公开(公告)号：US09545949B2

公开(公告)日：2017-01-17

申请号：US12675153

申请日：2008-07-24

申请人： Ippei Yamazaki

发明人： Ippei Yamazaki

IPC分类号： B62D6/00 ,  B62D5/04

CPC分类号： B62D6/008 ,  B62D5/0466

摘要： A steering control apparatus includes: a friction torque setting mechanism setting a friction torque value to be applied to a steering based on information representing a status of a vehicle; a target steering angle setting mechanism setting a target steering angle based on the set friction torque value; an adding friction torque setting mechanism setting an adding friction torque based on a deviation between the set target steering angle and a steering angle; and a steering friction torque controller controlling a friction torque applied to the steering by an actuator based on the set adding friction torque.

摘要翻译： 转向控制装置包括：摩擦转矩设定机构，根据表示车辆状态的信息，设定要施加于转向的摩擦转矩值; 目标转向角设定机构，基于设定的摩擦转矩值设定目标转向角; 增加摩擦转矩设定机构，基于所设定的目标转向角与转向角之间的偏差，设定加法摩擦转矩; 以及转向摩擦转矩控制器，其基于所设置的增加的摩擦转矩来控制由致动器施加到所述转向的摩擦转矩。

公开(公告)号：US08392068B2

公开(公告)日：2013-03-05

申请号：US13576851

申请日：2010-02-02

申请人： Ippei Yamazaki

发明人： Ippei Yamazaki

IPC分类号： A01B69/00

CPC分类号： B60T8/1755 ,  B60K7/0007 ,  B60W10/08 ,  B60W10/18 ,  B60W30/045 ,  B60W2540/18 ,  B60W2720/14

摘要： A vehicle behavior control device (S) determines, by using a vehicle velocity (V), a transmission function (K(s)) which is determined based on a specification of the vehicle, receives as an input a wheel turning speed (ω) obtained by differentiating a wheel turning angle (δ) of left and right front wheels (FW1, FW2) with respect to time, and outputs a target yaw moment (My). The device (S) also calculates, by using the determined target yaw moment (My), a left-wheel-side forward/backward force (FxCL) imparted to a left wheel side (left front wheel FW1 and left rear wheel RW1) of a vehicle (10) and a right-wheel-side forward/backward force (FxCR) imparted to a right wheel side (right front wheel FW2 and right rear wheel RW2) of the vehicle (10). Then, the device (S) performs control to drive brake units (14-17) and in-wheel motors (IWMfl, IWMfr, IWMrl, IWMrr) depending on a turning direction of the vehicle (10), with the left-wheel-side forward/backward force (FxCL) serving as a braking force (or driving force) and the right-wheel-side forward/backward force (FxCR) serving as a driving force (or braking force). It is thus possible to ensure directional stability and responsiveness when the vehicle turns, taking into account a frequency response characteristic of a motion state amount generated on the vehicle (10).

摘要翻译： 车辆行为控制装置（S）通过使用车速（V）来确定基于车辆的规格确定的发送功能（K（s）），作为输入接收车轮转速（ω） 通过使左右前轮（FW1，FW2）的车轮转角（δ）相对于时间相差来获得，并输出目标横摆力矩（My）。 装置（S）还通过使用所确定的目标横摆力矩（My）来计算赋予左轮侧（左前轮FW1和左后轮RW1）的左轮侧前后力（FxCL） 赋予车辆（10）的右轮侧（右前轮FW2和右后轮RW2）的车辆（10）和右轮侧前进/后退力（FxCR）。 然后，根据车辆（10）的转向方向，装置（S）进行控制以驱动制动单元（14-17）和轮内电动机（IWMfl，IWMfr，IWMrl，IWMrr） 用作制动力（或驱动力）的侧向前/后向力（FxCL）和作为驱动力（或制动力）的右轮侧前后力（FxCR）。 因此，考虑到车辆（10）上产生的运动状态量的频率响应特性，可以确保车辆转向时的方向稳定性和响应性。

公开(公告)号：US08476785B2

公开(公告)日：2013-07-02

申请号：US12936573

申请日：2009-03-30

申请人： Masaharu Yamashita ,  Ippei Yamazaki

发明人： Masaharu Yamashita ,  Ippei Yamazaki

IPC分类号： B60L1/00

CPC分类号： H02J7/1438 ,  B62D5/046 ,  B62D5/0481 ,  H02J7/1423

摘要： When a change in an output voltage of a main power supply is a decrease, and a degree of the decrease is larger than a reference value, a power supply control portion decreases a boosted voltage of a voltage-boosting circuit according to the degree of the decrease. When the change in the output voltage of the main power supply is an increase, and a degree of the increase is larger than the reference value, the power supply control portion increases the boosted voltage of the voltage-boosting circuit according to the degree of the increase.

