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1. 发明申请

US20140012469A1 VEHICLE INFORMATION PROCESSING DEVICE 审中-公开
标题翻译：车辆信息处理装置
公开(公告)号：US20140012469A1
公开(公告)日：2014-01-09
申请号：US14006240
申请日：2012-03-16
申请人： Yoji Kunihiro , Takeshi Goto , Masaki Fujimoto , Keitaro Niki , Ryo Irie
发明人： Yoji Kunihiro , Takeshi Goto , Masaki Fujimoto , Keitaro Niki , Ryo Irie
IPC分类号： B62D6/00
CPC分类号： B62D6/001 , B60W30/02 , B60W40/072 , B60W2540/18 , B62D6/003
摘要： A vehicle information processing device mounted on a vehicle includes a future position calculating unit configured to calculate a future position of the vehicle based on steering input information corresponding to a steering input, a vehicle state amount that prescribes a turning state, and a vehicle speed, and an estimating unit configured to estimate a turning curvature of the vehicle at a provisional travel position ahead of a present position based on at least three vehicle positions according to the vehicle including at least the one calculated future position as well as including a vehicle position corresponding to the present position of the vehicle. As a result, a turning curvature of the vehicle at a vehicle position ahead of a present position can be estimated by a simple configuration and further the estimated turning curvature can be preferably used to stabilize vehicle behavior.
摘要翻译：安装在车辆上的车辆信息处理装置包括：未来位置计算部，其基于与转向输入对应的转向输入信息，规定转弯状态的车辆状态量以及车速来计算车辆的未来位置; 以及估计单元，被配置为基于至少包括一个所计算的未来位置的车辆至少基于三个车辆位置来估计在当前位置之前的临时行驶位置处的车辆的转弯曲率，并且包括相应的车辆位置到车辆的当前位置。结果，可以通过简单的构造来估计在当前位置前方的车辆位置处的车辆的转弯曲，并且还可以优选地使用估计的转弯曲率来稳定车辆行为。

2. 发明授权

US09050998B2 Vehicle travel control device 有权
标题翻译：车辆行驶控制装置
公开(公告)号：US09050998B2
公开(公告)日：2015-06-09
申请号：US13703558
申请日：2011-06-09
申请人： Takeshi Goto , Yoji Kunihiro , Junro Yamamoto , Mitsuyuki Ouchi , Shuji Fujita , Keitaro Niki , Tomihide Masuda
发明人： Takeshi Goto , Yoji Kunihiro , Junro Yamamoto , Mitsuyuki Ouchi , Shuji Fujita , Keitaro Niki , Tomihide Masuda
IPC分类号： B62D6/00 , B62D5/00
CPC分类号： B62D6/002 , B62D5/008
摘要： A travel control device for a vehicle has a steered angle varying device 14 or a by-wire type steering device 96 which modifies a relationship of steered angle of steerable wheels to steering operation amount by a driver. When the control device decides that vehicle trajectory control is to be initiated or renewed, it calculates a target steered angle of the steerable wheels for driving the vehicle along a target trajectory which is required for the vehicle to arrive at a target arrival position in a target traveling direction on the basis of steering operation amount by a driver and vehicle speed at a time point of the decision. The control device controls the steered angle of the steerable wheels according to the target steered angle in feed-forward or feed-back manner.
摘要翻译：用于车辆的行驶控制装置具有转向角度变化装置14或绕线式转向装置96，其通过驾驶员改变可转向轮的转向角度与转向操作量的关系。当控制装置决定要开始或更新车辆轨迹控制时，它计算用于驾驶车辆的可转向车轮的目标转向角，该目标转向角沿着车辆到达目标到达目标位置所需的目标轨迹在驾驶员的转向操作量的基础上的行驶方向和车辆速度在决定的时间点。控制装置根据目标转向角以前馈或反馈方式控制可转向车轮的转向角度。

