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1. 发明授权

US06343253B1 Road shape estimation apparatus and curve approach control apparatus 有权
标题翻译：道路形状估计装置和曲线进近控制装置
公开(公告)号：US06343253B1
公开(公告)日：2002-01-29
申请号：US09665673
申请日：2000-09-20
申请人： Munenori Matsuura , Akira Takahashi
发明人： Munenori Matsuura , Akira Takahashi
IPC分类号： G08G116
CPC分类号： B60K31/0066 , B60W2550/143
摘要： A curve's radius of curvature that approximates the actual curve is calculated, and an appropriate allowable curve approach speed even when the node interval is extremely short is set. Although the node c with a relatively large positional deviation on the curve is not out of the actual road width, the road geometry indicated by a series of nodes is locally bent like a concave at around the node c, constituting a curve that cannot exist in reality. The interval between nodes b and c is short, so that calculating the curve's radius of curvature at nodes b and c may result in a very small curve's radius of curvature which is far smaller than the actual curve geometry. Therefore, at least one of the nodes is taken as the curve's radius of curvature calculation removal point and is not used for the calculation of the curve's radius of curvature.
摘要翻译：计算曲线近似实际曲线的曲率半径，即使节点间隔非常短，设定适当的允许曲线逼近速度。虽然曲线上位置偏差相对较大的节点c不在实际道路宽度之外，但由一系列节点指示的道路几何局部弯曲成像节点c周围的凹陷，构成不能存在的曲线现实。节点b和c之间的间隔很短，因此在节点b和c处计算曲线的曲率半径可能导致非常小的曲线曲率半径远小于实际曲线几何。因此，将节点中的至少一个作为曲线的曲率半径计算去除点，并且不用于计算曲线的曲率半径。

2. 发明授权

US06424904B1 Curve approaching mode controller 失效
标题翻译：曲线逼近模式控制器
公开(公告)号：US06424904B1
公开(公告)日：2002-07-23
申请号：US09664736
申请日：2000-09-19
申请人： Akira Takahashi , Munenori Matsuura
发明人： Akira Takahashi , Munenori Matsuura
IPC分类号： G01C2100
CPC分类号： G01C21/3697 , B60K31/0083 , B60W2520/125 , G01C21/34
摘要： A curve approaching mode controller is capable of continuing vehicle control operations for the longest possible time even if curve information is not available from a navigation system. The navigation system provides curve information about a curve on a road stretching ahead of a vehicle. A control unit estimates a curve approaching mode in which the vehicle will approach the curve on the basis of the curve information and, when necessary, gives a warning and executes a decelerating control operation. If only insufficient curve information is available from the navigation system, a road attribute calculating and storing unit stores the normal node information received immediately before receiving the insufficient node information (curve information) without updating the same, and informs a warning speed calculating and storing unit of a fact that the node information is insufficient. A warning speed calculating and storing unit calculates a warning speed that serves as a reference for warning on the basis of the normal node information received immediately before receiving the insufficient node information, taking a distance traveled by the vehicle after the insufficient node information has been received.
摘要翻译：曲线逼近模式控制器能够在尽可能长的时间内持续车辆控制操作，即使曲线信息不能从导航系统获得。导航系统提供关于在车辆前方延伸的道路上的曲线的曲线信息。控制单元估计曲线接近模式，其中车辆将基于曲线信息接近曲线，并且在必要时给出警告并执行减速控制操作。如果导航系统只有曲线信息不足，则道路属性计算和存储单元将接收到不足的节点信息（曲线信息）之前立即接收的正常节点信息存储在不更新的情况下，通知警告速度计算和存储单元节点信息不足的事实。警报速度计算和存储单元基于在接收到不足的节点信息之前立即接收到的正常节点信息来计算作为用于警告的参考的警告速度，在接收到不足的节点信息之后取得车辆行驶的距离。

