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1. 发明授权

US07676314B2 Motion control apparatus for a vehicle 失效
标题翻译：一种车辆运动控制装置
公开(公告)号：US07676314B2
公开(公告)日：2010-03-09
申请号：US10523590
申请日：2003-07-28
申请人： Toshihisa Kato , Junya Nagaya , Tokio Yakushijin
发明人： Toshihisa Kato , Junya Nagaya , Tokio Yakushijin
IPC分类号： G06G1/00
CPC分类号： B60T8/172 , B60T8/171 , B60T8/1755 , B60T2230/03 , B60T2250/04 , B60T2260/04 , B60W2510/1005 , B60W2520/10 , B60W2720/14
摘要： When the absolute value of the steering angle equals or is greater than a prescribed angle, a vehicle motion control apparatus sets a control gear ratio so that when an estimated vehicle-body speed is equal to or greater than a prescribed value, the control gear ratio becomes a value equal to or greater than a certain value and which increases with estimated vehicle-body speed as the absolute value of the steering angle increases. When the estimated vehicle-body speed is less than the prescribed value, the control gear ratio becomes a value not greater than the certain value and which decreases with estimated vehicle-body speed as the absolute value of the steering angle increases. The apparatus then calculates a target yaw rate making use of the control gear ratio, and controls a braking force applied to each wheel so that the actual yaw rate coincides with the target yaw rate.
摘要翻译：当转向角的绝对值等于或大于规定角度时，车辆运动控制装置设定控制齿轮比，使得当估计车身速度等于或大于规定值时，控制齿轮比成为等于或大于某一值的值，并且随着转向角的绝对值增加而随着车身速度的估计而增加。当估计车体速度小于规定值时，控制齿轮比变为不大于该值的值，并且随着转向角的绝对值的增加而随着车身速度的估计而减小。然后，该装置使用控制齿轮比来计算目标横摆角速度，并且控制施加到每个车轮的制动力，使得实际横摆率与目标横摆率一致。

2. 发明申请

US20060041366A1 Motion control device of vehicle 失效
标题翻译：车辆运动控制装置
公开(公告)号：US20060041366A1
公开(公告)日：2006-02-23
申请号：US10523590
申请日：2003-07-28
申请人： Toshihisa Kato , Jyunya Nagaya , Tokio Yakushijin
发明人： Toshihisa Kato , Jyunya Nagaya , Tokio Yakushijin
IPC分类号： B60T8/24 , G06F7/00 , G06F17/00 , G06G1/00
CPC分类号： B60T8/172 , B60T8/171 , B60T8/1755 , B60T2230/03 , B60T2250/04 , B60T2260/04 , B60W2510/1005 , B60W2520/10 , B60W2720/14
摘要： In the case where the absolute value of steering angle θs is equal to or greater than a prescribed angle, a motion control apparatus 10 for a vehicle sets a control gear ratio n in such a manner that when an estimated vehicle-body speed Vso is equal to or greater than a prescribed value, the control gear ratio n becomes a value which is equal to or greater than “20” and which increases with the estimated vehicle-body speed Vso as the absolute value of the steering angle θs increases, and when the estimated vehicle-body speed Vso is less than the prescribed value, the control gear ratio n becomes a value which is not greater than “20” and which decreases with the estimated vehicle-body speed Vso as the absolute value of the steering angle θs increases. The apparatus then calculates a target yaw rate Yrt by making use of an equation shown in Step 510 and using the control gear ratio n, and controls a braking force applied to each wheel so that the actual yaw rate Yr coincides with the target yaw rate Yrt.
摘要翻译：在转向角度的绝对值等于或大于规定角度的情况下，车辆的运动控制装置10以如下方式设定控制齿轮比n，即当估计车身速度Vso相等时达到或大于规定值时，控制齿轮比n成为等于或大于“20”的值，并随着转向角度的绝对值增加而随着估计的车身速度Vso而增加，并且当估计车身速度Vso小于规定值时，控制齿轮比n成为不大于“20”的值，并且随着作为转向角的绝对值的估计车身速度Vso而减小增加然后，该装置通过利用步骤510所示的等式并使用控制齿轮比n来计算目标横摆率Yrt，并且控制施加到每个车轮的制动力，使得实际横摆率Yr与目标横摆率Yrt一致。