3. 发明申请

US20130096778A1 VEHICLE TRAVEL CONTROL DEVICE 有权
标题翻译：车辆行驶控制装置
公开(公告)号：US20130096778A1
公开(公告)日：2013-04-18
申请号：US13703558
申请日：2011-06-09
申请人： Takeshi Goto , Yoji Kunihiro , Junro Yamamoto , Mitsuyuki Ouchi , Shuji Fujita , Keitaro Niki , Tomihide Masuda
发明人： Takeshi Goto , Yoji Kunihiro , Junro Yamamoto , Mitsuyuki Ouchi , Shuji Fujita , Keitaro Niki , Tomihide Masuda
IPC分类号： B62D6/00
CPC分类号： B62D6/002 , B62D5/008
摘要： A travel control device for a vehicle has a steered angle varying device 14 or a by-wire type steering device 96 which modifies a relationship of steered angle of steerable wheels to steering operation amount by a driver. When the control device decides that vehicle trajectory control is to be initiated or renewed, it calculates a target steered angle of the steerable wheels for driving the vehicle along a target trajectory which is required for the vehicle to arrive at a target arrival position in a target traveling direction on the basis of steering operation amount by a driver and vehicle speed at a time point of the decision. The control device controls the steered angle of the steerable wheels according to the target steered angle in feed-forward or feed-back manner.
摘要翻译：用于车辆的行驶控制装置具有转向角度变化装置14或绕线式转向装置96，其通过驾驶员改变可转向轮的转向角度与转向操作量的关系。当控制装置决定要开始或更新车辆轨迹控制时，它计算用于驾驶车辆的可转向车轮的目标转向角，该目标转向角沿着车辆到达目标到达目标位置所需的目标轨迹在驾驶员的转向操作量的基础上的行驶方向和车辆速度在决定的时间点。控制装置根据目标转向角以前馈或反馈方式控制可转向车轮的转向角度。

4. 发明授权

US08738230B2 Steering control apparatus for vehicle 有权
标题翻译：车辆转向控制装置
公开(公告)号：US08738230B2
公开(公告)日：2014-05-27
申请号：US13139730
申请日：2009-10-23
申请人： Keitaro Niki , Yoji Kunihiro , Yoshiaki Suzuki
发明人： Keitaro Niki , Yoji Kunihiro , Yoshiaki Suzuki
IPC分类号： B62D6/00
CPC分类号： B62D6/003 , B60T2201/08 , B60T2201/087 , B62D5/046 , B62D5/0466 , B62D5/0472 , B62D15/025
摘要： A coordinate-control-gain calculation section 61 calculates a coordinate-control final control torque T_C required to properly control the traveling behavior of a vehicle, and determines a coordinate control gain Kg on the basis of the magnitude of this torque T_C. An arbitration-request determination section 62 determines the value of an arbitration request flag FRG_A on the basis of the magnitude of the torque T_C and the value of a flag FRG_L output so as to properly control the traveling behavior of a vehicle. On the basis of the value of the flag FRG_A and the magnitude of the coordinate-control arbitration torque Tr determined by use of the gain Kg, an arbitration section 63 selects the torque T_C or the torque Tr to be output as a post-arbitration control torque T_F. A post-arbitration drive control section 64 supplies to an electric motor a drive current corresponding to the determined torque T_F.
摘要翻译：坐标控制增益计算部61计算适当地控制车辆的行驶行为所需的坐标控制最终控制扭矩T_C，并基于该转矩T_C的大小来确定坐标控制增益Kg。仲裁请求确定部分62基于转矩T_C的大小和输出的标志FRG_L的值来确定仲裁请求标志FRG_A的值，以便适当地控制车辆的行驶行为。基于标志FRG_A的值和通过使用增益Kg确定的坐标控制仲裁转矩Tr的大小，仲裁部63选择要输出的转矩T_C或转矩Tr作为仲裁后控制扭矩T_F。后置仲裁驱动控制部64向电动机提供与所确定的转矩T_F对应的驱动电流。

