公开(公告)号：US4941097A

公开(公告)日：1990-07-10

申请号：US243822

申请日：1988-09-13

Applicant: Dean C. Karnopp ,  Yoshiyuki Yasui

Inventor： Dean C. Karnopp ,  Yoshiyuki Yasui

IPC: B62D6/00 ,  B62D6/04 ,  B62D7/15 ,  B62D9/00

CPC classification number: B62D6/04 ,  B62D7/159 ,  B62D9/00

Abstract: The steering stability of a moving vehicle is maintained by measuring an actual yaw rate of the vehicle and determining a desired yaw rate of the vehicle. An output signal is produced in response to a comparison of the actual and desired yaw rates. The angle of steerable wheels of the vehicle is controlled in response to the output signal in a manner tending to substantially conform the actual yaw rate to the desired yaw rate, thereby maintaining vehicle stability. The steerable wheels are steered by a steering wheel, and are independently steered in response to the output signal. Alternatively, the steerable wheels are steered solely in response to the output signal.

Abstract translation: 通过测量车辆的实际横摆角速度并确定车辆的期望偏航角速度来维持移动车辆的操纵稳定性。 响应于实际和所需偏航率的比较而产生输出信号。 车辆的可转向轮的角度响应于输出信号而受到控制，倾向于使实际横摆率基本上符合所需的横摆角速度，从而保持车辆的稳定性。 可转向轮由方向盘转向，并响应于输出信号独立转向。 或者，可转向的车轮仅仅响应于输出信号转向。

公开(公告)号：US4898431A

公开(公告)日：1990-02-06

申请号：US206735

申请日：1988-06-15

Applicant: Dean C. Karnopp ,  Yoshiyuki Yasui

Inventor： Dean C. Karnopp ,  Yoshiyuki Yasui

IPC: B60T8/24 ,  B60T8/1755 ,  B60T8/58 ,  B62D7/14 ,  G05D1/08

CPC classification number: G05D1/0891 ,  B60T8/1755

Abstract: The present invention relates to an apparatus and method for controlling vehicle motion. More specifically, the invention relates to an apparatus for improving vehicle stability by controlling the brake torque of a vehicle during, for example, cornering manuevers. In accordance with the present invention, vehicle stability is improved by independently controlling brake torque in response to sensed yaw rate.

公开(公告)号：US09616865B2

公开(公告)日：2017-04-11

申请号：US14369255

申请日：2012-12-25

Applicant: Yoshiyuki Yasui ,  Hiroyuki Kodama ,  Naotoshi Satake

Inventor： Yoshiyuki Yasui ,  Hiroyuki Kodama ,  Naotoshi Satake

IPC: B60T8/173 ,  B60T8/171 ,  F16D65/18 ,  B60T7/04 ,  B60T13/74 ,  B60T17/22 ,  F16D66/00 ,  F16D125/40 ,  F16D125/48

CPC classification number: B60T8/173 ,  B60T7/042 ,  B60T8/171 ,  B60T13/741 ,  B60T17/22 ,  F16D65/18 ,  F16D2066/005 ,  F16D2125/40 ,  F16D2125/48

Abstract: Based on a difference (ΔFb) between a target value (Fbt) and an actual value (Fba) of a friction member force for pressing a brake disc, a feedback energization amount (Ipt) is calculated using a proportional gain smaller than an ultimate sensitivity gain. If ΔFb falls within a fluctuation range of torque ripple, a first compensation energization amount (Ibt) is calculated using a proportional gain larger than the ultimate sensitivity gain, and if ΔFb falls outside the fluctuation range, the first compensation energization amount (Ibt) is calculated to be constant. A second compensation energization amount (Ift) is calculated based on a calculation characteristic that is preset based on a torque fluctuation over a predetermined range of an electric motor position and based on an actual position of the electric motor. An indication energization amount calculated according to Fbt is adjusted by Ipt, Ibt, and Ift to calculate a target energization amount.