3. 发明授权

US06910746B2 Motion control device of vehicle 失效
标题翻译：车辆运动控制装置
公开(公告)号：US06910746B2
公开(公告)日：2005-06-28
申请号：US10491368
申请日：2003-07-28
申请人： Toshihisa Kato , Masanobu Fukami , Tokio Yakushijin
发明人： Toshihisa Kato , Masanobu Fukami , Tokio Yakushijin
IPC分类号： B60T8/1755 , B60T8/1764 , B60T8/1766 , B60T8/24 , B60T8/58
CPC分类号： B60T8/17554 , B60G2800/0124 , B60G2800/215 , B60G2800/922 , B60T8/1766 , B60T8/241 , B60T8/246 , B60T2230/03
摘要： A motion control device 10 for a vehicle exerts braking force only on the rear wheel at the inner side of the turning direction for generating a yawing moment on the vehicle only in the turning direction of the vehicle when an absolute value of an actual lateral acceleration Gy is not more than a value Gyth, i.e., when there is a small possibility of the occurrence of an excessive roll angle on the vehicle body, in case where the turning state of the vehicle is the understeer state. On the other hand, it exerts braking force not only on the rear wheel at the inner side of the turning direction, but also on the front and rear wheels at the outer side of the turning direction for generating a yawing moment in the direction opposite to the turning direction too, when the absolute value of the actual lateral acceleration Gy exceeds the value Gyth, i.e., when there is a great possibility of the occurrence of the excessive roll angle on the vehicle body, in case where the turning state of the vehicle is the understeer state.
摘要翻译：用于车辆的运动控制装置10仅在转向内侧的后轮上施加制动力，用于仅在车辆的转向方向上产生车辆的偏转力矩，当实际横向加速度Gy的绝对值不超过值Gyth，即当车辆的转向状态为转向状态的情况下，当在车体上出现过大的倾斜角的可能性较小时。另一方面，其不仅在转向内侧的后轮上，而且在转向方向外侧的前轮和后轮上施加制动力，以产生与相反方向相反的方向的偏转力矩转弯方向也是如此，当实际横向加速度Gy的绝对值超过值Gyth时，即当在车身上出现过大滚动角的可能性很大时，在车辆的转动状态是不足转向状态。