3. 发明授权

US6074020A Braking force control system for turning having correction parameters capabilities and method thereof 失效
标题翻译：具有校正参数功能的车削制动力控制系统及其方法
公开(公告)号：US6074020A
公开(公告)日：2000-06-13
申请号：US748410
申请日：1996-11-13
申请人： Akira Takahashi , Yutaka Hiwatashi , Koji Matsuno , Munenori Matsuura
发明人： Akira Takahashi , Yutaka Hiwatashi , Koji Matsuno , Munenori Matsuura
IPC分类号： B60T8/1755 , B60T8/06
CPC分类号： B60T8/1755
摘要： A braking force control system and method of a vehicle includes a vehicle speed detecting section, a steering angle detecting section, a yaw rate detecting section, a target yaw rate calculating section, a yaw rate deviation calculating section, turning requirement detecting means for detecting a driver's requirement to turn the vehicle, brake pressure correction coefficient generating section, a target braking force calculating section, a braking force correction section for correcting the braking force according to the driver's requirement to turn the vehicle, a braking wheel determining section for determining an object wheel to apply brakes, an output judging section, a brake signal outputting section and a brake drive apparatus for applying brake pressure to the wheel cylinder of the object wheel. Whereby, the driver can make a sharp turn even when the normal braking force control is operative.
摘要翻译：车辆的制动力控制系统和方法包括车速检测部，转向角检测部，横摆率检测部，目标横摆率计算部，横摆率偏差计算部，转弯要求检测单元，驾驶员要求转动车辆，制动压力校正系数产生部分，目标制动力计算部分，用于根据驾驶员要求转动车辆来校正制动力的制动力校正部分，用于确定物体的制动轮确定部分用于施加制动的车轮，输出判断部分，制动信号输出部分和用于对车轮的轮缸施加制动压力的制动驱动装置。由此，即使正常的制动力控制可操作，驾驶员也可以急转弯。

4. 发明授权

US5915800A System for controlling braking of an automotive vehicle 失效
标题翻译：用于控制汽车制动的系统
公开(公告)号：US5915800A
公开(公告)日：1999-06-29
申请号：US664009
申请日：1996-06-14
申请人： Yutaka Hiwatashi , Akira Takahashi , Koji Matsuno , Munenori Matsuura
发明人： Yutaka Hiwatashi , Akira Takahashi , Koji Matsuno , Munenori Matsuura
IPC分类号： B60T8/1755 , B60T8/58
CPC分类号： B60T8/1755
摘要： A braking force control system comprises a yaw rate sensor for detecting an actual yaw rate of a vehicle, a target yaw rate calculating section for detecting a vehicle speed and a steering angle to calculate a target yaw rate, a yaw-rate difference calculating section for calculating a difference in yaw rate by subtracting the target yaw rate from the actual yaw rate, and a braked-wheel discriminating section for selecting a rear-inside wheel as a braked wheel when the sign of the actual yaw rate is different from that of the difference in yaw rate, and for selecting a front-outside wheel as the braked wheel when the sign of the actual yaw rate is the same as that of the difference in yaw rate. Therefore, when the vehicle is in an under-steering tendency, the rear-inside wheel is selected, and when it is in an over-steering tendency, the front-outside wheel is selected. In addition, the system may further comprise an output discriminating section for comparing the difference in yaw rate with a discriminating threshold to discriminate as to whether the difference in yaw rate is within a control region. A first threshold is set as the discriminating threshold. After the under-steering tendency is changed to the over-steering tendency, a set period of time and a second threshold, the absolute value of which is smaller than that of the first threshold, are set. With this construction, it is possible to smoothly perform the control without giving uncomfortable feeling to a driver, and it is also possible to restrain the control by a rear wheel.
摘要翻译：一种制动力控制系统，包括用于检测车辆的实际横摆角速度的偏航率传感器，用于检测车速的目标横摆率计算部和用于计算目标横摆率的转向角;偏航率差计算部，通过从实际横摆率减去目标横摆角速度来计算偏航率的差异;以及制动轮识别部，用于当实际横摆率的符号与实际横摆率的符号不同时，选择作为制动轮的后内轮偏航率的差异，以及当实际横摆率的符号与横摆率的差异相同时，用于选择作为制动轮的前外轮。因此，当车辆处于转向不足的倾向时，选择后内侧轮，并且当处于过度转向倾向时，选择前外轮。此外，该系统还可以包括输出鉴别部分，用于将偏航率的差异与识别阈值进行比较，以区分横摆率的差异是否在控制区域内。将第一阈值设置为鉴别阈值。在转向不足的倾向变为过度转向倾向之后，设定其绝对值小于第一阈值的设定时间段和第二阈值。利用这种结构，可以平稳地执行控制而不会给驾驶员带来不舒适的感觉，并且还可以抑制后轮的控制。