公开(公告)号：US20150224970A1

公开(公告)日：2015-08-13

申请号：US14426697

申请日：2013-09-04

Applicant: Yoshiyuki YASUI ,  Hiroyuki KODAMA ,  Takuya HIRANO ,  Naoki YABUSAKI ,  Takayuki YAMAMOTO ,  ADVICS CO., LTD. ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Yoshiyuki Yasui ,  Hiroyuki Kodama ,  Takuya Hirano ,  Naoki Yabusaki ,  Takayuki Yamamoto

IPC: B60T8/1761 ,  B60T8/172 ,  B60T8/171

CPC classification number: B60T8/1761 ,  B60T8/171 ,  B60T8/172 ,  B60T8/17616 ,  B60T13/741 ,  B60T2240/06

Abstract: In a vehicle brake control device for generating rear wheel braking torque by an electric motor, “slip suppression control of the rear wheel” for reducing rear wheel braking torque by controlling the electric motor is executed based on a slip state quantity of the rear wheel. Further, “sudden-stop control” for rapidly stopping electric motor rotation motion is executed based on a slip state quantity of a front wheel. The sudden-stop control is executed when rear wheel slip suppression control is not being executed. As the sudden-stop control, “control for changing an energization amount of the electric motor stepwise to an energization limit value set in advance corresponding to a deceleration direction of the electric motor” may be executed. Accordingly, it is possible to suppress excessive rear wheel slip due to inertia influences or the like of the electric motor when execution of the rear wheel slip suppression control is started.

Abstract translation: 在用于通过电动机产生后轮制动转矩的车辆制动控制装置中，基于后轮的滑动状态量来执行用于通过控制电动机来减小后轮制动转矩的“后轮的滑移抑制控制”。 此外，基于前轮的滑动状态量来执行用于快速停止电动机旋转运动的“突然停止控制”。 当不执行后轮打滑抑制控制时，执行突然停止控制。 作为突然停止控制，可以执行“将电动机的通电量逐步改变为对应于电动机的减速方向而设定的通电限制值的控制”。 因此，当执行后轮打滑抑制控制开始时，可​​以抑制由于电动机的惯性影响等导致的过大的后轮滑动。

公开(公告)号：US09056600B2

公开(公告)日：2015-06-16

申请号：US12729755

申请日：2010-03-23

Applicant: Yoshiyuki Yasui ,  Toshihisa Kato ,  Hiroshi Matsuoka ,  Junya Nagaya

Inventor： Yoshiyuki Yasui ,  Toshihisa Kato ,  Hiroshi Matsuoka ,  Junya Nagaya

IPC: A01B69/00 ,  B60T8/1755

CPC classification number: B60T8/1755

Abstract: A motion control device for a vehicle having a braking means for applying a brake toque to a wheel of the vehicle and maintaining a traveling stability of the vehicle by controlling the braking means, the motion control for the vehicle, includes a steering angular velocity obtaining means for obtaining a steering angular velocity of the vehicle, a maximum steering angular velocity calculating means for calculating a maximum steering angular velocity on the basis of the steering angular velocity, a determining means for determining a reference turning state quantity on the basis of the maximum steering angular velocity, an actual turning state quantity obtaining means for obtaining an actual turning state quantity of the vehicle, and a control means for controlling the brake toque on the basis of the reference turning state quantity and the actual turning state quantity.

Abstract translation: 一种用于车辆的运动控制装置，具有用于通过控制制动装置将制动器扭矩施加到车辆的车轮并保持车辆的行驶稳定性的制动装置，所述车辆的运动控制包括转向角速度获取装置 用于获得车辆的转向角速度;最大转向角速度计算装置，用于基于转向角速度计算最大转向角速度;确定装置，用于基于最大转向确定参考转弯状态量; 角速度，用于获得车辆的实际转弯状态量的实际转弯状态量获取装置，以及用于根据基准转动状态量和实际转动状态量来控制制动器转矩的控制装置。

公开(公告)号：US20150081186A1

公开(公告)日：2015-03-19

申请号：US14369255

申请日：2012-12-25

Applicant: Yoshiyuki Yasui ,  Hiroyuki Kodama ,  Naotoshi Satake

Inventor： Yoshiyuki Yasui ,  Hiroyuki Kodama ,  Naotoshi Satake

IPC: B60T8/173 ,  B60T8/171

CPC classification number: B60T8/173 ,  B60T7/042 ,  B60T8/171 ,  B60T13/741 ,  B60T17/22 ,  F16D65/18 ,  F16D2066/005 ,  F16D2125/40 ,  F16D2125/48

Abstract: Based on a difference (ΔFb) between a target value (Fbt) and an actual value (Fba) of a friction member force for pressing a brake disc, a feedback energization amount (Ipt) is calculated using a proportional gain smaller than an ultimate sensitivity gain. If ΔFb falls within a fluctuation range of torque ripple, a first compensation energization amount (Ibt) is calculated using a proportional gain larger than the ultimate sensitivity gain, and if ΔFb falls outside the fluctuation range, the first compensation energization amount (Ibt) is calculated to be constant. A second compensation energization amount (Ift) is calculated based on a calculation characteristic that is preset based on a torque fluctuation over a predetermined range of an electric motor position and based on an actual position of the electric motor. An indication energization amount calculated according to Fbt is adjusted by Ipt, Ibt, and Ift to calculate a target energization amount.

