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1. 发明申请

US20110218706A1 VEHICLE MOTION CONTROL APPARATUS 有权
标题翻译：车辆运动控制装置
公开(公告)号：US20110218706A1
公开(公告)日：2011-09-08
申请号：US13040374
申请日：2011-03-04
申请人： Ryoji Mori , Yuuji Sakaki , Noriaki Suzuki , Teppei Komori
发明人： Ryoji Mori , Yuuji Sakaki , Noriaki Suzuki , Teppei Komori
IPC分类号： G06F17/00
CPC分类号： B60W10/06 , B60W10/11 , B60W10/184 , B60W10/20 , B60W30/025 , B60W2520/10 , B60W2540/10 , B60W2540/12 , B60W2720/14 , Y02T10/56
摘要： A vehicle motion control apparatus suppresses strangeness feeling in a driver when a signal from a sensor which detects an operated state quantity of a vehicle and a motional state quantity thereof is abnormal. The vehicle motion control apparatus includes a control unit, and sensors. An actual-state-quantity obtaining unit outputs a vehicle-body actual slip angle and an actual yaw rate to a deviation calculating unit. A reference dynamic-characteristic model calculating unit calculates a vehicle-body reference slip angle and a reference yaw rate using a dynamic-characteristic model and outputs those to the deviation calculating unit. A virtual external-force calculating unit feeds back a virtual external force to the reference dynamic-characteristic model calculating unit based on a deviation output by the deviation calculating unit. At this time, a virtual-external-force-calculation controlling unit controls correction of a virtual external force based on a signal indicating a detection condition output by the sensors.
摘要翻译：当检测到车辆的操作状态量和运动状态量的传感器的信号异常时，车辆运动控制装置抑制驾驶员的陌生感。车辆运动控制装置包括控制单元和传感器。实际状态量获取单元向偏差计算单元输出车身实际滑移角和实际横摆角速度。参考动态特性模型计算单元使用动态特性模型来计算车身基准滑移角和参考偏航角速度，并将其输出到偏差计算单元。虚拟外力计算单元基于偏差计算单元输出的偏差将虚拟外力反馈到基准动态特性模型计算单元。此时，虚拟外力计算控制单元基于表示由传感器输出的检测条件的信号来控制虚拟外力的校正。

2. 发明授权

US08355844B2 Vehicle motion control apparatus 有权
标题翻译：车辆运动控制装置
公开(公告)号：US08355844B2
公开(公告)日：2013-01-15
申请号：US13040410
申请日：2011-03-04
申请人： Ryoji Mori , Yuuji Sakaki , Noriaki Suzuki , Teppei Komori , Hisanori Yanagida
发明人： Ryoji Mori , Yuuji Sakaki , Noriaki Suzuki , Teppei Komori , Hisanori Yanagida
IPC分类号： B60R22/00 , E05F15/00 , G05D1/00 , G05D3/00 , G06F7/00 , G06F17/00
CPC分类号： B60W10/06 , B60W10/11 , B60W10/184 , B60W10/20 , B60W30/025 , B60W2520/10 , B60W2540/10 , B60W2540/12 , B60W2720/14 , Y02T10/56
摘要： The vehicle motion control apparatus includes a control unit 37A and sensors 2, 3, 4, 30, 31, 32, 33, etc. The actual state quantity obtaining unit 52 calculates a vehicle body actual slip angle βz_act, etc. The reference dynamic-characteristic model calculating unit 54 calculates a reference vehicle body slip angle βz_d, etc. by using a dynamic characteristic model. The vehicle motion control apparatus also includes a first anti-spin target yaw moment FB unit 68 which calculates a first anti-spin•target yaw moment Mc1_asp based on the vehicle body actual slip angle βz_act and a second anti-spin target yaw moment FB unit 82 which calculates a second anti-spin•target yaw moment Mc2_asp based on a lateral acceleration Gs, a vehicle speed Vact and an actual yaw rate γact.
摘要翻译：车辆运动控制装置包括控制单元37A和传感器2,3,4,30,31,32,33等。实际状态量获取单元52计算车体实际滑移角度＆bgr; z_act等。参考动态特性模型计算单元54通过使用动态特性模型来计算参考车身滑移角度＆bgr; z_d等。车辆运动控制装置还包括：第一抗旋转目标横摆力矩FB单元68，其基于车身实际滑移角度＆bgr; z_act和第二防旋转目标横摆力矩计算第一防旋转目标横摆力矩Mc1_asp; FB单元82，其基于横向加速度Gs，车辆速度Vact和实际横摆率γact计算第二抗旋转目标横摆力矩Mc2_asp。

