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1. 发明授权

US08315758B2 Road surface frictional coefficient estimating apparatus 有权
标题翻译：路面摩擦系数估计装置
公开(公告)号：US08315758B2
公开(公告)日：2012-11-20
申请号：US12704085
申请日：2010-02-11
申请人： Toru Takenaka , Hiroyuki Urabe , Osamu Yano , Yoshihiro Mori , Tomoya Ushimura
发明人： Toru Takenaka , Hiroyuki Urabe , Osamu Yano , Yoshihiro Mori , Tomoya Ushimura
IPC分类号： G01M17/00
CPC分类号： B60T8/172 , B60T2210/12 , B60T2270/86 , B60W40/068 , B62D6/006 , Y10T152/10792
摘要： A road surface frictional coefficient estimating apparatus has a device for determining a first estimated value of a yaw moment Mnsp_estm generated at an NSP of a vehicle due to the resultant force of road surface reaction forces acting on each wheel by using, for example, a frictional coefficient estimated value that has been determined, and a device for determining a second estimated value of a yaw moment Mnsp_sens generated at the NSP from the observed value of motional state amounts defining an inertial force moment at the NSP. The increasing/decreasing manipulated variable of the frictional coefficient estimated value is sequentially determined on an error (Mnsp_sens−Mnsp_estm) such that the error is converged to zero, and the road surface frictional coefficient is updated on the basis of the increasing/decreasing manipulated variable.
摘要翻译：路面摩擦系数估计装置具有用于确定在车辆的NSP处产生的横摆力矩Mnsp_estm的第一估计值的装置，这是由于作用在每个车轮上的路面反作用力的合力，例如通过摩擦已经确定的系数估计值，以及用于根据在NSP处限定惯性力矩的运动状态量的观测值来确定在NSP处产生的偏航力矩Mnsp_sens的第二估计值的装置。根据误差（Mnsp_sens-Mnsp_estm）依次确定摩擦系数估计值的增加/减少操作变量，使得误差收敛到零，并且基于增加/减少的操作变量来更新路面摩擦系数。

2. 发明申请

US20100211256A1 ROAD SURFACE FRICTIONAL COEFFICIENT ESTIMATING APPARATUS 有权
标题翻译：道路表面摩擦系数估计装置
公开(公告)号：US20100211256A1
公开(公告)日：2010-08-19
申请号：US12704085
申请日：2010-02-11
申请人： Toru Takenaka , Hiroyuki Urabe , Osamu Yano , Yoshihiro Mori , Tomoya Ushimura
发明人： Toru Takenaka , Hiroyuki Urabe , Osamu Yano , Yoshihiro Mori , Tomoya Ushimura
IPC分类号： G06F7/00
CPC分类号： B60T8/172 , B60T2210/12 , B60T2270/86 , B60W40/068 , B62D6/006 , Y10T152/10792
摘要： A road surface frictional coefficient estimating apparatus has a device for determining a first estimated value of a yaw moment Mnsp_estm generated at an NSP of a vehicle due to the resultant force of road surface reaction forces acting on each wheel by using, for example, a frictional coefficient estimated value that has been determined, and a device for determining a second estimated value of a yaw moment Mnsp_sens generated at the NSP from the observed value of motional state amounts defining an inertial force moment at the NSP. The increasing/decreasing manipulated variable of the frictional coefficient estimated value is sequentially determined on an error (Mnsp_sens−Mnsp_estm) such that the error is converged to zero, and the road surface frictional coefficient is updated on the basis of the increasing/decreasing manipulated variable.
摘要翻译：路面摩擦系数估计装置具有用于确定在车辆的NSP处产生的横摆力矩Mnsp_estm的第一估计值的装置，这是由于作用在每个车轮上的路面反作用力的合力，例如通过摩擦已经确定的系数估计值，以及用于根据在NSP处限定惯性力矩的运动状态量的观测值来确定在NSP处产生的偏航力矩Mnsp_sens的第二估计值的装置。根据误差（Mnsp_sens-Mnsp_estm）依次确定摩擦系数估计值的增加/减少操作变量，使得误差收敛到零，并且基于增加/减少的操作变量来更新路面摩擦系数。