Abstract translation: 基于用于按压制动盘的摩擦构件力的目标值（Fbt）和实际值（Fba）之间的差（＆Dgr; Fb），使用比例增益小的比例增益来计算反馈通电量（Ipt） 极限灵敏度增益。 如果＆Dgr; Fb落在转矩波动的波动范围内，则使用比最终灵敏度增益大的比例增益来计算第一补偿通电量（Ibt），并且如果＆Dgr; Fb落在波动范围之外，则第一补偿通电量 （Ibt）计算为常数。 基于根据电动机位置的预定范围内的转矩波动预设的计算特性，并基于电动机的实际位置来计算第二补偿通电量（Ift）。 根据Fbt计算的指示通电量由Ipt，Ibt，Ift进行调整，计算出目标通电量。

公开(公告)号：US08639427B2

公开(公告)日：2014-01-28

申请号：US12850191

申请日：2010-08-04

Applicant: Yoshiyuki Yasui

Inventor： Yoshiyuki Yasui

IPC: G06F19/00

CPC classification number: B60T8/17551 ,  B60T8/17558 ,  B60T8/885

Abstract: A motion control device for a vehicle includes a braking means for applying a brake torque to each of a plurality of wheels of the vehicle, an avoidance control means for calculating a first target quantity, used for an avoidance control for applying the brake torque to each wheel via the braking means in order to avoid an emergency state of the vehicle, a stabilization control means for determining a target wheel, to which the brake torque is applied, out of the wheels and calculating a second target quantity used for a stabilization control for applying the brake torque to the target wheel in order to ensure a vehicle stability, and a brake control means for controlling the brake torque applied to a non-target wheel based on the first target quantity and controlling the brake torque applied to the target wheel based on the first and second target quantities.

Abstract translation: 一种用于车辆的运动控制装置，包括用于向车辆的多个车轮中的每一个车轮施加制动转矩的制动装置，用于计算第一目标量的回避控制装置，用于对每个车轮施加制动转矩的回避控制 通过制动装置的车轮，以避免车辆的紧急状态;稳定控制装置，用于将施加了制动转矩的目标车轮确定出车轮，并计算用于稳定控制的第二目标量， 将制动扭矩施加到目标车轮以确保车辆稳定性;以及制动控制装置，用于基于第一目标量控制施加到非目标车轮的制动转矩，并且控制施加到目标车轮的制动转矩 在第一和第二目标数量。

公开(公告)号：US08428842B2

公开(公告)日：2013-04-23

申请号：US12569081

申请日：2009-09-29

Applicant: Yoshiyuki Yasui ,  Hideaki Koto ,  Hiroyuki Kodama ,  Masaki Maruyama ,  Takayuki Miyajima

Inventor： Yoshiyuki Yasui ,  Hideaki Koto ,  Hiroyuki Kodama ,  Masaki Maruyama ,  Takayuki Miyajima

IPC: B60T8/32

CPC classification number: B60K31/0066 ,  B60W30/143 ,  B60W2540/10 ,  B60W2550/143

Abstract: A speed control device for a vehicle includes a vehicle speed obtaining means obtaining a vehicle speed, a shape obtaining means obtaining a curve shape, a position obtaining means obtaining a positional relationship between a curve and the vehicle, a target vehicle speed determining means determining a target vehicle speed based on the curve shape and the positional relationship, a vehicle speed controlling means controlling the vehicle speed based on the target vehicle speed and the vehicle speed, and an acceleration operation quantity obtaining means obtaining an operation quantity of an acceleration operating member operated by a driver, wherein the target vehicle speed determining means includes a modification means modifying the target vehicle speed based on the operation quantity so that the target vehicle speed obtained when the operation variable is greater than zero becomes a greater value than the target vehicle speed obtained when the operation quantity is zero.

