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    CENTROID ESTIMATION DEVICE AND CENTROID ESTIMATION METHOD
    5.
    发明公开
    CENTROID ESTIMATION DEVICE AND CENTROID ESTIMATION METHOD 审中-公开
    中心估计装置和中心估计方法

    公开(公告)号：EP2910443A1

    公开(公告)日：2015-08-26

    申请号：EP12886592.0

    申请日：2012-10-16

    申请人： Pioneer Corporation

    发明人： KATO, Masahiro

    IPC分类号： B60W40/13

    CPC分类号： B60W40/13 ,  B60L15/38 ,  B60W2040/1315 ,  B60W2520/30 ,  B60W2720/30

    摘要： While keeping the sum of torques for all four driving wheels constant, a torque control part (710) sequentially determines torque control values such that the rotational speed of a first selected driving wheel pair (WH FL , WH RL ), the rotational speed of a second selected driving wheel pair (WH FL , WH RR ), and the rotational speed of a third selected driving wheel pair (WH FR , WH RR ) become the same. Then, a driving force estimation part (720) estimates driving forces of the driving wheels on the basis of the determined torque control values. Subsequently, a centroid estimation part (750) calculates ratio (k d1 ) (= (F d,FR /F d,RR )k d3 ), ratio (k d2 ) (= (F d,RL /F d,FL )), and ratio (k d3 ) (= (F d,RR /F d,FL )) of the driving forces from information about the correlation among the driving forces of the first through third selected driving wheel pairs. Then, the centroid estimation part (750) estimates the centroid position of a moving body (MV) on the basis of the ratios (k d1 , k d2 , k d3 ) of the relevant driving forces. Consequently, the centroid of the moving body can be estimated with a simple configuration without the provision of any special sensors.

    摘要翻译： 转矩控制部（710）将所有四个驱动轮的转矩总和保持一定，并依次决定转矩控制值，以使第一选择驱动轮对（WHFL，WHRL）的转速，第二选择转速 驱动轮对（WHFL，WHRR）和第三选择驱动轮对（WHFR，WHRR）的转速变得相同。 然后，驱动力估计部（720）基于所确定的转矩控制值来估计驱动轮的驱动力。 接下来，质心估计部750计算比率kd1（=（Fd，FR / Fd，RR）kd3），比率（kd2）（=（Fd，RL / Fd，FL））和比率（kd3） （=（Fd，RR / Fd，FL））与来自关于第一至第三选择的驱动轮对的驱动力之间的相关性的信息相关的信息。 然后，质心估计部（750）基于相关驱动力的比率（kd1，kd2，kd3）来估计运动体（MV）的质心位置。 因此，可以在不提供任何特殊传感器的情况下利用简单的配置来估计移动体的质心。

    METHOD TO DETERMINE VEHICLE WEIGHT
    7.
    发明公开
    METHOD TO DETERMINE VEHICLE WEIGHT 有权
    系统用于确定车辆重量

    公开(公告)号：EP2766239A1

    公开(公告)日：2014-08-20

    申请号：EP12761593.8

    申请日：2012-09-13

    申请人： AGCO International GmbH

    发明人： BRENNINGER, Martin

    IPC分类号： B60W40/13 ,  F16H47/04

    CPC分类号： G01G19/086 ,  B60W40/13 ,  B60W2510/1085 ,  B60W2520/105 ,  B60W2520/30 ,  B60W2530/16 ,  B60W2530/20 ,  B60W2550/142 ,  B60Y2200/221 ,  B60Y2300/28 ,  B60Y2400/72 ,  F16H47/04 ,  F16H61/425 ,  F16H61/435 ,  F16H61/472 ,  F16H2037/0866

    摘要： A system is provided for determining the current weight of a vehicle and any implement or trailer being towed or carried thereby. The system has an electronic control unit (13) and means to determine the current value of vehicle operating parameters indicative of the current wheel output torque and acceleration of the vehicle. These current parameter values are forwarded to the electronic control unit (13) so that the unit can calculate the current vehicle weight from a predetermined relationship involving wheel output torque, vehicle acceleration and other known current operating parameters of the vehicle. The other known current operating parameters of the vehicle are wheel rolling radius, angle of inclination of the vehicle, gravitational acceleration and rolling resistance of the wheels. The vehicle includes a hydrostatic mechanical CVT (T) which has a hydraulic drive circuit in which a hydraulic pump (200) supplies pressurised fluid to a hydraulic motor (210), the level of pressure in the drive circuit provides an indication of the current wheel output torque.

    Motor-driven steering controller and automobile anti-skid controller
    10.
    发明公开
    Motor-driven steering controller and automobile anti-skid controller 有权
    Reglerfürmotorgetriebene Servolenkung

    公开(公告)号：EP2193978A1

    公开(公告)日：2010-06-09

    申请号：EP10157998.5

    申请日：2003-04-07

    申请人： AISIN SEIKI KABUSHIKI KAISHA ,  JTEKT CORPORATION ,  ADVICS CO., LTD.

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

    IPC分类号： B62D6/04 ,  B60W10/18 ,  B60W10/20

    CPC分类号： B62D5/0472 ,  B60T8/1755 ,  B60T8/1764 ,  B60T2220/03 ,  B60T2260/024 ,  B60W10/184 ,  B60W10/20 ,  B60W2520/10 ,  B60W2520/30 ,  B60W2720/14 ,  B62D5/046 ,  B62D6/003

    摘要： A motor-driven power steering controller (ECU1) for a vehicle comprises a steering torque controlling unit (B0) for controlling a steering torque on a steering wheel (1) depending on a steering operation of the vehicle to reduce an operator's power required to operate the steering wheel (1), a braking force estimating unit (B1) for estimating braking forces to be imposed on wheels of the vehicle, a right and left braking force difference estimating unit (B2) for estimating difference between the braking forces to be imposed on the right and left wheels each estimated by the braking forces estimating unit (B1). The controller further comprises an assist steering torque providing unit (B3) for adding a counter-steering assist steering torque assisting an operator's counter-steering operation on the steering wheel to the steering torque controlled by the steering torque controlling unit (B0) in the counter-steering direction on the basis of the difference in braking force between right and left wheels estimated by the right and left brake force difference estimate unit (B2), wherein the assist steering torque providing unit prohibits providing the counter-steering assist steering torque when turning condition of the vehicle is higher than a predetermined value.

    摘要翻译： 用于车辆的电动机动力转向控制器（ECU1）包括：转向转矩控制单元（B0），用于根据车辆的转向操作来控制方向盘（1）上的转向转矩，以减少操作者操作所需的动力 方向盘（1），用于估计要施加在车辆上的制动力的制动力估计单元（B1），用于估计要施加的制动力之间的差异的左右制动力差估计单元（B2） 在由制动力估计单元（B1）估计的左右车轮上。 所述控制器还包括辅助转向转矩提供单元（B3），用于将辅助操舵方向盘上的操作者对舵操作的反向转向辅助转向扭矩与由所述转向转矩控制单元（B0）控制的转向转矩相加 基于由左右制动力差估计单元（B2）估计的左右车轮之间的制动力的差异的导向方向，其中辅助转向转矩提供单元禁止在转动时提供反向转向辅助转向转矩 车辆的状态高于预定值。