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1. 发明授权

US06266580B1 Control apparatus and method of control system having dead time 失效
标题翻译：具有死区时间的控制装置和控制系统的方法
公开(公告)号：US06266580B1
公开(公告)日：2001-07-24
申请号：US09577160
申请日：2000-05-24
申请人： Norimi Asahara , Masami Kondo , Toshinari Suzuki , Katsumi Kono , Ryoichi Hibino , Eiichi Ono , Masataka Osawa , Yuji Muragishi
发明人： Norimi Asahara , Masami Kondo , Toshinari Suzuki , Katsumi Kono , Ryoichi Hibino , Eiichi Ono , Masataka Osawa , Yuji Muragishi
IPC分类号： G05D1100
CPC分类号： G05B13/0255
摘要： A deviation between a target value of a quantity of state and an actual value of the quantity of state that is caused to follow the target value or a time-integral of the deviation is filtered. Based on the filtered value, a switching surface &sgr; is calculated. Based on a value of the switching surface &sgr;, a control input value u is outputted. The filter is set through comparison in Bode diagrams between a design model of a control system based on an ordinary sliding mode control method and a characteristic variation model of the control system, and by performing compensation in such a direction as to cancel out the variation. The filtering process makes it possible to properly control the control system having a dead time by the sliding mode control method.
摘要翻译：过滤状态量的目标值与导致跟随目标值的状态量的实际值或偏差的时间积分之间的偏差。基于滤波值，计算切换表面sigma。基于开关面sigma的值，输出控制输入值u。通过比较Bode图中的过滤器，在基于普通滑动模式控制方法的控制系统的设计模型和控制系统的特征变化模型之间进行比较，并且通过在消除变化的方向上进行补偿来设定。滤波处理使得可以通过滑动模式控制方法适当地控制具有死区时间的控制系统。

2. 发明授权

US06393383B1 Setting apparatus and method for identification signal 失效
标题翻译：识别信号的设备和方法
公开(公告)号：US06393383B1
公开(公告)日：2002-05-21
申请号：US09628425
申请日：2000-07-28
申请人： Ryoichi Hibino , Masataka Osawa , Eiichi Ono , Shu Asami , Toshinari Suzuki , Katsumi Kono , Tomohiro Asami
发明人： Ryoichi Hibino , Masataka Osawa , Eiichi Ono , Shu Asami , Toshinari Suzuki , Katsumi Kono , Tomohiro Asami
IPC分类号： G06F1900
CPC分类号： G05B17/02 , Y10T477/70 , Y10T477/747 , Y10T477/755
摘要： A characteristics change of a control object is functionally represented by a parameter &thgr; which varies between values of 0 and 1 as the gain of the control object is surveyed. The frequency of the identification signal is set at a frequency where the difference in gains becomes large. The amplitude of the identification signal is set so that the variation width of the output of the control object is less than or equal to a predetermined value. Because the identification accuracy improves where the input/output characteristics with respect to the parameter are more sensitive, the identification signal set by such a setting apparatus imparts high identification accuracy. Moreover, because the amplitude of the identification signal is set based on the variation width of the output of the control object, identification can be performed without significantly affecting the output of the control object.
摘要翻译：在控制对象的增益被调查的情况下，控制对象的特征变化在功能上由参数θ表示，该参数θ在0和1的值之间变化。识别信号的频率被设定为增益差变大的频率。识别信号的幅度被设定为使得控制对象的输出的变化幅度小于或等于预定值。由于相对于参数的输入/输出特性更敏感，因此识别精度提高，所以由这种设定装置设定的识别信号具有高识别精度。此外，由于基于控制对象的输出的变化宽度来设定识别信号的幅度，因此可以在不显着影响控制对象的输出的情况下进行识别。