Abstract translation: 一种用于车辆的速度控制装置，包括获得车速的车速获取装置，获得曲线形状的形状获得装置，获得曲线与车辆之间的位置关系的位置获取装置，确定 基于曲线形状和位置关系的目标车速，基于目标车速和车速控制车速的车速控制单元，以及获取加速操作构件的操作量的加速度运算量取得单元 通过驾驶员，其中目标车速确定装置包括基于操作量修正目标车速的修改装置，使得当操作变量大于零时获得的目标车速变得比获得的目标车速更大的值 当操作量为零时。

公开(公告)号：US08239097B2

公开(公告)日：2012-08-07

申请号：US12174281

申请日：2008-07-16

Applicant: Yoshiyuki Yasui ,  Hiroyuki Kodama ,  Kenji Asano ,  Toshihisa Kato

Inventor： Yoshiyuki Yasui ,  Hiroyuki Kodama ,  Kenji Asano ,  Toshihisa Kato

IPC: B62D6/00

CPC classification number: B62D5/0472

Abstract: A steering control apparatus for a vehicle having a power source for generating power, and drive shafts for transferring the power to driving wheels of the vehicle, and a traction control device for controlling braking torque applied to the wheels. The apparatus comprises a detection device for detecting the braking torque applied to the wheels, a calculation device for calculating a driving force difference between the wheels, on the basis of the detected braking torque, a power source state detection device for detecting an actuating state of the power source, and a control device for controlling steering torque created by the steering wheel, and applying torque steer reducing torque to the steering wheel. A desired value of the torque steer reducing torque is determined, based on the driving force difference and the actuating state of the power source. And, the torque steer reducing torque is applied to the steering wheel, according to the desired value of the torque steer reducing torque, to reduce the torque steer.

Abstract translation: 一种用于具有用于产生动力的动力源的车辆的转向控制装置和用于将动力传递到车辆的驱动轮的驱动轴以及用于控制施加到车轮的制动转矩的牵引控制装置。 该装置包括用于检测施加到车轮的制动转矩的检测装置，用于基于检测到的制动转矩来计算车轮之间的驱动力差的计算装置，用于检测车辆的致动状态的电源状态检测装置 所述动力源和用于控制由所述方向盘产生的转向转矩的控制装置，以及向所述方向盘施加扭矩转向减速转矩。 基于驱动力差和电源的致动状态来确定扭矩转向减速转矩的期望值。 并且，根据扭矩转向减速转矩的期望值，对转向盘施加扭矩转向减速转矩，以减小转矩转向。

公开(公告)号：US08224526B2

公开(公告)日：2012-07-17

申请号：US12570722

申请日：2009-09-30

Applicant: Takayuki Miyajima ,  Yoshiyuki Yasui ,  Toshihisa Kato

Inventor： Takayuki Miyajima ,  Yoshiyuki Yasui ,  Toshihisa Kato

IPC: B60W30/02 ,  B62D6/00 ,  G06F7/00

CPC classification number: B60T8/1755 ,  B60T2201/16 ,  B60T2210/36

Abstract: A vehicle stabilization control device includes: an actual turning state quantity acquisition unit that acquires an actual turning state quantity indicating an actual turning state of a vehicle; a curve information acquisition unit that acquires the shape of a curve ahead of the vehicle; a vehicle speed acquisition unit that acquires speed of the vehicle; and a curve traverse possibility determination unit that determines a possibility that the vehicle can stably traverse the curve, based on the curve shape and speed of the vehicle; a control quantity computation unit that, to control braking force on each wheel and suppress understeering, computes a target control quantity for each wheel, based on the actual turning state quantity and on the possibility that the vehicle can stably traverse the curve; and a control unit controlling the braking force for each wheel, based on the target control quantity for each wheel.

Abstract translation: 车辆稳定控制装置包括：实际转弯状态量获取单元，其获取表示车辆的实际转弯状态的实际转弯状态量; 曲线信息获取单元，其获取车辆前方的曲线的形状; 获取车辆速度的车速获取单元; 以及曲线横移可能性判定单元，其基于车辆的曲线形状和速度来确定车辆能够稳定地横越所述曲线的可能性; 控制量计算单元，其用于控制​​每个车轮上的制动力并抑制转向不足，根据实际转弯状态量以及车辆能够稳定地行驶曲线的可能性来计算每个车轮的目标控制量; 以及基于每个车轮的目标控制量来控制每个车轮的制动力的控制单元。