4. 发明授权

US07162350B2 Vehicle motion control device 有权
标题翻译：车辆运动控制装置
公开(公告)号：US07162350B2
公开(公告)日：2007-01-09
申请号：US10497228
申请日：2003-07-28
申请人： Toshihisa Kato , Masanobu Fukami , Tokio Yakushijin
发明人： Toshihisa Kato , Masanobu Fukami , Tokio Yakushijin
IPC分类号： B60T8/1755
CPC分类号： B60T8/1755
摘要： A control of a vehicle motion control device 10 is as follows during an oversteer restraining control. Specifically, when tire inflation pressure is appropriate, the device sets braking force exerted on each of front and rear wheels at the outer side of the turning direction so as to be reference braking forces Ff1 and Fr1, that are generated when an absolute value of a lateral acceleration deviation ΔGy is not less than a reference value a1 and that respectively increase up to an upper limit value ff and upper limit value fr in accordance with the increase in the absolute value of the lateral acceleration deviation ΔGy. On the other hand, when a tire inflation pressure of one of the front and rear wheels at the outer side of the turning direction is lowered, the device sets the braking force, such that the braking force starts to be generated from when the absolute value of the lateral acceleration deviation ΔGy is smaller than the reference value a1 by an amount in accordance with the reduction in the tire inflation pressure and that the upper limit value of the braking force with respect to the wheel whose tire inflation pressure is lowered is decreased by an amount in accordance with the reduction in the tire inflation pressure and that the upper limit value of the braking force with respect to the wheel that is not the wheel whose tire inflation pressure is lowered is increased by an amount in accordance with the reduction in the tire inflation pressure.
摘要翻译：在过度转向限制控制期间，车辆运动控制装置10的控制如下。具体地说，当轮胎充气压力适当时，该装置将施加在转向方向外侧的前轮和后轮中的每一个上的制动力设定为参考制动力Ff 1和Fr 1，这是在绝对值横向加速度偏差DeltaGy不小于参考值a 1，并且根据横向加速度偏差DeltaGy的绝对值的增加分别增加到上限值ff和上限值fr。另一方面，当转向方向外侧的前轮和后轮之一的轮胎充气压力降低时，该装置设定制动力，使得从绝对值开始产生制动力横向加速度偏差DeltaGy小于基准值a 1，根据轮胎充气压力的减小量，并且制动力相对于轮胎充气压力降低的车轮的上限值减小根据轮胎充气压力的降低量的量，并且相对于不是轮胎充气压力降低的车轮的车轮的制动力的上限值增加了根据减少的量轮胎充气压力。

5. 发明申请

US20050251316A1 Motion control device of vehicle 有权
标题翻译：车辆运动控制装置
公开(公告)号：US20050251316A1
公开(公告)日：2005-11-10
申请号：US10497228
申请日：2003-07-28
申请人： Toshihisa Kato , Masanobu Fukami , Tokio Yakushijin
发明人： Toshihisa Kato , Masanobu Fukami , Tokio Yakushijin
IPC分类号： B60T8/1755 , B60T8/00
CPC分类号： B60T8/1755
摘要： A control of a vehicle motion control device 10 is as follows during an oversteer restraining control. Specifically, when tire inflation pressure is appropriate, the device sets braking force exerted on each of front and rear wheels at the outer side of the turning direction so as to be reference braking forces Ff1 and Fr1, that are generated when an absolute value of a lateral acceleration deviation ΔGy is not less than a reference value a1 and that respectively increase up to an upper limit value ff and upper limit value fr in accordance with the increase in the absolute value of the lateral acceleration deviation ΔGy. On the other hand, when a tire inflation pressure of one of the front and rear wheels at the outer side of the turning direction is lowered, the device sets the braking force, such that the braking force starts to be generated from when the absolute value of the lateral acceleration deviation ΔGy is smaller than the reference value a1 by an amount in accordance with the reduction in the tire inflation pressure and that the upper limit value of the braking force with respect to the wheel whose tire inflation pressure is lowered is decreased by an amount in accordance with the reduction in the tire inflation pressure and that the upper limit value of the braking force with respect to the wheel that is not the wheel whose tire inflation pressure is lowered is increased by an amount in accordance with the reduction in the tire inflation pressure.
摘要翻译：在过度转向限制控制期间，车辆运动控制装置10的控制如下。具体地说，当轮胎充气压力适当时，该装置将施加在转向方向外侧的前轮和后轮中的每一个上的制动力设定为参考制动力Ff 1和Fr 1，这是在绝对值横向加速度偏差DeltaGy不小于参考值a 1，并且根据横向加速度偏差DeltaGy的绝对值的增加分别增加到上限值ff和上限值fr。另一方面，当转向方向外侧的前轮和后轮之一的轮胎充气压力降低时，该装置设定制动力，使得从绝对值开始产生制动力横向加速度偏差DeltaGy小于基准值a 1，根据轮胎充气压力的减小量，并且制动力相对于轮胎充气压力降低的车轮的上限值减小根据轮胎充气压力的降低量的量，并且相对于不是轮胎充气压力降低的车轮的车轮的制动力的上限值增加了根据减少的量轮胎充气压力。

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