3. 发明授权

US06807448B1 Weight identification method and feedback control method 失效
标题翻译：重量识别方法和反馈控制方法
公开(公告)号：US06807448B1
公开(公告)日：2004-10-19
申请号：US09596067
申请日：2000-06-16
申请人： Toshinari Suzuki , Katsumi Kono , Ryoichi Hibino , Masataka Osawa , Eiichi Ono , Shu Asami
发明人： Toshinari Suzuki , Katsumi Kono , Ryoichi Hibino , Masataka Osawa , Eiichi Ono , Shu Asami
IPC分类号： G05B1302
CPC分类号： F16H61/66254 , G05B13/024
摘要： An instruction value Duty for bringing a slip rotation speed Nslip to a target rotation speed is feedback-controlled based on a difference e between the slip rotation speed Nslip and the target rotation speed, and a weight &thgr; from a parameter map. Weights &thgr; are assigned individually to a plurality of models, each of which includes a group of parameters and which are used to form a control model that represents a slip control system. Based on a weight that is assigned to one of the plurality of models, a weight that is assigned to at least one model that is other than the one of the plurality of models is specified. Thus, the amount of calculation required can be reduced by estimating weights for the models including the groups of parameters, which contain parameters that are used to construct the control model, instead of directly estimating the control model-constructing parameters.
摘要翻译：基于滑移转速Nslip与目标转速之间的差e和来自参数图的权重θ来反馈控制用于使滑移转速Nslip达到目标转速的指令值。权重θ被分别分配给多个模型，每个模型包括一组参数，并且用于形成表示滑移控制系统的控制模型。基于分配给多个模型中的一个模型的权重，指定分配给除了多个模型中的一个以外的至少一个模型的权重。因此，通过估计包括参数组的模型的权重，可以减少所需的计算量，该参数组包含用于构建控制模型的参数，而不是直接估计控制模型构建参数。

4. 发明授权

US06516235B1 Control apparatus and method of control system having sliding resistance 失效
标题翻译：具有滑动阻力的控制装置和控制系统的方法
公开(公告)号：US06516235B1
公开(公告)日：2003-02-04
申请号：US09579578
申请日：2000-05-26
申请人： Katsumi Kono , Toshinari Suzuki , Yoshikazu Tanaka , Ryoichi Hibino , Eiichi Ono , Masataka Osawa
发明人： Katsumi Kono , Toshinari Suzuki , Yoshikazu Tanaka , Ryoichi Hibino , Eiichi Ono , Masataka Osawa
IPC分类号： G05B1302
CPC分类号： G05B13/0255
摘要： A control apparatus for controlling a control system having a sliding resistance by using a sliding mode control method determines a deviation of an actual value of a quantity of state that is to be caused to follow a target value from the target value (step 1), calculates a switching surface &sgr; from the deviation (step 2), and determines a corrected switching surface &sgr;′ by adding a carrier wave to the calculated switching surface &sgr; (step 3). The carrier wave is expressed by a periodic function, for example, a sine wave, a sawtooth pulse wave, or the like, and has finite gradients on its waveform. Then, the control apparatus outputs an amount of operation u based on the value of the corrected switching surface &sgr;′ (step 4). The amount of operation u behaves in a manner similar to that in an ordinary sliding mode control method when the switching surface &sgr; is not close to zero. When the switching surface &sgr; is close to zero, the amount of operation u periodically changes similarly to a dither signal. Therefore, the control apparatus is able to prevent deterioration of the controlling performance with respect to the sliding resistance and retain excellent robustness of the sliding mode control.
摘要翻译：通过使用滑动模式控制方法来控制具有滑动阻力的控制系统的控制装置根据目标值确定与目标值相关的状态量的实际值的偏差（步骤1）根据偏差计算切换面sigma（步骤2），并通过将加载载波加到计算出的切换面sigma（步骤3）来确定校正的切换面sigma'。载波由周期函数（例如，正弦波，锯齿波等）表示，并且在其波形上具有有限的梯度。然后，控制装置根据校正后的切换面sigma'的值输出运算量u（步骤4）。当切换表面sigma不接近零时，操作量u以与普通滑动模式控制方法类似的方式起作用。当开关表面sigma接近零时，操作量u周期性地变化，类似于抖动信号。因此，控制装置能够防止控制性能相对于滑动阻力的劣化，并且保持滑动模式控制的良好鲁棒性。

5. 发明授权

US08370025B2 Steering apparatus, steering method, and computer readable storage medium 有权
标题翻译：转向装置，转向方法和计算机可读存储介质
公开(公告)号：US08370025B2
公开(公告)日：2013-02-05
申请号：US13420154
申请日：2012-03-14
申请人： Eiichi Ono , Yuji Muragishi , Daisuke Yamada , Shinsuke Sato
发明人： Eiichi Ono , Yuji Muragishi , Daisuke Yamada , Shinsuke Sato
IPC分类号： G06F19/00
CPC分类号： B62D6/008 , B62D6/003
摘要： A target value for yaw angle velocity gain is computed according to a map expressing a relationship between steering wheel angle and yaw angle velocity gain predetermined such that a direction as seen from a driver of a target destination point for vehicle travel at a predetermined time after a forward gaze and a direction as seen from the driver are caused to match each other, and a steering gear ratio is controlled accordingly. A target value for a steering wheel torque corresponding to the detected steering wheel angle and the acquired yaw angular velocity is set, based on a relationship between yaw angular velocity and resistance-feel level predetermined such that the resistance feel level for a driver monotonically increases with increasing yaw angular velocity. Control is then preformed so as to realize the steering wheel torque target value.
摘要翻译：根据表示方向盘角度和偏航角速度增益之间的关系的映射来计算偏航角速度增益的目标值，所述映射表示预定的偏航角速度增益之间的关系，使得从车辆行驶的目标目标点的驾驶员所看到的方向在使前进目视和从驾驶员看到的方向彼此匹配，并且相应地控制舵机比。基于所确定的横摆角速度和电阻感觉水平之间的关系，设定与检测到的方向盘角度和所获得的横摆角速度相对应的方向盘扭矩的目标值，使得驾驶员的阻力感觉水平随着驾驶员的电阻感觉水平随单位增加而单调增加增加偏航角速度。然后进行控制，以实现方向盘转矩目标值。