3. 发明授权

US09073566B2 Road surface friction coefficient estimating device 有权
标题翻译：路面摩擦系数估算装置
公开(公告)号：US09073566B2
公开(公告)日：2015-07-07
申请号：US13257698
申请日：2010-03-26
申请人： Toru Takenaka , Hiroyuki Urabe , Yoshihiro Mori
发明人： Toru Takenaka , Hiroyuki Urabe , Yoshihiro Mori
IPC分类号： B62D6/00 , B60T8/172 , B60W40/068
CPC分类号： B62D6/006 , B60T8/172 , B60T2210/12 , B60T2210/22 , B60W40/068
摘要： A road surface friction coefficient estimating device includes a means which finds a first estimated value Mnsp_estm of an external force to be compared (S102 to S116, S118-2), a means which finds a second estimated value Mnsp_sens (S118-1), and a plurality of increasing/decreasing manipulated variable determining means 34_k, each of which determines the increasing/decreasing manipulated variable Δμ_k of the friction coefficient estimated value on the basis of the first estimated value Mnsp_estm and the second estimated value Mnsp_sens, and updates the friction coefficient estimated value according to Δμ_k. The increasing/decreasing manipulated variable determining means 34—1 and 34—2 determine Δμ—1 and Δμ—2 according to a deviation in filtering value between the first estimated value and the second estimated value, and the increasing/decreasing manipulated variable determining means 34—3 determines Δμ—1 according to the deviation between the first estimated value and the second estimated value.
摘要翻译：路面摩擦系数估计装置包括找到要比较的外力的第一估计值Mnsp_estm的装置（S102至S116，S118-2），找到第二估计值Mnsp_sens（S118-1）的装置，以及根据第一估计值Mnsp_estm和第二估计值Mnsp_sens来确定摩擦系数估计值的递增/减少操作变量＆Dgr;μ_k的多个递增/递减操作变量确定装置34_k，并且更新摩擦系数估计值根据＆Dgr;μ_k。上升/下降操作量确定装置34-1和34-2根据第一估计值和第二估计值之间的滤波值的偏差确定＆Dgr;μ-1和＆Dgr;μ-2，并且增加/减小操作变量确定装置34-3根据第一估计值和第二估计值之间的偏差确定＆Dgr;μ-1。

4. 发明申请

US20120029783A1 ROAD SURFACE FRICTION COEFFICIENT ESTIMATING DEVICE 有权
标题翻译：道路表面摩擦系数估计装置
公开(公告)号：US20120029783A1
公开(公告)日：2012-02-02
申请号：US13257698
申请日：2010-03-26
申请人： Toru Takenaka , Hiroyuki Urabe , Yoshihiro Mori
发明人： Toru Takenaka , Hiroyuki Urabe , Yoshihiro Mori
IPC分类号： B60W40/06
CPC分类号： B62D6/006 , B60T8/172 , B60T2210/12 , B60T2210/22 , B60W40/068
摘要： A road surface friction coefficient estimating device includes a means which finds a first estimated value Mnsp_estm of an external force to be compared (S102 to S116, S118-2), a means which finds a second estimated value Mnsp_sens (S118-1), and a plurality of increasing/decreasing manipulated variable determining means 34_k, each of which determines the increasing/decreasing manipulated variable Δμ_k of the friction coefficient estimated value on the basis of the first estimated value Mnsp_estm and the second estimated value Mnsp_sens, and updates the friction coefficient estimated value according to Δμ_k. The increasing/decreasing manipulated variable determining means 34—1 and 34—2 determine Δμ—1 and Δμ—2 according to a deviation in filtering value between the first estimated value and the second estimated value, and the increasing/decreasing manipulated variable determining means 34—3 determines Δμ—1 according to the deviation between the first estimated value and the second estimated value.
摘要翻译：路面摩擦系数估计装置包括找到要比较的外力的第一估计值Mnsp_estm的装置（S102至S116，S118-2），找到第二估计值Mnsp_sens（S118-1）的装置，以及根据第一估计值Mnsp_estm和第二估计值Mnsp_sens来确定摩擦系数估计值的递增/减少操作变量＆Dgr;μ_k的多个递增/递减操作变量确定装置34_k，并且更新摩擦系数估计值根据＆Dgr;μ_k。上升/下降操作量确定装置34-1和34-2根据第一估计值和第二估计值之间的滤波值的偏差确定＆Dgr;μ-1和＆Dgr;μ-2，并且增加/减小操作变量确定装置34-3根据第一估计值和第二估计值之间的偏差确定＆Dgr;μ-1。