5. 发明申请

US20110257845A1 STEERING CONTROL APPARATUS FOR VEHICLE 有权
标题翻译：车辆转向控制装置
公开(公告)号：US20110257845A1
公开(公告)日：2011-10-20
申请号：US13139730
申请日：2009-10-23
申请人： Keitaro Niki , Yoji Kunihiro , Yoshiaki Suzuki
发明人： Keitaro Niki , Yoji Kunihiro , Yoshiaki Suzuki
IPC分类号： B62D6/00
CPC分类号： B62D6/003 , B60T2201/08 , B60T2201/087 , B62D5/046 , B62D5/0466 , B62D5/0472 , B62D15/025
摘要： A coordinate-control-gain calculation section 61 calculates a coordinate-control final control torque T_C required to properly control the traveling behavior of a vehicle, and determines a coordinate control gain Kg on the basis of the magnitude of this torque T_C. An arbitration-request determination section 62 determines the value of an arbitration request flag FRG_A on the basis of the magnitude of the torque T_C and the value of a flag FRG_L output so as to properly control the traveling behavior of a vehicle. On the basis of the value of the flag FRG_A and the magnitude of the coordinate-control arbitration torque Tr determined by use of the gain Kg, an arbitration section 63 selects the torque T_C or the torque Tr to be output as a post-arbitration control torque T_F. A post-arbitration drive control section 64 supplies to an electric motor a drive current corresponding to the determined torque T_F.
摘要翻译：坐标控制增益计算部61计算适当地控制车辆的行驶行为所需的坐标控制最终控制扭矩T_C，并基于该转矩T_C的大小来确定坐标控制增益Kg。仲裁请求确定部分62基于转矩T_C的大小和输出的标志FRG_L的值来确定仲裁请求标志FRG_A的值，以便适当地控制车辆的行驶行为。基于标志FRG_A的值和通过使用增益Kg确定的坐标控制仲裁转矩Tr的大小，仲裁部63选择要输出的转矩T_C或转矩Tr作为仲裁后控制扭矩T_F。后置仲裁驱动控制部64向电动机提供与所确定的转矩T_F对应的驱动电流。

6. 发明授权

US09108668B2 Steering apparatus 有权
标题翻译：转向装置
公开(公告)号：US09108668B2
公开(公告)日：2015-08-18
申请号：US13883324
申请日：2011-11-10
申请人： Yoji Kunihiro , Takeshi Goto
发明人： Yoji Kunihiro , Takeshi Goto
IPC分类号： B62D5/04 , B62D6/00
CPC分类号： B62D5/046 , B62D5/0463 , B62D5/0481 , B62D6/007
摘要： A steering apparatus is provided with: a specifying device which is configured to specify an environment of a road on which a vehicle travels, on the basis of a manipulated amount of the steering wheel manipulated by a driver and a change of the manipulated amount in a predetermined period.
摘要翻译：转向装置具有：指定装置，其被构造成基于由驾驶员操纵的方向盘的操纵量以及驾驶员操纵量的变化来指定车辆行驶的道路的环境预定期限。

7. 发明申请

US20130226412A1 STEERING APPARATUS 有权
标题翻译：转向装置
公开(公告)号：US20130226412A1
公开(公告)日：2013-08-29
申请号：US13883324
申请日：2011-11-10
申请人： Yoji Kunihiro , Takeshi Goto
发明人： Yoji Kunihiro , Takeshi Goto
IPC分类号： B62D5/04
CPC分类号： B62D5/046 , B62D5/0463 , B62D5/0481 , B62D6/007
摘要： A steering apparatus is provided with: a specifying device which is configured to specify an environment of a road on which a vehicle travels, on the basis of a manipulated amount of the steering wheel manipulated by a driver and a change of the manipulated amount in a predetermined period.
摘要翻译：转向装置具有：指定装置，其被构造成基于由驾驶员操纵的方向盘的操纵量以及驾驶员操纵量的变化来指定车辆行驶的道路的环境预定期限。