6. 发明授权

US07966127B2 Vehicle motion control device 失效
标题翻译：车辆运动控制装置
公开(公告)号：US07966127B2
公开(公告)日：2011-06-21
申请号：US11813037
申请日：2005-12-28
申请人： Eiichi Ono , Yoshiki Ninomiya , Yoshikatsu Kisanuki , Takero Hongo , Kiyokazu Sunami , Yuichi Tanaka , Kazunori Furukawa , Yoshikazu Hattori , Yuji Muragishi , Arata Takahashi , Yojiro Koike
发明人： Eiichi Ono , Yoshiki Ninomiya , Yoshikatsu Kisanuki , Takero Hongo , Kiyokazu Sunami , Yuichi Tanaka , Kazunori Furukawa , Yoshikazu Hattori , Yuji Muragishi , Arata Takahashi , Yojiro Koike
IPC分类号： G06F17/10
CPC分类号： B60R21/0134 , B60R21/36 , B60R2021/346 , B60T7/22 , B60W10/04 , B60W10/10 , B60W10/18 , B60W10/20 , B60W40/04 , B60W2420/52 , B62D15/0265
摘要： The invention provides a vehicle motion control device capable of realizing optimum avoidance control in the case of an emergency. The vehicle motion control device includes an external environment detection unit for detecting external environment, and a travel state detection unit for detecting a travel state of a driver's vehicle. An obstruction is detected based on the external environment detected by the external environment detection unit, and an environment map indicating obstructions is created. A control device estimates a plurality of possible avoidance actions for avoiding an obstruction based on the environment map and the travel state of the driver's vehicle detected by the travel state detection unit. The control device estimates collision damage according to each avoidance action estimated by the avoidance action estimation unit, and selects an appropriate avoidance action based on the estimated collision damage. The control device controls a vehicle such that the selected avoidance action is carried out.
摘要翻译：本发明提供一种能够在紧急情况下实现最佳回避控制的车辆运动控制装置。车辆运动控制装置包括用于检测外部环境的外部环境检测单元和用于检测驾驶员车辆的行驶状态的行驶状态检测单元。基于由外部环境检测单元检测到的外部环境来检测障碍物，并且创建指示障碍物的环境地图。控制装置基于由行驶状态检测单元检测到的驾驶员车辆的环境映射和行驶状态来估计用于避免障碍物的多个可能的回避动作。控制装置根据由回避动作估计部估计出的每个回避动作来估计碰撞破坏，并且基于所估计的碰撞破坏选择合适的回避动作。控制装置控制车辆，使得执行所选择的回避动作。

7. 发明申请

US20070055432A1 Vehicle body motion realization method and apparatus 失效
标题翻译：车身运动实现方法及装置
公开(公告)号：US20070055432A1
公开(公告)日：2007-03-08
申请号：US10577732
申请日：2004-11-12
申请人： Ken Koibuchi , Eiichi Ono , Yoshikazu Hattori , Yuji Muragishi
发明人： Ken Koibuchi , Eiichi Ono , Yoshikazu Hattori , Yuji Muragishi
IPC分类号： B60T8/24
CPC分类号： B62D6/006 , B60T8/172 , B60T8/17551 , B60T2210/12 , B60T2270/86 , B60W40/11 , B60W40/112 , B60W40/114 , B60W2710/207
摘要： Various state amounts of a vehicle body detected by various types of sensors are captured (step 102). A maximum frictional force Fimax is calculated for each of wheels (steps 104 to 110). By use of the maximum frictional force Fimax and other physical quantities, a performance function not dependent on respective magnitudes of a vehicle body generating force and a yaw moment is defined, which performance function is prepared by means of a performance function in a case in which the vehicle body generating force is larger than the yaw moment, and a performance function in a case in which the vehicle body generating force is not larger than the yaw moment (step 112). A resultant force qi of tire generating forces acting on respective wheels is calculated by means of a third performance function (step 114), and braking and driving forces of each wheel, and a steering angle of each wheel are obtained by means of the calculated direction in which the resultant force of tire generating forces acts on the wheels (step 116). Based on the obtained braking and driving forces and steering wheel of each of the wheels, these wheels are each controlled (step 118).
摘要翻译：捕获各种类型的传感器检测到的各种状态的车体（步骤102）。对于每个车轮计算最大摩擦力F imax （步骤104至110）。通过使用最大摩擦力F max和其他物理量，定义不依赖于车体产生力和横摆力矩的相应大小的性能函数，该性能函数通过在车体产生力大于横摆力矩的情况下的演奏功能以及车身产生力不大于横摆力矩的情况下的演奏功能（步骤112）。通过第三性能函数（步骤114）和每个车轮的制动和驱动力以及每个车轮的转向角来计算作用在相应车轮上的轮胎产生力的合力q 通过计算出的轮胎产生力的合力的方向（步骤116）获得。基于获得的每个车轮的制动和驱动力和方向盘，这些轮被分别控制（步骤118）。

