko Mukai , Mitsuhiro Tokimasa , Junpei Tatsukawa , Yoshihisa Ogata , Hajime Kumabe , Masatoshi Hanzawa , Masaki Maruyama
发明人： Yuichi Mizutani , Hirofumi Nitta , Yasuhiko Mukai , Mitsuhiro Tokimasa , Junpei Tatsukawa , Yoshihisa Ogata , Hajime Kumabe , Masatoshi Hanzawa , Masaki Maruyama
IPC分类号： G05D1/00 , G05D3/00 , G06F7/00 , G06F17/00
CPC分类号： B62D6/003 , B60T8/17557 , B60T2201/087 , B60T2260/022 , B60W10/184 , B60W10/20 , B60W30/02 , B60W40/114 , B60W50/035 , B60W50/045 , B60W50/14 , B60W2050/0095 , B60W2050/021 , B60W2520/14 , B62D7/159
摘要： The lateral motion control apparatus calculates lateral motion control amounts for a plurality of control targets that operate cooperatively in order to change the lateral motion amount of the vehicle based on a target value for the lateral motion amount of the vehicle, and control the plurality of control targets based on the calculated lateral motion control amounts. Meanwhile, it is determined whether or not the control of the plurality of control targets is to be stopped. When it has been determined that the control of the plurality of control targets is to be stopped, lateral motion degeneration control amounts are determined for each of the plurality of control targets so that the lateral motion control amounts of the plurality of control targets degenerate starting at that time, and the plurality of control targets are controlled based on the determined lateral motion degeneration control amounts.
摘要翻译：横向运动控制装置计算用于协调运行的多个控制目标的横向运动控制量，以便基于车辆的横向运动量的目标值来改变车辆的横向运动量，并且控制多个控制基于计算出的横向运动控制量的目标。同时，确定是否停止对多个控制目标的控制。当已经确定要停止对多个控制目标的控制时，为多个控制目标中的每一个确定横向运动变形控制量，使得多个控制目标的横向运动控制量从该时间，并且基于所确定的横向运动退化控制量来控制多个控制目标。

8. 发明申请

US20120109416A1 LATERAL MOTION CONTROL APPARATUS FOR A VEHICLE 有权
标题翻译：车辆侧向运动控制装置
公开(公告)号：US20120109416A1
公开(公告)日：2012-05-03
申请号：US13283004
申请日：2011-10-27
申请人： Yuichi Mizutani , Hirofumi Nitta , Yasuhiko Mukai , Mitsuhiro Tokimasa , Junpei Tatsukawa , Yoshihisa Ogata , Hajime Kumabe , Masatoshi Hanzawa , Masaki Maruyama
发明人： Yuichi Mizutani , Hirofumi Nitta , Yasuhiko Mukai , Mitsuhiro Tokimasa , Junpei Tatsukawa , Yoshihisa Ogata , Hajime Kumabe , Masatoshi Hanzawa , Masaki Maruyama
IPC分类号： G06F7/00
CPC分类号： B62D6/003 , B60T8/17557 , B60T2201/087 , B60T2260/022 , B60W10/184 , B60W10/20 , B60W30/02 , B60W40/114 , B60W50/035 , B60W50/045 , B60W50/14 , B60W2050/0095 , B60W2050/021 , B60W2520/14 , B62D7/159
摘要： The lateral motion control apparatus calculates lateral motion control amounts for a plurality of control targets that operate cooperatively in order to change the lateral motion amount of the vehicle based on a target value for the lateral motion amount of the vehicle, and control the plurality of control targets based on the calculated lateral motion control amounts. Meanwhile, it is determined whether or not the control of the plurality of control targets is to be stopped. When it has been determined that the control of the plurality of control targets is to be stopped, lateral motion degeneration control amounts are determined for each of the plurality of control targets so that the lateral motion control amounts of the plurality of control targets degenerate starting at that time, and the plurality of control targets are controlled based on the determined lateral motion degeneration control amounts.
摘要翻译：横向运动控制装置计算用于协调运行的多个控制目标的横向运动控制量，以便基于车辆的横向运动量的目标值来改变车辆的横向运动量，并且控制多个控制基于计算出的横向运动控制量的目标。同时，确定是否停止对多个控制目标的控制。当已经确定要停止对多个控制目标的控制时，为多个控制目标中的每一个确定横向运动变形控制量，使得多个控制目标的横向运动控制量从该时间，并且基于所确定的横向运动退化控制量来控制多个控制目标。