5. 发明申请

US20100211255A1 ROAD SURFACE FRICTIONAL COEFFICIENT ESTIMATING APPARATUS 有权
标题翻译：道路表面摩擦系数估计装置
公开(公告)号：US20100211255A1
公开(公告)日：2010-08-19
申请号：US12704081
申请日：2010-02-11
申请人： Toru Takenaka , Yoshihiro Mori , Hiroyuki Urabe
发明人： Toru Takenaka , Yoshihiro Mori , Hiroyuki Urabe
IPC分类号： G06F7/00
CPC分类号： B60T8/172 , B60T2210/12 , B60T2230/02 , B60W40/068
摘要： A road surface frictional coefficient estimating apparatus includes a device which determines a first estimated value of a to-be-compared external force acting on a vehicle due to the resultant force of road surface reaction forces by using a determined frictional coefficient estimated value and the like, and a device which determines a second estimated value of the to-be-compared external force from the observed value of motional state amounts of the vehicle that define an inertial force corresponding to the to-be-compared external force. The estimated value of a road surface frictional coefficient is updated on the basis of the difference between the first estimated value and the second estimated value. In the case where the first estimated value and the second estimated value have polarities that are opposite from each other, the updating of the estimated value of the road surface frictional coefficient on the basis of the difference is not carried out.
摘要翻译：路面摩擦系数估计装置包括：通过使用确定的摩擦系数估计值等来确定由于路面反作用力的合力而作用在车辆上的被比较的外力的第一估计值的装置以及从定义对应于待比较的外力的惯性力的车辆的运动状态量的观测值确定待比较的外力的第二估计值的装置。基于第一估计值和第二估计值之间的差来更新路面摩擦系数的估计值。在第一估计值和第二估计值具有彼此相反的极性的情况下，不执行基于该差异的路面摩擦系数的估计值的更新。

6. 发明授权

US09221439B2 Road surface frictional coefficient estimating apparatus 有权
标题翻译：路面摩擦系数估计装置
公开(公告)号：US09221439B2
公开(公告)日：2015-12-29
申请号：US12704081
申请日：2010-02-11
申请人： Toru Takenaka , Yoshihiro Mori , Hiroyuki Urabe
发明人： Toru Takenaka , Yoshihiro Mori , Hiroyuki Urabe
IPC分类号： G06F7/00 , B60T8/172 , B60W40/068
CPC分类号： B60T8/172 , B60T2210/12 , B60T2230/02 , B60W40/068
摘要： A road surface frictional coefficient estimating apparatus includes a device which determines a first estimated value of a to-be-compared external force acting on a vehicle due to the resultant force of road surface reaction forces using a determined frictional coefficient estimated value and the like, and a device which determines a second estimated value of the to-be-compared external force from the observed value of motional state amounts of the vehicle that define an inertial force corresponding to the to-be-compared external force. The estimated value of a road surface frictional coefficient is updated based on the difference between the first estimated value and the second estimated value. When the first estimated value and the second estimated value have opposite polarities, the updating of the estimated value of the road surface frictional coefficient based on the difference is not carried out.
摘要翻译：路面摩擦系数估计装置包括：使用确定的摩擦系数估计值等，由于路面反作用力的合力确定作用在车辆上的被比较的外力的第一估计值的装置，以及装置，其从所述车辆的运动状态量的观测值确定所述待比较的外力的第二估计值，所述运动状态量定义与所述待比较的外力相对应的惯性力。基于第一估计值和第二估计值之间的差来更新路面摩擦系数的估计值。当第一估计值和第二估计值具有相反的极性时，不执行基于该差异的路面摩擦系数的估计值的更新。