8. 发明申请

US20060276944A1 Vehicle motion stability control apparatus 有权
公开(公告)号：US20060276944A1
公开(公告)日：2006-12-07
申请号：US11442535
申请日：2006-05-30
申请人： Yoshiyuki Yasui , Toshihisa Kato , Eiichi Ono , Yuji Muragishi , Tomoko Sugawara
发明人： Yoshiyuki Yasui , Toshihisa Kato , Eiichi Ono , Yuji Muragishi , Tomoko Sugawara
IPC分类号： B60G17/018
CPC分类号： B60T8/1755 , B60T8/172 , B60T2230/03 , B60W10/04 , B60W10/18 , B60W30/04 , B60W30/045 , B60W40/11 , B60W40/112 , B60W40/114
摘要： An angular velocity detection device is provided for detecting an angular velocity about a single axis tilted in a longitudinal direction of a vehicle to a normal axis thereof. An actual motion state variable of the vehicle is calculated on the basis of the detected angular velocity. At least one of the braking force and driving force applied to a vehicle is controlled to stabilize a yawing motion and a rolling motion of the vehicle, on the basis of a motion state variable deviation between a desired motion state variable and the actual motion state variable, e.g., a deviation between a yaw velocity and a roll velocity of the vehicle.

9. 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。

10. 发明授权

US06952635B2 Road condition estimation apparatus 有权
标题翻译：道路状况估计装置
公开(公告)号：US06952635B2
公开(公告)日：2005-10-04
申请号：US10682406
申请日：2003-10-10
申请人： Yoshiyuki Yasui , Eiichi Ono , Yuji Muragishi , Shinji Takeuchi , Minekazu Momiyama , Hiroaki Kato , Kenji Asano
发明人： Yoshiyuki Yasui , Eiichi Ono , Yuji Muragishi , Shinji Takeuchi , Minekazu Momiyama , Hiroaki Kato , Kenji Asano
IPC分类号： B62D6/00 , B60R16/02 , B60T8/172 , B60T8/1755 , B60T8/1763 , B60T8/58 , B60W10/18 , B60W10/188 , B60W10/20 , B60W30/00 , B60W30/02 , B60W30/045 , B60W40/068 , B62D6/04 , B62D101/00 , B62D111/00 , B62D113/00 , B62D137/00 , G06F19/00 , B60K17/344 , B60T8/32
CPC分类号： B60W40/064 , B60T8/172 , B60T8/1755 , B60T2210/12 , B60T2230/02 , B60T2260/02 , B60W30/02 , B60W40/101 , B60W2530/20 , B62D6/006
摘要： The present invention is directed to a road condition estimation apparatus for estimating a road condition for use in a vehicle having a steering control unit for actuating a device mechanically independent of a manually operated steering member to steer at least a wheel of front and rear wheels. The apparatus includes an actuating signal detection unit for detecting an actuating signal for actuating the device of the steering control unit, an aligning torque estimation unit for estimating an aligning torque produced on the wheel on the basis of the actuating signal detected by the actuating signal 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 a 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 aligning torque and the estimated wheel factor.
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，以引导至少前轮和后轮的车轮。该装置包括用于检测用于致动转向控制单元的装置的致动信号的致动信号检测单元;对准扭矩估计单元，用于基于由致动信号检测器检测到的致动信号来估计在车轮上产生的对准扭矩单元，以及用于检测车辆的状态变量的车辆状态变量检测单元。该装置还包括：车轮因子估计单元，用于基于车辆状态变量估计包括侧力和施加到车轮的滑移角的车轮因数中的至少一个;以及用于估计车辆因素估计单元至少轮胎的轮胎，根据估计的对准扭矩与估计的车轮因数之间的关系。

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