9. 发明授权

US08577553B2 Lateral motion control apparatus for a vehicle 有权
标题翻译：一种用于车辆的横向运动控制装置
公开(公告)号：US08577553B2
公开(公告)日：2013-11-05
申请号：US13282766
申请日：2011-10-27
申请人： Hirofumi Nitta , Yuichi Mizutani , Mitsuhiro Tokimasa , Junpei Tatsukawa , Yasuhiko Mukai , Yoshihisa Ogata , Hajime Kumabe , Masatoshi Hanzawa , Masaki Maruyama
发明人： Hirofumi Nitta , Yuichi Mizutani , Mitsuhiro Tokimasa , Junpei Tatsukawa , Yasuhiko Mukai , Yoshihisa Ogata , Hajime Kumabe , Masatoshi Hanzawa , Masaki Maruyama
IPC分类号： A01B69/00 , B62D6/00 , B62D5/04 , B60G17/018
CPC分类号： B60W50/045 , B60T8/17557 , B60T2201/087 , B60W10/184 , B60W10/20 , B60W30/02 , B60W50/035 , B60W50/14 , B60W2050/0095 , B60W2050/021 , B60W2540/18 , B62D1/286 , B62D6/003 , B62D15/025
摘要： A lateral motion control apparatus for a vehicle includes a control stop determination unit that determines whether or not to stop the control for the control target by the control target control unit based on a steering operation amount inputted by a driver of the vehicle, and a degeneration control amount determination unit that determines a degeneration control amount for the control target such that the control amount for the control target degenerates after the time when the control stop determination unit has determined that the control for the control target is to be stopped. When the control stop determination unit has determined that the control for the control target is to be stopped, the control target control unit controls the control target based on the degeneration control amount determined by the degeneration control amount determination unit.
摘要翻译：一种用于车辆的横向运动控制装置，包括控制停止确定单元，其基于由车辆的驾驶员输入的转向操作量来确定是否停止由控制目标控制单元执行的控制目标的控制，以及退化控制量确定单元，其确定控制目标的退化控制量，使得控制目标的控制量在控制停止确定单元已经确定将要停止对控制目标的控制的时间之后退化。当控制停止确定单元已经确定要停止对控制目标的控制时，控制目标控制单元基于由退化控制量确定单元确定的退化控制量来控制控制目标。

10. 发明申请

US20120109414A1 VEHICLE DYNAMIC CONTROL PLATFORM BETWEEN APPLICATION AND CONTROLLED OBJECT 有权
标题翻译：应用与控制对象之间的车辆动态控制平台
公开(公告)号：US20120109414A1
公开(公告)日：2012-05-03
申请号：US13282626
申请日：2011-10-27
申请人： Hajime Kumabe , Yoshihisa Ogata , Junpei Tatsukawa , Mitsuhiro Tokimasa , Yasuhiko Mukai , Masatoshi Hanzawa , Masaki Maruyama , Hirofumi Nitta , Yuichi Mizutani
发明人： Hajime Kumabe , Yoshihisa Ogata , Junpei Tatsukawa , Mitsuhiro Tokimasa , Yasuhiko Mukai , Masatoshi Hanzawa , Masaki Maruyama , Hirofumi Nitta , Yuichi Mizutani
IPC分类号： G06F7/00
CPC分类号： B60W50/045 , B60W30/02 , B60W50/035 , B60W50/14 , B60W2050/0095
摘要： In a vehicle dynamic control platform arranged between a controlled object and an application, an availability obtainer obtains an availability corresponding to a controllable range of a second parameter of the controlled object, and outputs the availability of the second parameter of the controlled object to the application. The application is programmed to output the target value of the first parameter based on the availability of the second parameter of the controlled object. A comparator compares the target value of the first parameter with the availability of the second parameter when the target value of the first parameter is outputted from the application, and determines, based on a result of the comparison, whether to perform dynamic control of the vehicle by controlling the controlled object.
摘要翻译：在可控对象和应用之间布置的车辆动态控制平台中，可用性获取器获得对应于受控对象的第二参数的可控范围的可用性，并将受控对象的第二参数的可用性输出到应用。应用程序被编程为基于受控对象的第二参数的可用性来输出第一参数的目标值。当从应用输出第一参数的目标值时，比较器将第一参数的目标值与第二参数的可用性进行比较，并且基于比较的结果确定是否执行车辆的动态控制通过控制受控对象。

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