5. 发明授权

US06778896B1 Curve approach control apparatus 有权
标题翻译：曲线进近控制装置
公开(公告)号：US06778896B1
公开(公告)日：2004-08-17
申请号：US09631939
申请日：2000-08-03
申请人： Munenori Matsuura , Akira Takahashi
发明人： Munenori Matsuura , Akira Takahashi
IPC分类号： G01C2100
CPC分类号： B60K31/0066
摘要： The present invention provides a curve approach control apparatus comprising an allowable lateral acceleration setting unit to set as an allowable lateral acceleration a lateral acceleration that a vehicle can tolerate when it negotiates a curve in front; an allowable approach speed setting unit to set as an allowable approach speed an approach speed at which the vehicle can negotiate the curve, based on at least the allowable lateral acceleration; a decision control unit to estimate and judge an approach of the vehicle to the curve based on at least the allowable approach speed and execute a predetermined control; and a road surface friction coefficient estimation unit to estimate a road surface friction coefficient. The allowable lateral acceleration setting unit corrects, according to the road surface friction coefficient, an allowable percentage of the lateral acceleration that occurs in the vehicle as it negotiates the curve and sets the allowable lateral acceleration.
摘要翻译：本发明提供了一种曲线进近控制装置，其包括允许的横向加速度设定单元，其将协商前面的曲线时车辆能够容忍的横向加速度设定为允许的横向加速度; 允许进入速度设定单元，至少基于允许的横向加速度来设定车辆可以协商曲线的接近速度作为允许的进近速度; 判定控制单元，至少基于所述允许接近速度来估计和判定所述车辆对所述曲线的接近，并执行预定的控制; 以及用于估计路面摩擦系数的路面摩擦系数估计单元。允许的横向加速度设定单元根据路面摩擦系数来校正车辆中出现的横向加速度的允许百分比，并且设定允许的横向加速度。

6. 发明授权

US06219609B1 Vehicle dynamic control system 有权
标题翻译：车辆动态控制系统
公开(公告)号：US06219609B1
公开(公告)日：2001-04-17
申请号：US09174538
申请日：1998-10-19
申请人： Koji Matsuno , Munenori Matsuura , Toshihiro Konno , Akira Takahashi , Atsushi Mine
发明人： Koji Matsuno , Munenori Matsuura , Toshihiro Konno , Akira Takahashi , Atsushi Mine
IPC分类号： B60T800
CPC分类号： B60T8/1755 , B60T2201/14 , B60T2201/16 , B60T2210/24 , B60T2210/36
摘要： The present invention provides a vehicle dynamic control system which alters characteristics of respective vehicle movement controllers so that they can function properly against coming and foreseeable running conditions and current running conditions, recognizing beforehand details of an emerging curve on the road to be traveled. The system comprises a vehicle movement control alterant and at least one among vehicle movement controllers, i.e., a brake controller, a left/right wheel differential limiter controller and power distribution controller. When the vehicle is approaching the curve, the vehicle movement control alterant alters characteristics of a braking controller, the left/right wheel differential limiter controller and the power distribution controller to those favorable to turning for driving through a curve appropriately. When the vehicle is approaching the curve end, the alternate alters characteristics of the left/right differential controller to those favorable to stabilizing running so that the vehicle can pass the curve end and go into straight road appropriately.
摘要翻译：本发明提供一种车辆动态控制系统，其改变各个车辆运动控制器的特性，使得它们能够适当地运行抵抗可预见的运行条件和当前运行状况，预先识别要行驶的道路上的出现曲线的细节。该系统包括车辆运动控制变更和车辆运动控制器中的至少一个，即制动控制器，左/右车轮差速器限制器控制器和配电控制器。当车辆接近曲线时，车辆移动控制改变了将制动控制器，左/右车轮差速器限制器控制器和配电控制器的特性改变成适合于通过曲线行驶的车轮。当车辆接近曲线端时，交替改变左/右差速器控制器的特性，使其有利于稳定运行，使得车辆能够通过曲线端并适当地进入直路。

