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1. 发明申请

US20050096830A1 Integrated control apparatus for vehicle 审中-公开
标题翻译：车辆综合控制装置
公开(公告)号：US20050096830A1
公开(公告)日：2005-05-05
申请号：US10957541
申请日：2004-10-01
申请人： Takayuki Ohta , Minekazu Momiyama , Hiroaki Kato , Akira Kodama
发明人： Takayuki Ohta , Minekazu Momiyama , Hiroaki Kato , Akira Kodama
IPC分类号： B60K23/08 , B60K28/16 , B60R16/02 , B60T8/172 , B60T8/1755 , B60T8/1763 , B60W10/00 , B60W10/12 , B60W10/18 , B60W10/188 , B60W10/20 , B60W40/068 , B60W40/10 , B62D5/04 , B62D6/00 , B62D7/14 , B62D7/15 , B62D103/00 , B62D111/00 , B62D113/00 , B62D119/00 , B62D137/00 , G05B11/01 , G05B15/02 , G06F7/00
CPC分类号： B60T8/172 , B60K23/0808 , B60K28/165 , B60T8/1755 , B60T2230/02 , B60T2260/022 , B60T2260/08 , B60W10/04 , B60W10/18 , B60W10/20 , B60W30/02 , B60W2520/26
摘要： In a vehicle of a four-wheel independent steering type, an electronic control unit calculates a target yaw rate in accordance with a vehicle speed and a steering angle, and calculates a vehicle-control target value on the basis of the target yaw rate and an actual yaw rate. The electronic control unit estimates the grip factors of the individual wheels to road surface, and sets a distribution ratio for distribution of the vehicle-control target value among actuators of a steering system, a brake system, and a drive system in accordance with the estimated grip factors. The electronic control unit controls the actuators of the three systems in accordance with control instruction values determined on the basis of the vehicle-control target value and the distribution ratio.
摘要翻译：在四轮独立转向型车辆中，电子控制单元根据车速和转向角计算目标横摆率，根据目标横摆率计算车辆控制目标值，实际横摆率。电子控制单元估计各车轮对路面的夹紧系数，并根据估计的转向系统，制动系统和驱动系统的执行器之间设定车辆控制目标值的分配比例握力因素。电子控制单元根据基于车辆控制目标值和分配比例确定的控制指令值来控制三个系统的执行器。

2. 发明授权

US07171296B2 Integrated control apparatus for vehicle 失效
标题翻译：车辆综合控制装置
公开(公告)号：US07171296B2
公开(公告)日：2007-01-30
申请号：US10957542
申请日：2004-10-01
申请人： Hiroaki Kato , Minekazu Momiyama , Takayuki Ohta , Akira Kodama
发明人： Hiroaki Kato , Minekazu Momiyama , Takayuki Ohta , Akira Kodama
IPC分类号： G06G7/00 , B60T8/175 , B60K28/16
CPC分类号： B62D6/006 , B60T8/172 , B60T8/17558 , B60T2210/12 , B60T2260/02 , B60W10/18 , B60W10/20 , B60W40/064 , B60W2550/148
摘要： An electronic control unit calculates a target yaw rate in accordance with a vehicle speed and a steering angle and calculates the yaw rate difference on the basis of the target yaw rate and an actual yaw rate. The electronic control unit estimates the grip factor of a front wheel to road surface and sets a distribution ratio for distribution of a vehicle-control target value among actuators of a steering system, a brake system, and a drive system in accordance with the estimated grip factor. The electronic control unit controls the actuators of the three systems in accordance with control instruction values distributed on the basis of the vehicle-control target value and the distribution ratio.
摘要翻译：电子控制单元根据车速和转向角计算目标横摆率，并根据目标横摆率和实际横摆率计算横摆率差。电子控制单元估计前轮对路面的夹紧系数，并根据估计的把手设定转向系统，制动系统和驱动系统的执行器之间的车辆控制目标值的分配比率因子。电子控制单元根据基于车辆控制目标值和分配比例分配的控制指令值来控制三个系统的致动器。