摘要翻译： 当主电源的输出电压的变化减小并且减小程度大于参考值时，电源控制部分根据升压电路的程度降低升压电路的升压电压 减少。 当主电源的输出电压的变化增加并且增加程度大于参考值时，电源控制部分根据升压电路的程度增加升压电路的升压电压 增加。

公开(公告)号：US20130006476A1

公开(公告)日：2013-01-03

申请号：US13576851

申请日：2010-02-02

申请人： Ippei Yamazaki

发明人： Ippei Yamazaki

IPC分类号： B60W30/045

CPC分类号： B60T8/1755 ,  B60K7/0007 ,  B60W10/08 ,  B60W10/18 ,  B60W30/045 ,  B60W2540/18 ,  B60W2720/14

摘要： A vehicle behavior control device (S) determines, by using a vehicle velocity (V), a transmission function (K(s)) which is determined based on a specification of the vehicle, receives as an input a wheel turning speed (ω) obtained by differentiating a wheel turning angle (δ) of left and right front wheels (FW1, FW2) with respect to time, and outputs a target yaw moment (My). The device (S) also calculates, by using the determined target yaw moment (My), a left-wheel-side forward/backward force (FxCL) imparted to a left wheel side (left front wheel FW1 and left rear wheel RW1) of a vehicle (10) and a right-wheel-side forward/backward force (FxCR) imparted to a right wheel side (right front wheel FW2 and right rear wheel RW2) of the vehicle (10). Then, the device (S) performs control to drive brake units (14-17) and in-wheel motors (IWMfl, IWMfr, IWMrl, IWMrr) depending on a turning direction of the vehicle (10), with the left-wheel-side forward/backward force (FxCL) serving as a braking force (or driving force) and the right-wheel-side forward/backward force (FxCR) serving as a driving force (or braking force). It is thus possible to ensure directional stability and responsiveness when the vehicle turns, taking into account a frequency response characteristic of a motion state amount generated on the vehicle (10).

摘要翻译： 车辆行为控制装置（S）通过使用车速（V）来确定基于车辆的规格确定的发送功能（K（s）），作为输入接收车轮转速（ω） 通过使左右前轮（FW1，FW2）的车轮转角（δ）相对于时间相差来获得，并输出目标横摆力矩（My）。 装置（S）还通过使用所确定的目标横摆力矩（My）来计算赋予左轮侧（左前轮FW1和左后轮RW1）的左轮侧前后力（FxCL） 赋予车辆（10）的右轮侧（右前轮FW2和右后轮RW2）的车辆（10）和右轮侧前进/后退力（FxCR）。 然后，根据车辆（10）的转向方向，装置（S）进行控制以驱动制动单元（14-17）和轮内电动机（IWMfl，IWMfr，IWMrl，IWMrr） 用作制动力（或驱动力）的侧向前/后向力（FxCL）和作为驱动力（或制动力）的右轮侧前后力（FxCR）。 因此，考虑到车辆（10）上产生的运动状态量的频率响应特性，可以确保车辆转向时的方向稳定性和响应性。

公开(公告)号：US07885742B2

公开(公告)日：2011-02-08

申请号：US12755806

申请日：2010-04-07

申请人： Ippei Yamazaki

发明人： Ippei Yamazaki

IPC分类号： G06F19/00

CPC分类号： B62D6/002 ,  B62D6/001 ,  B62D6/02

摘要： A target turning angle calculation part 51 calculates a target turning angle δ on the basis of a steering angle θ and a vehicle speed V. A correction turning angle calculation part 52 calculates a transfer function K(s) which is a second transfer function, depending on the vehicle speed V, by using a difference between a transfer function G(s) which is a first transfer function determined on the basis of the specification of the vehicle and a stationary component G(0) of the transfer function G(s), the first transfer function having as an input a turning angle δ and as an output a yaw rate γ of the vehicle, the second transfer function having as an input a target turning rate δ*′ obtained by temporally differentiating the target turning angle δ* and as an output a correction turning angle δc. The correction turning angle calculation part 52 calculates a correction turning angle δc by multiplying the transfer function K(s) by the target turning rate δ*′. A final target turning angle calculation part 53 inputs thereto the target turning angle δ* from the target turning angle calculation part 51 and the correction turning angle δc from the correction turning angle calculation part 52 and calculates a final target turning angle δd by adding the correction turning angle δc to the target turning angle δ*.