7. 发明申请

US20090171526A1 Vehicle Control Device 有权
标题翻译：车辆控制装置
公开(公告)号：US20090171526A1
公开(公告)日：2009-07-02
申请号：US12097130
申请日：2006-12-21
申请人： Toru Takenaka , Takayuki Toyoshima , Hiroyuki Urabe , Hiroshi Kono
发明人： Toru Takenaka , Takayuki Toyoshima , Hiroyuki Urabe , Hiroshi Kono
IPC分类号： B60W30/02
CPC分类号： B60T8/17552 , B60T2230/02 , B60W10/04 , B60W10/10 , B60W10/18 , B60W40/10 , B60W40/101 , B60W2050/0033 , B60W2050/0034 , B60W2520/20 , B60W2530/20 , B62D6/003
摘要： A basic required manipulated variable Mfbdmd_a is determined on the basis of a state amount error, which is the difference between a state amount of a motion of an actual vehicle 1 and a reference state amount, then a driving/braking force manipulation control input Fxfbdmd_n of a wheel is determined on the basis of the above basic required manipulated variable. At this time, a change in a driving/braking force operation control input Fxdmd_n of a front wheel and a rear wheel, respectively, of a particular set is made to be proportional to a change in the basic required manipulated variable Mfbdmd_a, and the ratio (gain) of a change in Fxdmd_n with respect to a change in Mfbdmd_a is made to change on the basis of gain adjustment parameters, such as side slip angles βf_act and βr_act. This makes it possible to properly control a motion of the actual vehicle to a desired motion by properly manipulating a road surface reaction force acting on a front wheel of the vehicle and a road surface reaction force acting on a rear wheel.
摘要翻译：基于作为实际车辆1的运动的状态量与基准状态量之间的差的状态量误差确定基本所需的操作变量Mfbdmd_a，然后基于状态量误差来确定驱动/制动力操作控制输入Fxfbdmd_n 基于上述基本需要的操纵变量确定车轮。此时，分别将特定组的前轮和后轮的驱动/制动力操作控制输入Fxdmd_n的变化与基本要求操作量Mfbdmd_a的变化成比例，并且比率基于增益调整参数（例如侧滑角betaf_act和betar_act），使Fxdmd_n中相对于Mfbdmd_a的变化的变化的增益（增益）变化。通过适当地操作作用在车辆的前轮上的路面反作用力和作用在后轮上的路面反作用力，能够将实际车辆的运动适当地控制为期望的运动。

8. 发明申请

US20090132137A1 CONTROLLER OF VEHICLE 有权
标题翻译：车辆控制器
公开(公告)号：US20090132137A1
公开(公告)日：2009-05-21
申请号：US12095403
申请日：2006-12-21
申请人： Toru Takenaka , Takayuki Toyoshima , Hiroyuki Urabe , Hiroshi Kono
发明人： Toru Takenaka , Takayuki Toyoshima , Hiroyuki Urabe , Hiroshi Kono
IPC分类号： B60W30/02
CPC分类号： B60T8/1755 , B60T2210/12 , B60T2230/02 , B60W40/064 , B60W40/101 , B60W2050/0033 , B60W2050/0034 , B60W2520/20
摘要： A driving/braking force manipulation control input of a k-th wheel, which denotes one or more specific wheels among a plurality of wheels of a vehicle, is determined such that a required condition concerning a relationship among a road surface reaction force that may act from a road surface on the k-th wheel on the basis of the detected values or estimated values of a road surface reaction force and a friction characteristic of the k-th wheel, a feedback control input related to the driving/braking force of the k-th wheel for bringing a difference between a state amount of the vehicle and a reference state amount close to zero, a driving/braking force feedforward control input based on a drive manipulated variable supplied by a driver of the vehicle, and a k-th wheel driving/braking force manipulation control input is satisfied. This arrangement makes it possible to properly control a motion of an actual vehicle to a desired motion while properly considering the characteristics of a road surface reaction force acting from a road surface on a wheel.
摘要翻译：确定表示车辆的多个车轮中的一个以上的特定车轮的第k个车轮的驾驶/制动力操纵控制输入，使得能够起作用的路面反作用力之间的关系的要求条件基于第k轮的检测值或路面反作用力的估计值和第k轮的摩擦特性，从第k轮的路面，与第k轮的驱动/制动力相关的反馈控制输入第k轮，用于使车辆的状态量与基准状态量接近零之间的差;基于由车辆的驾驶员提供的驾驶操纵变量的驾驶/制动力前馈控制输入;以及k- 满足第三轮驱动/制动力操纵控制输入。这种布置使得可以适当地考虑从车轮上的路面起作用的路面反作用力的特性来适当地控制实际车辆的运动到期望的运动。