7. 发明授权

US5700073A Braking force control system and the method thereof 失效
标题翻译：制动力控制系统及其方法
公开(公告)号：US5700073A
公开(公告)日：1997-12-23
申请号：US681525
申请日：1996-07-23
申请人： Yutaka Hiwatashi , Koji Matsuno , Akira Takahashi , Munenori Matsuura
发明人： Yutaka Hiwatashi , Koji Matsuno , Akira Takahashi , Munenori Matsuura
IPC分类号： B60T8/172 , B60T8/1755 , B60T8/1763 , B60T8/58
CPC分类号： B60T8/1755
摘要： A braking force control system and method of a vehicle comprises an estimated yaw rate calculating section for calculating an estimated yaw rate on a road surface having low friction coefficient, a target yaw rate differential calculating section for calculating a target yaw rate differential, an estimated yaw rate differential calculating section for calculating an estimated yaw rate differential, a yaw rate differential deviation calculating section for calculating a deviation of the both differentials, a first target braking force calculating section for calculating a first target braking force, a yaw rate deviation calculating section for calculating a deviation of an actual yaw rate and a target yaw rate, a second target braking force calculating section for calculating a second target braking force, a final target braking force calculating section for calculating a final target braking force based on the first and second target braking forces. When an output judging section judges that the deviation of the actual yaw rate and the target yaw rate is in the control zone, a brake signal is outputted to a brake drive section so as to apply the final target braking force to a braking wheel selected in a braking wheel determining section, whereby the vehicle can make a smooth and stable turn without causing spins or drift-outs during cornerings.
摘要翻译：车辆的制动力控制系统和方法包括估计的横摆率计算部分，用于计算具有低摩擦系数的路面上的估计横摆角速度，用于计算目标横摆角速度差的目标横摆角速度差分计算部，估计偏航用于计算估计的横摆角速度差的速率差分计算部分，用于计算两个差值的偏差的横摆率差分偏差计算部分，用于计算第一目标制动力的第一目标制动力计算部分，用于计算第一目标制动力的横摆率偏差计算部分，计算实际横摆率和目标偏航率的偏差，用于计算第二目标制动力的第二目标制动力计算部，基于第一和第二目标计算最终目标制动力的最终目标制动力计算部制动力。当输出判断部判定实际横摆率和目标横摆角速度的偏差在控制区域内时，制动信号被输出到制动驱动部，以将最终目标制动力施加到在制动轮确定部分，由此车辆可以在转弯期间不会引起旋转或漂移而平稳而稳定地转动。

8. 发明授权

US06223124B1 Route consideration apparatus 有权
标题翻译：路线考虑设备
公开(公告)号：US06223124B1
公开(公告)日：2001-04-24
申请号：US09236455
申请日：1999-01-25
申请人： Koji Matsuno , Munenori Matsuura , Toshihiro Konno , Akira Takahashi , Atsushi Mine
发明人： Koji Matsuno , Munenori Matsuura , Toshihiro Konno , Akira Takahashi , Atsushi Mine
IPC分类号： G06F16500
CPC分类号： G01C21/3697 , G01C21/3407
摘要： The present invention provides a route consideration apparatus which can reduce amount of road geometry data to a necessary and sufficient volume to be managed, foreseeing probable routes by selecting branch roads appropriately. The route assessor 5 designates three route at maximum, i.e., the first prior route to the third prior route, according to the data inputted from the navigator. The curve geometry detector 6 detects rode geometry according to inputted data from the navigator 3. Thus previewing of route to be traveled can be carried out effectively and the vehicle dynamic control system works well with the previewing function.
摘要翻译：本发明提供了一种路线考虑装置，其可以将道路几何数据的数量减少到必要且足够的管理体积，通过适当地选择分支道路预见可能的路线。路线评估者5指定最多三条路线，即，第一先行根据从导航器输入的数据，路由到第三先前路由。曲线几何检测器6根据来自导航器3的输入数据来检测车轮几何形状。因此，可以有效地执行要行驶的路线的预览，并且车辆动态控制系统与预览功能良好地工作。