摘要翻译： 目标转轮角计算部51基于转向角度θ计算目标转轮角δ; 校正转向角计算部52通过使用作为车辆速度V的传递函数G（s）之间的差，根据车速V计算作为第二传递函数的传递函数K（s） 基于车辆规格确定的第一传递函数和传递函数G（s）的固定分量G（0），第一传递函数具有作为输入的转向角δ和作为输出的偏航率γ 作为输入，第二传递函数具有通过对目标转动角度δ*进行时间偏差而得到的目标转弯速度δ*'和作为输出的校正转动角δc的输入。 校正转向角计算部52通过将传递函数K（s）乘以目标转弯速度δ*'来计算校正转动角δc。 最终目标转轮角计算部53从目标转轮角计算部51输入目标转轮角度δ*和来自修正转角计算部52的校正转弯角δc，并通过将校正转弯角度 转向角δc为目标转向角δ*。

公开(公告)号：US20100228440A1

公开(公告)日：2010-09-09

申请号：US12675153

申请日：2008-07-24

申请人： Ippei Yamazaki

发明人： Ippei Yamazaki

IPC分类号： G06F19/00

CPC分类号： B62D6/008 ,  B62D5/0466

摘要： A steering control apparatus includes: a friction torque setting mechanism setting a friction torque value to be applied to a steering based on information representing a status of a vehicle; a target steering angle setting mechanism setting a target steering angle based on the set friction torque value; an adding friction torque setting mechanism setting an adding friction torque based on a deviation between the set target steering angle and a steering angle; and a steering friction torque controller controlling a friction torque applied to the steering by an actuator based on the set adding friction torque.

摘要翻译： 转向控制装置包括：摩擦转矩设定机构，根据表示车辆状态的信息，设定要施加于转向的摩擦转矩值; 目标转向角设定机构，基于设定的摩擦转矩值设定目标转向角; 增加摩擦转矩设定机构，基于所设定的目标转向角与转向角之间的偏差，设定加法摩擦转矩; 以及转向摩擦转矩控制器，其基于所设置的增加的摩擦转矩来控制由致动器施加到所述转向的摩擦转矩。

公开(公告)号：US08657301B2

公开(公告)日：2014-02-25

申请号：US13822502

申请日：2010-10-12

申请人： Koichi Itoh ,  Ippei Yamazaki ,  Shiro Monzaki ,  Yuichi Onoda

发明人： Koichi Itoh ,  Ippei Yamazaki ,  Shiro Monzaki ,  Yuichi Onoda

IPC分类号： B60G21/05 ,  B62D9/02

CPC分类号： B60G21/005 ,  B60G3/20 ,  B60G17/005 ,  B60G17/0162 ,  B60G21/007 ,  B60G2300/45 ,  B62K5/05 ,  B62K5/10

摘要： A vehicle body tilting apparatus includes: a right/left-wheels holding member having an elongated shape, and holding a right side wheel and a left side wheel of a vehicle which are disposed to be spaced apart from each other in a width direction of the vehicle such that each of the wheels is movable in a vertical direction; and a lean actuator disposed between the right/left-wheels holding member and a body of the vehicle, and configured to tilt at least the body of the vehicle in a lateral direction with respect to a normal line that is perpendicular to a road surface, by pivoting the right/left-wheels holding member and the body of the vehicle relative to each other. An output shaft of the lean actuator is fixed to the right/left-wheels holding member, and the body of the vehicle is fixed to a main body of the lean actuator.

摘要翻译： 车体倾斜装置包括：具有细长形状的左右轮保持构件，并且保持车辆的右侧轮和左侧车轮，所述右侧轮和左侧车轮在宽度方向上彼此间隔开 使得每个车轮能够在垂直方向上移动; 以及设置在左右车轮保持部件与车体之间的倾斜致动器，其构造成使车辆的至少主体相对于与路面垂直的法线在横向方向上倾斜， 通过相对于彼此枢转左/右车轮保持构件和车身。 该稀薄致动器的输出轴固定在右/左轮保持构件上，车体形成固定在该薄型致动器的主体上。