8. 发明申请

US20150019082A1 CONTROL APPARATUS FOR VEHICLE 有权
标题翻译：车辆控制装置
公开(公告)号：US20150019082A1
公开(公告)日：2015-01-15
申请号：US14378379
申请日：2012-03-02
申请人： Go Inoue , Yoji Kunihiro
发明人： Go Inoue , Yoji Kunihiro
IPC分类号： B60W30/12 , B62D15/02 , B62D1/28
CPC分类号： B60W30/12 , B62D1/286 , B62D15/025
摘要： An apparatus for controlling a vehicle provided with a steering apparatus is provided with: a first target controlled variable setting device for setting a first target controlled variable regarding the steering apparatus for track control which makes a track of the vehicle follow a target track; a controlling device for performing the track control by controlling the steering apparatus on the basis of the set first target controlled variable; a specifying device for specifying magnitude of a steering input and frequency in a period of performing the track control; and a determining device for determining whether or not the steering input is overriding on the basis of the specified magnitude and frequency.
摘要翻译：一种用于控制设置有转向装置的车辆的装置，具有：第一目标控制变量设定装置，用于设定使轨道控制用的转向装置的第一目标控制变量，使得车辆的轨道跟随目标轨道; 控制装置，用于通过基于设定的第一目标控制变量控制转向装置来执行轨道控制; 用于在执行轨道控制的周期中指定转向输入和频率的大小的指定装置; 以及确定装置，用于基于指定的幅度和频率来确定转向输入是否被覆盖。

9. 发明授权

US09707996B2 Vehicle drive-control device 有权
公开(公告)号：US09707996B2
公开(公告)日：2017-07-18
申请号：US14342049
申请日：2011-08-31
申请人： Masao Ueyama , Yoji Kunihiro , Theerawat Limpibunterng , Takahiro Kojo
发明人： Masao Ueyama , Yoji Kunihiro , Theerawat Limpibunterng , Takahiro Kojo
IPC分类号： A01B69/00 , B62D6/00 , B62D11/00 , B63G8/20 , B63H25/04 , G05D1/00 , G06F17/00 , B62D15/02 , B60W10/16 , B60W10/20 , B60W30/045
CPC分类号： B62D6/002 , B60W10/16 , B60W10/20 , B60W30/045 , B62D6/003 , B62D15/02 , B62D15/0255
摘要： A vehicle drive-control device which executes trajectory control in which steered wheels are controlled so as to make the vehicle travel along a target trajectory. When the possibility exists that the travel direction of the vehicle may be changed by the trajectory control, at least one of an operation position of a steering input unit operated by a driver; a yaw angle of the vehicle; and a lateral position of the vehicle with respect to a lane is changed before a change in the travel direction is made, thereby giving occupants in the vehicle advance notice of the possibility of a change in vehicle travel direction caused by the trajectory control.

10. 发明授权

US09540039B2 Vehicle steering control device 有权
标题翻译：车辆转向控制装置
公开(公告)号：US09540039B2
公开(公告)日：2017-01-10
申请号：US14413542
申请日：2012-07-09
申请人： Yoji Kunihiro , Takahiro Kojo
发明人： Yoji Kunihiro , Takahiro Kojo
IPC分类号： A01B69/00 , B62D6/00 , B62D11/00 , B62D12/00 , B63G8/20 , B63H25/04 , G05D1/00 , G06F7/00 , G06F17/00 , G06F19/00 , B62D5/00 , B62D7/15 , B62D6/02 , B62D6/04
CPC分类号： B62D6/003 , B62D5/008 , B62D6/02 , B62D6/04 , B62D7/159
摘要： A vehicle steering control device includes a turning angle varying device serving as a first turn response change device for changing a gain of yaw rate of a vehicle with respect to steering operation, and a rear wheel steering device serving as a second turn response change device for changing a gain of lateral acceleration of the vehicle with respect to the steering operation. Under a state in which magnitude of curvature of a travel path is equal to or less than a first reference value, at least one of the turning angle varying and rear wheel steering devices is controlled so that a ratio of the gain of the lateral acceleration to the gain of the yaw rate increases when a width of the travel path is small compared with when the width of the travel path is large.
摘要翻译：车辆转向控制装置包括：转向角变更装置，其作为用于改变车辆相对于转向操作的偏航率的增益的第一转弯响应变更装置，以及用作第二转向响应变更装置的后轮转向装置，相对于转向操作改变车辆的横向加速度的增益。在行驶路径的曲率大小等于或小于第一基准值的状态下，控制转向角变化和后轮转向装置中的至少一个，使得横向加速度的增益与当行进路径的宽度比行驶路径的宽度大时，横摆率的增益增加。

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