3. 发明申请

US20050125131A1 Integrated control apparatus for vehicle 失效
标题翻译：车辆综合控制装置
公开(公告)号：US20050125131A1
公开(公告)日：2005-06-09
申请号：US10957542
申请日：2004-10-01
申请人： Hiroaki Kato , Minekazu Momiyama , Takayuki Ohta , Akira Kodama
发明人： Hiroaki Kato , Minekazu Momiyama , Takayuki Ohta , Akira Kodama
IPC分类号： B60R21/00 , B60K17/35 , B60R1/00 , B60R16/02 , B60T8/172 , B60T8/1755 , B60W10/20 , B60W30/00 , B60W30/02 , B60W40/068 , B60W40/10 , B62D6/00 , B62D37/00 , B62D101/00 , B62D103/00 , B62D111/00 , B62D113/00 , B62D119/00 , G06G7/00
CPC分类号： B62D6/006 , B60T8/172 , B60T8/17558 , B60T2210/12 , B60T2260/02 , B60W10/18 , B60W10/20 , B60W40/064 , B60W2550/148
摘要： An electronic control unit calculates a target yaw rate in accordance with a vehicle speed and a steering angle and calculates the yaw rate difference on the basis of the target yaw rate and an actual yaw rate. The electronic control unit estimates the grip factor of a front wheel to road surface and sets a distribution ratio for distribution of a vehicle-control target value among actuators of a steering system, a brake system, and a drive system in accordance with the estimated grip factor. The electronic control unit controls the actuators of the three systems in accordance with control instruction values distributed on the basis of the vehicle-control target value and the distribution ratio.
摘要翻译：电子控制单元根据车速和转向角计算目标横摆率，并根据目标横摆率和实际横摆率计算横摆率差。电子控制单元估计前轮对路面的夹紧系数，并根据估计的把手设定转向系统，制动系统和驱动系统的执行器之间的车辆控制目标值的分配比率因子。电子控制单元根据基于车辆控制目标值和分配比例分配的控制指令值来控制三个系统的致动器。

4. 发明申请

US20050273235A1 Vehicle steering apparatus and control method therefor 失效
标题翻译：车辆转向装置及其控制方法
公开(公告)号：US20050273235A1
公开(公告)日：2005-12-08
申请号：US11139695
申请日：2005-05-31
申请人： Takayuki Ohta , Minekazu Momiyama , Hiroaki Kato
发明人： Takayuki Ohta , Minekazu Momiyama , Hiroaki Kato
IPC分类号： B62D1/20 , B62D5/00 , B62D5/04 , B62D6/00 , B62D6/04 , B62D101/00 , B62D111/00 , B62D113/00 , B62D137/00
CPC分类号： B62D6/003 , B62D5/008 , B62D6/005
摘要： When a variable value indicates that a steering characteristic is understeer, a control unit controls a variable transmission ratio device to change a second steering angle such that the greater the understeer indicated by the variable value, the smaller the steering angle of steered wheels relative to the turning angle of a steering wheel becomes. When the differentiated value of the variable value indicates that the understeer is changing to increase, a correction unit corrects the variable value such that the greater the degree of change of the understeer indicated by the differentiated value, the greater the understeer indicated by the variable value becomes. Hence, the attitude of a vehicle in understeer is stabilized with a simple configuration.
摘要翻译：当可变值表示转向特性不足时，控制单元控制可变变速比装置以改变第二转向角，使得由可变值指示的转向不足转向越大，转向轮相对于转向角的转向角越小方向盘的转角变成了。当可变值的微分值表示不足转向增加时，校正单元校正变量值，使得由微分值表示的不足转换程度越大，变量值指示的转向不足越大成为因此，通过简单的结构，车辆在转向不足中的姿态稳定。

5. 发明申请

US20050257988A1 Vehicle control system 失效
标题翻译：车辆控制系统
公开(公告)号：US20050257988A1
公开(公告)日：2005-11-24
申请号：US11134835
申请日：2005-05-20
申请人： Takayuki Ohta , Shinji Takeuchi , Minekazu Momiyama , Hiroaki Kato , Tsuyoshi Murakami
发明人： Takayuki Ohta , Shinji Takeuchi , Minekazu Momiyama , Hiroaki Kato , Tsuyoshi Murakami
IPC分类号： B60K17/348 , B62D5/00 , B62D5/04 , B62D6/00 , B62D6/04 , B62D101/00 , B62D113/00 , B62D119/00 , B62D137/00 , B62D5/06
CPC分类号： B62D5/008 , B62D6/006 , B62D6/04
摘要： The control system of a vehicle according to the present invention controls the transmission ratio of the steering angle of a steering wheel relative to a turning angle of front wheels based on a drive force distribution ratio. Thus, the performance of the tires on the front wheels can be used to almost maximum potential, providing effective prevention of understeering. The present invention provides a steering system that limits understeering effectively.
摘要翻译：根据本发明的车辆的控制系统基于驱动力分配比来控制方向盘相对于前轮的转向角的转向角的传动比。因此，轮胎在前轮上的性能可以用于几乎最大的潜力，从而有效地防止转向不足。本发明提供了一种有效地限制转向不足的转向系统。