3. 发明授权

US08718875B2 Vehicle motion control apparatus 有权
标题翻译：车辆运动控制装置
公开(公告)号：US08718875B2
公开(公告)日：2014-05-06
申请号：US13040374
申请日：2011-03-04
申请人： Ryoji Mori , Yuuji Sakaki , Noriaki Suzuki , Teppei Komori
发明人： Ryoji Mori , Yuuji Sakaki , Noriaki Suzuki , Teppei Komori
IPC分类号： G06F17/00
CPC分类号： B60W10/06 , B60W10/11 , B60W10/184 , B60W10/20 , B60W30/025 , B60W2520/10 , B60W2540/10 , B60W2540/12 , B60W2720/14 , Y02T10/56
摘要： A vehicle motion control apparatus suppresses strangeness feeling in a driver when a signal from a sensor which detects an operated state quantity of a vehicle and a motional state quantity thereof is abnormal. The vehicle motion control apparatus includes a control unit, and sensors. An actual-state-quantity obtaining unit outputs a vehicle-body actual slip angle and an actual yaw rate to a deviation calculating unit. A reference dynamic-characteristic model calculating unit calculates a vehicle-body reference slip angle and a reference yaw rate using a dynamic-characteristic model and outputs those to the deviation calculating unit. A virtual external-force calculating unit feeds back a virtual external force to the reference dynamic-characteristic model calculating unit based on a deviation output by the deviation calculating unit. At this time, a virtual-external-force-calculation controlling unit controls correction of a virtual external force based on a signal indicating a detection condition output by the sensors.
摘要翻译：当检测到车辆的操作状态量和运动状态量的传感器的信号异常时，车辆运动控制装置抑制驾驶员的陌生感。车辆运动控制装置包括控制单元和传感器。实际状态量获取单元向偏差计算单元输出车身实际滑移角和实际横摆角速度。参考动态特性模型计算单元使用动态特性模型来计算车身基准滑移角和参考偏航角速度，并将其输出到偏差计算单元。虚拟外力计算单元基于偏差计算单元输出的偏差将虚拟外力反馈到基准动态特性模型计算单元。此时，虚拟外力计算控制单元基于表示由传感器输出的检测条件的信号来控制虚拟外力的校正。

4. 发明申请

US20110218700A1 VEHICLE MOTION CONTROL APPARATUS 有权
标题翻译：车辆运动控制装置
公开(公告)号：US20110218700A1
公开(公告)日：2011-09-08
申请号：US13040410
申请日：2011-03-04
申请人： Ryoji Mori , Yuuji Sakaki , Noriaki Suzuki , Teppei Komori , Hisanori Yanagida
发明人： Ryoji Mori , Yuuji Sakaki , Noriaki Suzuki , Teppei Komori , Hisanori Yanagida
IPC分类号： G06F7/00
CPC分类号： B60W10/06 , B60W10/11 , B60W10/184 , B60W10/20 , B60W30/025 , B60W2520/10 , B60W2540/10 , B60W2540/12 , B60W2720/14 , Y02T10/56
摘要： The vehicle motion control apparatus includes a control unit 37A and sensors 2, 3, 4, 30, 31, 32, 33, etc. The actual state quantity obtaining unit 52 calculates a vehicle body actual slip angle βz_act, etc. The reference dynamic-characteristic model calculating unit 54 calculates a reference vehicle body slip angle βz_d, etc. by using a dynamic characteristic model. The vehicle motion control apparatus also includes a first anti-spin target yaw moment FB unit 68 which calculates a first anti-spin•target yaw moment Mc1_asp based on the vehicle body actual slip angle βz_act and a second anti-spin target yaw moment FB unit 82 which calculates a second anti-spin•target yaw moment Mc2_asp based on a lateral acceleration Gs, a vehicle speed Vact and an actual yaw rate γact.
摘要翻译：车辆运动控制装置包括控制单元37A和传感器2,3,4,30,31,32,33等。实际状态量获取单元52计算车体实际滑移角度＆bgr; z_act等。参考动态特性模型计算单元54通过使用动态特性模型来计算参考车身滑移角度＆bgr; z_d等。车辆运动控制装置还包括：第一抗旋转目标横摆力矩FB单元68，其基于车身实际滑移角度＆bgr; z_act和第二防旋转目标横摆力矩计算第一防旋转目标横摆力矩Mc1_asp; FB单元82，其基于横向加速度Gs，车辆速度Vact和实际横摆率γact计算第二抗旋转目标横摆力矩Mc2_asp。

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