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    Road condition estimation apparatus and vehicle motion control system using the same
    3.
    发明公开
    Road condition estimation apparatus and vehicle motion control system using the same 有权
    道路状况估计装置和使用其的车辆运动控制系统

    公开(公告)号：EP1407950A1

    公开(公告)日：2004-04-14

    申请号：EP03022788.8

    申请日：2003-10-10

    申请人： AISIN SEIKI KABUSHIKI KAISHA ,  TOYODA KOKI KABUSHIKI KAISHA ,  Advics Co., Ltd.

    发明人： Yasui, Yoshiyuki ,  Ono, Eiichi, K.K. Toyota Chuo Kenkyusho ,  Muragishi, Yuji, K.K. Toyota Chuo Kenkyusho ,  Takeuchi, Shinji ,  Momiyama, Minekazu ,  Kato, Hiroaki ,  Asano, Kenji

    IPC分类号： B60T8/00

    CPC分类号： B60W40/064 ,  B60T8/172 ,  B60T8/1755 ,  B60T2210/12 ,  B60T2230/02 ,  B60T2260/02 ,  B60W30/02 ,  B60W40/101 ,  B60W2530/20 ,  B62D6/006

    摘要： The present invention is directed to a road condition estimation apparatus for estimating a road condition for use in a vehicle having a steering control unit for actuating a device mechanically independent of a manually operated steering member to steer at least a wheel of front and rear wheels. The apparatus includes an actuating signal detection unit for detecting an actuating signal for actuating the device of the steering control unit, an aligning torque estimation unit (M5) for estimating an aligning torque produced on the wheel on the basis of the actuating signal detected by the actuating signal detection unit, and a vehicle state variable detection unit (M7) for detecting a state variable of the vehicle. The apparatus further includes a wheel factor estimation unit (M8) for estimating at least one of wheel factors including a side force and a slip angle applied to the wheel on the basis of the vehicle state variable, and a grip factor estimation unit (M10) for estimating a grip factor of at least a tire of the wheel, in accordance with a relationship between the estimated aligning torque and the estimated wheel factor.

    摘要翻译： 本发明涉及一种用于估计用于具有转向控制单元的车辆中的道路状况的道路状况估计装置，所述转向控制单元用于机械地独立于手动操作的转向构件致动装置以转向至少一个前轮和后轮的轮。 该装置包括用于检测用于致动转向控制单元的装置的致动信号的致动信号检测单元，用于基于由该致动信号检测单元检测到的致动信号来估计在车轮上产生的定向转矩的定向转矩估计单元（M5） 起动信号检测单元以及用于检测车辆的状态变量的车辆状态变量检测单元（M7）。 该装置还包括用于基于车辆状态变量来估计车轮因素中的至少一个的车轮因素估计单元（M8），所述车轮因素包括施加到车轮的侧向力和滑移角，以及抓地因子估计单元（M10） 用于根据所估计的对准转矩与所估计的车轮因数之间的关系来估计所述车轮的至少一个轮胎的抓地系数。

    Vehicle control device with power steering device
    5.
    发明公开
    Vehicle control device with power steering device 有权
    Servolenkung Fahrzeugsteuervorrichtung mit

    公开(公告)号：EP1348610A2

    公开(公告)日：2003-10-01

    申请号：EP03007053.6

    申请日：2003-03-27

    申请人： TOYODA KOKI KABUSHIKI KAISHA ,  Advics Co., Ltd.

    发明人： Kato, Hiroaki ,  Momiyama, Minekazu ,  Yasui, Yoshiyuki ,  Tanaka, Wataru ,  Asano, Kenji ,  Ono, Eiichi ,  Muragishi, Yuji

    IPC分类号： B62D6/04 ,  B62D5/04

    CPC分类号： B62D6/003 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/083 ,  B60T2201/087 ,  B60T2260/024 ,  B62D1/286

    摘要： A vehicle control device incorporating an electric power steering is provided, wherein an extraordinary yaw motion acting on a vehicle is detected and is suppressed or moderated, so that the stability of the vehicle in a straight-ahead steering is improved. The causes of the extraordinary yaw motion are one of lateral wind, asymmetrical surface state of the road, lateral slant of the road and the like. A countermeasure against the extraordinary yaw motion is taken by applying a counter (opposite direction) yaw motion on the vehicle or switching over the control mode from a proportional control to a proportional integral control.

    摘要翻译： 提供了一种结合了电动助力转向装置的车辆控制装置，其中检测到作用在车辆上的异常偏航运动并被抑制或缓和，从而提高了直行转向中车辆的稳定性。 异常偏航运动的原因是侧风，道路的不对称表面状态，道路横向倾斜等。 通过在车辆上施加计数器（相反方向）偏航运动或者将控制模式从比例控制切换到比例积分控制来采取对非常偏航运动的对策。

    Wheel grip factor estimating apparatus and vehicle motion control apparatus
    7.
    发明公开
    Wheel grip factor estimating apparatus and vehicle motion control apparatus 有权
    用于估计车辆车轮和装置的抓握因数用于调节所述车辆运动的设备

    公开(公告)号：EP1512598A1

    公开(公告)日：2005-03-09

    申请号：EP04020932.2

    申请日：2004-09-02

    申请人： TOYODA KOKI KABUSHIKI KAISHA ,  Advics Co., Ltd.

    发明人： Kato, Hiroaki ,  Momiyama, Minekazu ,  Yasui, Yoshiyuki ,  Muragishi, Yuji, K.K. Toyota Chuo Kenkyusho ,  Imoto, Yuzo ,  Aizawa, Hiroaki

    IPC分类号： B60T8/00

    CPC分类号： B60T8/172 ,  B60T8/17551 ,  B60T2210/12 ,  B60T2230/02 ,  B60T2260/02 ,  B60W40/068 ,  B60W2510/202 ,  B62D6/006

    摘要： A grip factor estimating apparatus includes a steering torque detecting unit M1, and an assist torque detecting unit M2. When a self-aligning torque estimating unit M6 estimates self-aligning torque generated in front wheels on the basis of detection result of the detecting unit, the quantity of influence of longitudinal force on self-aligning torque is removed on the basis of longitudinal force acting on the front wheels and estimated by a longitudinal force estimating unit M15 and a front wheel slip angle estimated by a front wheel slip angle estimating unit M9y. A grip factor estimating unit M12 estimates the grip factor of the front wheels on the basis of change in self-aligning torque in accordance with the side force.

    摘要翻译： 的把手因素推定装置包括：转向转矩检测单元M1，并协助转矩检测单元M2。 当一个自对准扭矩估算单元M6估算的检测单元的检测结果的基础上，在前轮产生的自动回正力矩，对自调整转矩的纵向力影响的量被纵向力作用的基础上，除去 在前轮和由纵向力估计单元M15和由前轮滑移角估计单元估计M9y前轮滑移角估计。 的把手因子估计单元M12估计，自动回正力矩与侧力的变化在雅舞蹈的基础上的前轮的抓地因素。