6. 发明授权

US07441627B2 Vehicle control system 失效
标题翻译：车辆控制系统
公开(公告)号：US07441627B2
公开(公告)日：2008-10-28
申请号：US11134835
申请日：2005-05-20
申请人： Takayuki Ohta , Shinji Takeuchi , Minekazu Momiyama , Hiroaki Kato , Tsuyoshi Murakami
发明人： Takayuki Ohta , Shinji Takeuchi , Minekazu Momiyama , Hiroaki Kato , Tsuyoshi Murakami
IPC分类号： B62D5/04
CPC分类号： B62D5/008 , B62D6/006 , B62D6/04
摘要： The control system of a vehicle controls the transmission ratio of the steering angle of a steering wheel relative to a turning angle of front wheels based on a drive force distribution ratio. Thus, the performance of the tires on the front wheels can be used to almost maximum potential, providing effective prevention of understeering.
摘要翻译：车辆的控制系统基于驱动力分配比来控制方向盘相对于前轮的转向角的转向角的传动比。因此，轮胎在前轮上的性能可以用于几乎最大的潜力，从而有效地防止转向不足。

7. 发明授权

US07315773B2 Vehicle motion control method and vehicle motion control apparatus 失效
标题翻译：车辆运动控制方法和车辆运动控制装置
公开(公告)号：US07315773B2
公开(公告)日：2008-01-01
申请号：US10811843
申请日：2004-03-30
申请人： Hiroaki Kato , Minekazu Momiyama , Takayuki Ohta
发明人： Hiroaki Kato , Minekazu Momiyama , Takayuki Ohta
IPC分类号： B62D6/00 , G06F19/00
CPC分类号： B60W30/02 , B62D6/04
摘要： This invention provides a vehicle motion control method and a vehicle motion control apparatus capable of improving the behavior stability of a vehicle. According to the vehicle motion control method, vehicle steering characteristic is determined based on a behavior amount differentiated value obtained by differentiating (S203) a slip angle differential value which is a behavior amount of the vehicle which occurs around a z-axis in the vertical direction with respect to the vehicle body (S205, S209). Consequently, because the phase of the slip angle differential value is progressed, the transition tendency of the steering characteristic, that is, which the vehicle motion condition is moved to over-steer or under-steer, can be obtained early. Therefore, the starting timing of the steering control or drive power control of the vehicle can be accelerated thereby improving the behavior stability of the vehicle.
摘要翻译：本发明提供一种能够改善车辆行为稳定性的车辆运动控制方法和车辆运动控制装置。根据车辆运动控制方法，基于通过对作为在垂直方向上的z轴周围出现的车辆的行为量的滑移角差分值进行微分而获得的行为量微分值（S103）来确定车辆转向特性相对于车体的方向（S 205，S 209）。因此，由于滑移角差分值的相位发生变化，所以可以及早获得转向特性的转变趋势，即车辆运动状态转向过转向或转向不足的过渡趋势。因此，可以加速车辆的转向控制或驱动力控制的开始时刻，从而提高车辆的行驶稳定性。

8. 发明授权

US07066295B2 Vehicle steering apparatus and control method therefor 失效
标题翻译：车辆转向装置及其控制方法
公开(公告)号：US07066295B2
公开(公告)日：2006-06-27
申请号：US11139695
申请日：2005-05-31
申请人： Takayuki Ohta , Minekazu Momiyama , Hiroaki Kato
发明人： Takayuki Ohta , Minekazu Momiyama , Hiroaki Kato
IPC分类号： B62D5/00 , B62D137/00
CPC分类号： B62D6/003 , B62D5/008 , B62D6/005
摘要： When a variable value indicates that a steering characteristic is understeer, a control unit controls a variable transmission ratio device to change a second steering angle such that the greater the understeer indicated by the variable value, the smaller the steering angle of steered wheels relative to the turning angle of a steering wheel becomes. When the differentiated value of the variable value indicates that the understeer is changing to increase, a correction unit corrects the variable value such that the greater the degree of change of the understeer indicated by the differentiated value, the greater the understeer indicated by the variable value becomes. Hence, the attitude of a vehicle in understeer is stabilized with a simple configuration.
摘要翻译：当可变值表示转向特性不足时，控制单元控制可变变速比装置以改变第二转向角，使得由可变值指示的转向不足转向越大，转向轮相对于转向角的转向角越小方向盘的转角变成了。当可变值的微分值表示不足转向增加时，校正单元校正变量值，使得由微分值表示的不足转换程度越大，变量值指示的转向不足越大成为因此，通过简单的结构，车辆在转向不足中的姿态稳定。