9. 发明授权

US5850616A Traction control system for four wheel drive vehicle and the method thereof 失效
标题翻译：四轮驱动车牵引力控制系统及其方法
公开(公告)号：US5850616A
公开(公告)日：1998-12-15
申请号：US709042
申请日：1996-09-06
申请人： Koji Matsuno , Yutaka Hiwatashi , Akira Takahashi , Munenori Matsuura
发明人： Koji Matsuno , Yutaka Hiwatashi , Akira Takahashi , Munenori Matsuura
IPC分类号： B60T8/175 , B60T8/1755 , B60T8/1769 , B60W10/04 , B60W10/18 , B60K17/348
CPC分类号： B60T8/1769 , B60T8/175 , B60T2270/202
摘要： A traction control system and method of a four-wheel drive vehicle comprises an engine control apparatus, a brake drive apparatus for automatically and independently applying brake to each of four wheels, wheel speed detecting means, vehicle speed detecting means, steering angle detecting means, yaw rate detecting means, target yaw rate calculating means, yaw rate deviation calculating means, slip amount calculating means for calculating an actual slip amount, reference slip amount storing means for memorizing a reference slip amount, target slip amount determining means for determining a target slip amount based on the reference slip amount, traction control judging means for outputting a traction control signal when a traction control is needed, target braking force calculating means, target engine torque calculating means. When a traction control is needed, the target slip amount determining means determine a target slip amount of a wheel needing the traction control. The target braking force calculating means produce a braking force according to the difference between the target slip amount and the actual slip amount and brake is automatically applied to a wheel requiring the traction control through the brake drive apparatus. At the same time, the target engine torque calculating means produce a signal to the engine control apparatus so as to reduce engine torque.
摘要翻译：四轮驱动车辆的牵引力控制系统和方法包括发动机控制装置，用于自动且独立地对四个车轮施加制动的制动驱动装置，车轮速度检测装置，车速检测装置，转向角检测装置，横摆率检测装置，目标横摆率计算装置，横摆率偏差计算装置，用于计算实际滑移量的滑移量计算装置，用于存储基准滑移量的基准滑移量存储装置，用于确定目标滑差的目标滑移量确定装置牵引控制判断装置，用于在需要牵引力控制时输出牵引控制信号，目标制动力计算装置，目标发动机扭矩计算装置。当需要牵引力控制时，目标滑移量确定装置确定需要牵引力控制的车轮的目标滑移量。目标制动力计算装置根据目标滑移量和实际滑移量之间的差产生制动力，并且制动被自动施加到通过制动驱动装置进行牵引力控制的车轮。同时，目标发动机扭矩计算装置向发动机控制装置产生一个信号，以便减小发动机转矩。

10. 发明授权

US5816669A Vehicle motion control system 失效
标题翻译：车辆运动控制系统
公开(公告)号：US5816669A
公开(公告)日：1998-10-06
申请号：US733582
申请日：1996-10-18
申请人： Yutaka Hiwatashi , Koji Matsuno , Akira Takahashi , Munenori Matsuura
发明人： Yutaka Hiwatashi , Koji Matsuno , Akira Takahashi , Munenori Matsuura
IPC分类号： B62D6/00 , B60T8/172 , B60T8/1755 , B60T8/1764 , B62D7/14 , B62D7/15 , B60T8/32
CPC分类号： B62D7/159 , B60T8/1755 , B60T2260/022
摘要： In a vehicle motion control system, a target rear-wheel steering-angle calculating section calculates a target rear-wheel steering angle, a rear-wheel steering-quantity setting section sets a rear-wheel steering quantity, and a rear-wheel steering signal output section outputs a rear-wheel steering quantity to a motor driving section to perform a steering angle control. In addition, a front-and-rear wheel steering response-parameter calculating section calculates a response parameter, and a front-and-rear wheel steering target yaw-rate calculating section calculates a target yaw rate. A yaw-rate difference calculating section calculates a yaw-rate difference, a target braking-force calculating section calculates a target braking force, and a braked-wheel discriminating section selects a wheel to be braked. When an output discriminating section determines that there is within a controllable region, a braking signal output section outputs a signal to a brake driving section so as to add the target braking force to the selected wheel.
摘要翻译：在车辆运动控制系统中，目标后轮转向角计算部计算目标后轮转向角，后轮转向量设定部设定后轮转向量和后轮转向信号输出部将后轮转向量输出到电动机驱动部，进行转向角控制。此外，前后转向转向响应参数运算部分计算响应参数，前轮和后轮转向目标横摆率计算部分计算目标横摆率。偏航率差分计算部分计算偏航率差异，目标制动力计算部分计算目标制动力，并且制动轮识别部分选择要制动的车轮。当输出识别部分确定存在可控区域内时，制动信号输出部分向制动器驱动部分输出信号，以将目标制动力加到所选择的车轮上。

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