9. 发明授权

US08027775B2 Vehicle control device 有权
标题翻译：车辆控制装置
公开(公告)号：US08027775B2
公开(公告)日：2011-09-27
申请号：US12097130
申请日：2006-12-21
申请人： Toru Takenaka , Takayuki Toyoshima , Hiroyuki Urabe , Hiroshi Kono
发明人： Toru Takenaka , Takayuki Toyoshima , Hiroyuki Urabe , Hiroshi Kono
IPC分类号： B60W30/02 , B60T8/172
CPC分类号： B60T8/17552 , B60T2230/02 , B60W10/04 , B60W10/10 , B60W10/18 , B60W40/10 , B60W40/101 , B60W2050/0033 , B60W2050/0034 , B60W2520/20 , B60W2530/20 , B62D6/003
摘要： A basic required manipulated variable Mfbdmd_a is determined on the basis of a state amount error, which is the difference between a state amount of a motion of an actual vehicle 1 and a reference state amount, then a driving/braking force manipulation control input Fxfbdmd_n of a wheel is determined on the basis of the above basic required manipulated variable. At this time, a change in a driving/braking force operation control input Fxdmd_n of a front wheel and a rear wheel, respectively, of a particular set is made to be proportional to a change in the basic required manipulated variable Mfbdmd_a, and the ratio (gain) of a change in Fxdmd_n with respect to a change in Mfbdmd_a is made to change on the basis of gain adjustment parameters, such as side slip angles βf_act and βr_act. This makes it possible to properly control a motion of the actual vehicle to a desired motion by properly manipulating a road surface reaction force acting on a front wheel of the vehicle and a road surface reaction force acting on a rear wheel.
摘要翻译：基于作为实际车辆1的运动的状态量与基准状态量之间的差的状态量误差确定基本所需的操作变量Mfbdmd_a，然后基于状态量误差来确定驱动/制动力操作控制输入Fxfbdmd_n 基于上述基本需要的操纵变量确定车轮。此时，分别将特定组的前轮和后轮的驱动/制动力操作控制输入Fxdmd_n的变化与基本要求操作量Mfbdmd_a的变化成比例，并且比率根据增益调整参数（例如侧滑角＆bgr; f_act和＆bgr; r_act），使Fxdmd_n相对于Mfbdmd_a的变化的变化的增益（增益）变化。通过适当地操作作用在车辆的前轮上的路面反作用力和作用在后轮上的路面反作用力，能够将实际车辆的运动适当地控制为期望的运动。

10. 发明申请

US20090187302A1 VEHICLE CONTROL DEVICE 有权
标题翻译：车辆控制装置
公开(公告)号：US20090187302A1
公开(公告)日：2009-07-23
申请号：US12094345
申请日：2006-12-21
申请人： Toru Takenaka , Takayuki Toyoshima , Hiroyuki Urabe , Hiroshi Kono
发明人： Toru Takenaka , Takayuki Toyoshima , Hiroyuki Urabe , Hiroshi Kono
IPC分类号： B60W50/06
CPC分类号： B62D6/04 , B60T8/1755 , B60T2230/02 , B60T2270/86 , B60W2050/0033 , B62D6/003 , Y10S903/93
摘要： A control input for operating an actual vehicle actuator and a control input for operating a vehicle model are determined by an FB distribution law 20 on the basis of a difference between a reference state amount determined by a vehicle model 16 and an actual state amount of an actual vehicle 1 (state amount error) such that the state amount error is approximated to zero, and then an actuator device 3 of the actual vehicle 1 and the model vehicle 16, respectively, are operated on the basis of the control inputs. The FB distribution law 20 estimates an external force acting on the actual vehicle 1 due to a control input for operating an actual vehicle actuator, and determines a control input for operating the vehicle model on the basis of the estimated value and a basic value of a control input for operating the vehicle model for approximating the state amount error to zero. Thus, a vehicle control device capable of enhancing robustness against disturbance factors or their changes while performing operation control of actuators that is suited to behaviors of an actual vehicle as much as possible is provided.
摘要翻译：用于操作实际车辆致动器的控制输入和用于操作车辆模型的控制输入由FB分布定律20基于由车辆模型16确定的参考状态量与实际状态量之间的差确定实际车辆1（状态量误差）使得状态量误差近似为零，然后分别基于控制输入来操作实际车辆1和模型车辆16的致动器装置3。 FB分配规律20由于用于操作实际车辆致动器的控制输入而估计作用在实际车辆1上的外力，并且基于估计值和基准值确定用于操作车辆模型的控制输入用于操作车辆模型的控制输入以将状态量误差近似为零。因此，提供一种能够在对尽可能多地适用于实际车辆的行为的执行机构进行操作控制的同时，能够增强抗干扰因素或其变化的鲁棒性的车辆控制装置。

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