公开(公告)号：US20130193656A1

公开(公告)日：2013-08-01

申请号：US13822502

申请日：2010-10-12

申请人： Koichi Itoh ,  Ippei Yamazaki ,  Shiro Monzaki ,  Yuichi Onoda

发明人： Koichi Itoh ,  Ippei Yamazaki ,  Shiro Monzaki ,  Yuichi Onoda

IPC分类号： B60G21/00 ,  B60G17/005

CPC分类号： B60G21/005 ,  B60G3/20 ,  B60G17/005 ,  B60G17/0162 ,  B60G21/007 ,  B60G2300/45 ,  B62K5/05 ,  B62K5/10

摘要： A vehicle body tilting apparatus includes: a right/left-wheels holding member having an elongated shape, and holding a right side wheel and a left side wheel of a vehicle which are disposed to be spaced apart from each other in a width direction of the vehicle such that each of the wheels is movable in a vertical direction; and a lean actuator disposed between the right/left-wheels holding member and a body of the vehicle, and configured to tilt at least the body of the vehicle in a lateral direction with respect to a normal line that is perpendicular to a road surface, by pivoting the right/left-wheels holding member and the body of the vehicle relative to each other. An output shaft of the lean actuator is fixed to the right/left-wheels holding member, and the body of the vehicle is fixed to a main body of the lean actuator.

摘要翻译： 车体倾斜装置包括：具有细长形状的左右轮保持构件，并且保持车辆的右侧轮和左侧车轮，所述右侧轮和左侧车轮在宽度方向上彼此间隔开 使得每个车轮能够在垂直方向上移动; 以及设置在左右车轮保持部件与车体之间的倾斜致动器，其构造成使车辆的至少主体相对于与路面垂直的法线在横向方向上倾斜， 通过相对于彼此枢转左/右车轮保持构件和车身。 该稀薄致动器的输出轴固定在右/左轮保持构件上，车体形成固定在该薄型致动器的主体上。

公开(公告)号：US20080199160A1

公开(公告)日：2008-08-21

申请号：US11917212

申请日：2007-02-13

申请人： Ippei Yamazaki

发明人： Ippei Yamazaki

IPC分类号： B62D5/04

CPC分类号： B62D5/0469

摘要： An actual detected current value and a target voltage value of an electric motor are subjected to a low-pass filter process, and amounts of change per time in the filtered actual current value and the filtered target voltage value are calculated. If the amount of change in the actual current value on the increase side is greater than a criterion value and the amount of change in the target voltage value on the decrease side is greater than a criterion value, it is judged that the stroke end has been reached. Then, the upper limit value of the target current value is set at the actual current value obtained in the immediately previous cycle of the feedback control, so as to prevent generation of unnecessary torque.

摘要翻译： 对电动机的实际检测电流值和目标电压值进行低通滤波处理，并且计算滤波后的实际电流值和滤波后的目标电压值中每时刻的变化量。 如果增加侧的实际电流值的变化量大于基准值，并且减小侧的目标电压值的变化量大于判定值，则判断为行程结束 到达。 然后，将目标电流值的上限值设定为在反馈控制的紧接上一循环中获得的实际电流值，以防止不必要的转矩的产生。

公开(公告)号：US08229627B2

公开(公告)日：2012-07-24

申请号：US12090100

申请日：2006-10-10

申请人： Ippei Yamazaki

发明人： Ippei Yamazaki

IPC分类号： A01B69/00 ,  B62D6/00 ,  B62D11/00 ,  B62D12/00 ,  B63G8/20 ,  B63H25/04 ,  G05D1/00 ,  G06F7/00 ,  G06F17/00 ,  G06F19/00

CPC分类号： B62D5/0463 ,  B62D5/0466

摘要： A vehicle steering apparatus that can prevent a large returning torque from acting when a steering wheel is turned. Through processing of an assist control program, rotational torque (assist torque) of an electric motor is calculated by adding returning torque g·Trto to turning torque Tc (in actuality, subtracting the returning torque g·Trto from the turning torque Tc). The electric motor is driven and controlled in accordance with the calculated assist torque. When the steering torque is large, the calculated returning torque gain g decreases, and therefore, the returning torque g·Trto decreases or becomes zero. With this control, the greater the force (torque) required to operate the steering wheel, the smaller the influence of the returning torque, and steering feel at the time of turning the steering wheel is improved.

摘要翻译： 一种可以防止大的返回转矩作用于方向盘转动时的车辆转向装置。 通过处理辅助控制程序，通过将返回转矩g·Trto加到转矩Tc（实际上从转向转矩Tc减去返回转矩g·Trto）来计算电动机的转矩（辅助转矩）。 电动机根据计算的辅助转矩进行驱动和控制。 当转向转矩大时，计算出的返回转矩增益g减小，因此返回转矩g·Trto减小或变为零。 通过该控制，操作方向盘所需的力（扭矩）越大，返回转矩的影响越小，并且转向方向盘时的转向感觉得到改善。