9. 发明授权

US06931313B2 Vehicular steering device 有权
标题翻译：车辆转向装置
公开(公告)号：US06931313B2
公开(公告)日：2005-08-16
申请号：US10932114
申请日：2004-09-02
申请人： Hiroaki Kato , Minekazu Momiyama , Takayuki Ohta , Yoshiyuki Yasui , Yuzo Imoto , Hiroaki Aizawa , Eiichi Ono , Yuji Muragishi
发明人： Hiroaki Kato , Minekazu Momiyama , Takayuki Ohta , Yoshiyuki Yasui , Yuzo Imoto , Hiroaki Aizawa , Eiichi Ono , Yuji Muragishi
IPC分类号： B60T8/172 , B62D5/00 , B62D6/00 , B62D101/00 , B62D103/00 , B62D111/00 , B62D113/00 , B62D119/00 , B62D137/00 , G06F7/00
CPC分类号： B62D5/008 , B60T8/172 , B60T2210/12 , B60T2220/03 , B62D6/003 , B62D6/006
摘要： A first ECU 30 detects a steering torque applied to a steering system, estimates a self-aligning torque generated in a front wheel on the basis of the steering torque, and estimates a side force for the front wheel on the basis of lateral acceleration and a yaw rate. The first ECU 30 estimates a grip factor ε for the front wheel on the basis of a change of the self-aligning torque to the side force. The first ECU 30 judges whether the grip factor is below a second OS (oversteer) start threshold value. A second ECU 40 controls the transfer ratio according to the vehicle state when the grip factor is less than the second OS start threshold value.
摘要翻译：第一ECU30检测施加于转向系统的转向转矩，基于转向转矩来估计在前轮中产生的自对准转矩，并且基于横向加速度估计前轮的侧向力，并且横摆率。第一ECU30基于自对准转矩与侧向力的变化来估计前轮的抓地系数ε。第一ECU30判断握持系数是否低于第二OS（过度转向）开始阈值。当夹紧系数小于第二OS起始阈值时，第二ECU40根据车辆状态控制传送比。

10. 发明申请

US20050071061A1 Vehicular steering device 有权
公开(公告)号：US20050071061A1
公开(公告)日：2005-03-31
申请号：US10932114
申请日：2004-09-02
申请人： Hiroaki Kato , Minekazu Momiyama , Takayuki Ohta , Yoshiyuki Yasui , Yuzo Imoto , Hiroaki Aizawa , Eiichi Ono , Yuji Muragishi
发明人： Hiroaki Kato , Minekazu Momiyama , Takayuki Ohta , Yoshiyuki Yasui , Yuzo Imoto , Hiroaki Aizawa , Eiichi Ono , Yuji Muragishi
IPC分类号： B60T8/172 , B62D5/00 , B62D6/00 , B62D101/00 , B62D103/00 , B62D111/00 , B62D113/00 , B62D119/00 , B62D137/00 , B62D5/04
CPC分类号： B62D5/008 , B60T8/172 , B60T2210/12 , B60T2220/03 , B62D6/003 , B62D6/006
摘要： A first ECU 30 detects a steering torque applied to a steering system, estimates a self-aligning torque generated in a front wheel on the basis of the steering torque, and estimates a side force for the front wheel on the basis of lateral acceleration and a yaw rate. The first ECU 30 estimates a grip factor ε for the front wheel on the basis of a change of the self-aligning torque to the side force. The first ECU 30 judges whether the grip factor is below a second OS (oversteer) start threshold value. A second ECU 40 controls the transfer ratio according to the vehicle state when the grip factor is less than the second OS start threshold value.

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