公开(公告)号：US20070055432A1

公开(公告)日：2007-03-08

申请号：US10577732

申请日：2004-11-12

申请人： Ken Koibuchi ,  Eiichi Ono ,  Yoshikazu Hattori ,  Yuji Muragishi

发明人： Ken Koibuchi ,  Eiichi Ono ,  Yoshikazu Hattori ,  Yuji Muragishi

IPC分类号： B60T8/24

CPC分类号： B62D6/006 ,  B60T8/172 ,  B60T8/17551 ,  B60T2210/12 ,  B60T2270/86 ,  B60W40/11 ,  B60W40/112 ,  B60W40/114 ,  B60W2710/207

摘要： Various state amounts of a vehicle body detected by various types of sensors are captured (step 102). A maximum frictional force Fimax is calculated for each of wheels (steps 104 to 110). By use of the maximum frictional force Fimax and other physical quantities, a performance function not dependent on respective magnitudes of a vehicle body generating force and a yaw moment is defined, which performance function is prepared by means of a performance function in a case in which the vehicle body generating force is larger than the yaw moment, and a performance function in a case in which the vehicle body generating force is not larger than the yaw moment (step 112). A resultant force qi of tire generating forces acting on respective wheels is calculated by means of a third performance function (step 114), and braking and driving forces of each wheel, and a steering angle of each wheel are obtained by means of the calculated direction in which the resultant force of tire generating forces acts on the wheels (step 116). Based on the obtained braking and driving forces and steering wheel of each of the wheels, these wheels are each controlled (step 118).

摘要翻译： 捕获各种类型的传感器检测到的各种状态的车体（步骤102）。 对于每个车轮计算最大摩擦力F imax （步骤104至110）。 通过使用最大摩擦力F max和其他物理量，定义不依赖于车体产生力和横摆力矩的相应大小的性能函数，该性能函数通过 在车体产生力大于横摆力矩的情况下的演奏功能以及车身产生力不大于横摆力矩的情况下的演奏功能（步骤112）。 通过第三性能函数（步骤114）和每个车轮的制动和驱动力以及每个车轮的转向角来计算作用在相应车轮上的轮胎产生力的合力q 通过计算出的轮胎产生力的合力的方向（步骤116）获得。 基于获得的每个车轮的制动和驱动力和方向盘，这些轮被分别控制（步骤118）。

公开(公告)号：US07698043B2

公开(公告)日：2010-04-13

申请号：US11363066

申请日：2006-02-28

申请人： Eiichi Ono ,  Yoshikazu Hattori ,  Yuji Muragishi

发明人： Eiichi Ono ,  Yoshikazu Hattori ,  Yuji Muragishi

IPC分类号： B60T8/175

CPC分类号： B60W10/18 ,  B60T8/1755 ,  B60T2260/022 ,  B60T2260/08 ,  B60W10/04 ,  B60W10/20 ,  B60W30/045 ,  B60W40/101 ,  B60W2520/26 ,  B62D6/003 ,  B62D6/006 ,  B62D7/159

摘要： A vehicle control system includes a calculator that calculates an integrated controlled variable including a first controlled variable used for controlling the braking/driving force of each wheel so as to optimize the μ utilization ratio of the wheel and a second controlled variable used for controlling the steering angle of each wheel, based on constraints including a target resultant force to be applied to the vehicle body and a limit friction circle of each wheel, a calculator that calculates a steering controlled variable used for controlling only the steering angle of each wheel so as to achieve the target resultant force, and a controller that controls only the steering angle of each wheel, or the steering angle and braking/driving force of each wheel, based on a controlled variable obtained by linearly interpolating the integrated controlled variable and the steering controlled variable.

摘要翻译： 车辆控制系统包括计算器，其计算包括用于控制每个车轮的制动/驱动力的第一控制变量的综合控制变量，以便优化车轮的μ利用率和用于控制转向的第二控制变量 基于包括要施加到车体的目标合力和每个车轮的极限摩擦圆的约束的每个车轮的角度，计算器，其计算用于仅控制每个车轮的转向角的转向控制变量，以便 基于通过线性内插积分控制变量和转向控制变量获得的控制变量，实现目标合力，控制器仅控制每个车轮的转向角，或每个车轮的转向角度和制动/驱动力 。

公开(公告)号：US20060217867A1

公开(公告)日：2006-09-28

申请号：US11363066

申请日：2006-02-28

申请人： Eiichi Ono ,  Yoshikazu Hattori ,  Yuji Muragishi

发明人： Eiichi Ono ,  Yoshikazu Hattori ,  Yuji Muragishi

IPC分类号： G06F19/00

CPC分类号： B60W10/18 ,  B60T8/1755 ,  B60T2260/022 ,  B60T2260/08 ,  B60W10/04 ,  B60W10/20 ,  B60W30/045 ,  B60W40/101 ,  B60W2520/26 ,  B62D6/003 ,  B62D6/006 ,  B62D7/159

摘要： A vehicle control system includes a calculator that calculates an integrated controlled variable including a first controlled variable used for controlling the braking/driving force of each wheel so as to optimize the μ utilization ratio of the wheel and a second controlled variable used for controlling the steering angle of each wheel, based on constraints including a target resultant force to be applied to the vehicle body and a limit friction circle of each wheel, a calculator that calculates a steering controlled variable used for controlling only the steering angle of each wheel so as to achieve the target resultant force, and a controller that controls only the steering angle of each wheel, or the steering angle and braking/driving force of each wheel, based on a controlled variable obtained by linearly interpolating the integrated controlled variable and the steering controlled variable.

摘要翻译： 车辆控制系统包括计算器，其计算包括用于控制每个车轮的制动/驱动力的第一控制变量的综合控制变量，以便优化车轮的利用率和用于控制转向的第二控制变量 基于包括要施加到车体的目标合力和每个车轮的极限摩擦圆的约束的每个车轮的角度，计算器，其计算用于仅控制每个车轮的转向角的转向控制变量，以便 基于通过线性内插积分控制变量和转向控制变量获得的控制变量，实现目标合力，控制器仅控制每个车轮的转向角，或每个车轮的转向角度和制动/驱动力 。

公开(公告)号：US06802226B2

公开(公告)日：2004-10-12

申请号：US10193220

申请日：2002-07-12

申请人： Eiichi Ono ,  Yoshitoshi Watanabe ,  Masanori Miyashita ,  Yuji Muragishi ,  Katsuhiro Asano

发明人： Eiichi Ono ,  Yoshitoshi Watanabe ,  Masanori Miyashita ,  Yuji Muragishi ,  Katsuhiro Asano

IPC分类号： G01L302

CPC分类号： G01N19/02 ,  B60T2210/12 ,  B62D15/02

摘要： A physical amount estimating apparatus including first outputting means for outputting a first physical amount that does not include a hysteresis characteristic, second outputting means for outputting a second physical amount that has a predetermined physical relationship to the first physical amount and includes a hysteresis characteristic, hysteresis removing means for calculating a corrected value with the hysteresis characteristic removed therefrom based on the second physical amount, and estimating means for estimating a third physical amount based on a physical relationship between the first physical amount and the corrected value.

摘要翻译： 一种物理量估计装置，包括：第一输出装置，用于输出不包括滞后特性的第一物理量;第二输出装置，用于输出与第一物理量具有预定物理关系的第二物理量，并包括滞后特性，滞后特性 去除装置，用于基于第二物理量计算从其中除去的滞后特性的校正值;以及估计装置，用于基于第一物理量和校正值之间的物理关系来估计第三物理量。

公开(公告)号：US08515623B2

公开(公告)日：2013-08-20

申请号：US13496767

申请日：2011-01-11

申请人： Eiichi Ono ,  Yuji Muragishi ,  Shinsuke Sato ,  Yutaka Onuma ,  Kimiaki Ono

发明人： Eiichi Ono ,  Yuji Muragishi ,  Shinsuke Sato ,  Yutaka Onuma ,  Kimiaki Ono

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

CPC分类号： B62D6/002 ,  B60W10/20 ,  B60W2540/00 ,  B60W2540/18 ,  B62D5/008 ,  B62D6/001

摘要： A steering apparatus that by effecting a predetermined relationship between a steering wheel angle and a yaw angular velocity generated for a vehicle makes a direction θgaze β, seen from the view point of the driver, of a target destination point on a target course for vehicle travel after a predetermined forward gaze time, and a direction δSW of a steering wheel reference position, seen from the view point of the driver, coincide with each other. The steering apparatus can accordingly enhance the sensation of driver-vehicle togetherness, thereby enabling steering to be performed that matches driver sensation and does not cause discomfort.

摘要翻译： 通过对车辆产生的方向盘角度和偏航角速度之间的预定关系实现的转向装置，从驾驶员的观察点看到的车辆行驶目标路线上的目标目的地点的方向为“ 在预定的向前注视时间之后，并且从驾驶员的视点看到的方向盘参考位置的方向ΔSW彼此一致。 因此，转向装置能够增强驾驶员车辆一体感的感觉，由此能够进行与驾驶员感觉匹配的转向，不会引起不适。

公开(公告)号：US06266580B1

公开(公告)日：2001-07-24

申请号：US09577160

申请日：2000-05-24

申请人： Norimi Asahara ,  Masami Kondo ,  Toshinari Suzuki ,  Katsumi Kono ,  Ryoichi Hibino ,  Eiichi Ono ,  Masataka Osawa ,  Yuji Muragishi

发明人： Norimi Asahara ,  Masami Kondo ,  Toshinari Suzuki ,  Katsumi Kono ,  Ryoichi Hibino ,  Eiichi Ono ,  Masataka Osawa ,  Yuji Muragishi

IPC分类号： G05D1100

CPC分类号： G05B13/0255

摘要： A deviation between a target value of a quantity of state and an actual value of the quantity of state that is caused to follow the target value or a time-integral of the deviation is filtered. Based on the filtered value, a switching surface &sgr; is calculated. Based on a value of the switching surface &sgr;, a control input value u is outputted. The filter is set through comparison in Bode diagrams between a design model of a control system based on an ordinary sliding mode control method and a characteristic variation model of the control system, and by performing compensation in such a direction as to cancel out the variation. The filtering process makes it possible to properly control the control system having a dead time by the sliding mode control method.

摘要翻译： 过滤状态量的目标值与导致跟随目标值的状态量的实际值或偏差的时间积分之间的偏差。 基于滤波值，计算切换表面sigma。 基于开关面sigma的值，输出控制输入值u。 通过比较Bode图中的过滤器，在基于普通滑动模式控制方法的控制系统的设计模型和控制系统的特征变化模型之间进行比较，并且通过在消除变化的方向上进行补偿来设定。 滤波处理使得可以通过滑动模式控制方法适当地控制具有死区时间的控制系统。

公开(公告)号：US20120173082A1

公开(公告)日：2012-07-05

申请号：US13496767

申请日：2011-01-11

申请人： Eiichi Ono ,  Yuji Muragishi ,  Shinsuke Sato ,  Yutaka Onuma ,  Kimiaki Ono

发明人： Eiichi Ono ,  Yuji Muragishi ,  Shinsuke Sato ,  Yutaka Onuma ,  Kimiaki Ono

IPC分类号： B62D6/00

CPC分类号： B62D6/002 ,  B60W10/20 ,  B60W2540/00 ,  B60W2540/18 ,  B62D5/008 ,  B62D6/001

摘要： A steering apparatus that by effecting a predetermined relationship between a steering wheel angle and a yaw angular velocity generated for a vehicle makes a direction θgaze β, seen from the view point of the driver, of a target destination point on a target course for vehicle travel after a predetermined forward gaze time, and a direction δSW of a steering wheel reference position, seen from the view point of the driver, coincide with each other. The steering apparatus can accordingly enhance the sensation of driver-vehicle togetherness, thereby enabling steering to be performed that matches driver sensation and does not cause discomfort.

摘要翻译： 通过实现方向盘角度和车辆产生的偏航角速度之间的预定关系的转向装置，从驾驶员的视点观察目标目标点上的方向和目标; 在预定的向前注视时间之后的车辆行驶和从驾驶员的视点看的方向盘参考位置的方向δSW彼此一致。 因此，转向装置能够增强驾驶员车辆一体感的感觉，由此能够进行与驾驶员感觉匹配的转向，不会引起不适。

公开(公告)号：US20060041367A1

公开(公告)日：2006-02-23

申请号：US11205096

申请日：2005-08-17

申请人： Eiichi Ono ,  Tomoko Abe ,  Yuji Muragishi

发明人： Eiichi Ono ,  Tomoko Abe ,  Yuji Muragishi

IPC分类号： B60T7/12

CPC分类号： B60G17/016 ,  B60G2400/0521 ,  B60G2400/0523 ,  B60G2400/104 ,  B60G2400/204 ,  B60G2600/188 ,  B60G2800/016 ,  B60G2800/212 ,  B60G2800/702 ,  B60G2800/912 ,  B60T8/172 ,  B60T2230/02

摘要： A vehicle stabilizing control apparatus is disclosed which includes a vehicle velocity sensor, an angular velocity sensor, and a lateral acceleration sensor that detects a lateral acceleration of the vehicle or a steering angle sensor that detects a steering angle. The angular velocity sensor detects an angular velocity about an axis defined by inclining a vertical upward or downward axis of a vehicle at a predetermined angle in the forward or rearward direction of the vehicle.

摘要翻译： 公开了一种车辆稳定控制装置，其包括车速传感器，角速度传感器和检测车辆的横向加速度的侧向加速度传感器或检测转向角的转向角传感器。 角速度传感器检测围绕车辆的向前或向后方向以预定角度倾斜车辆的垂直向上或向下轴线所限定的轴线的角速度。

公开(公告)号：US07567865B2

公开(公告)日：2009-07-28

申请号：US10577732

申请日：2004-11-12

申请人： Ken Koibuchi ,  Eiichi Ono ,  Yoshikazu Hattori ,  Yuji Muragishi

发明人： Ken Koibuchi ,  Eiichi Ono ,  Yoshikazu Hattori ,  Yuji Muragishi

IPC分类号： B60T8/58 ,  B62D6/00

CPC分类号： B62D6/006 ,  B60T8/172 ,  B60T8/17551 ,  B60T2210/12 ,  B60T2270/86 ,  B60W40/11 ,  B60W40/112 ,  B60W40/114 ,  B60W2710/207

摘要： Various state amounts of a vehicle body detected by various types of sensors are captured (step 102). A maximum frictional force Fimax is calculated for each of wheels (steps 104 to 110). By use of the maximum frictional force Fimax and other physical quantities, a performance function not dependent on respective magnitudes of a vehicle body generating force and a yaw moment is defined, which performance function is prepared by means of a performance function in a case in which the vehicle body generating force is larger than the yaw moment, and a performance function in a case in which the vehicle body generating force is not larger than the yaw moment (step 112). A resultant force qi of tire generating forces acting on respective wheels is calculated by means of a third performance function (step 114), and braking and driving forces of each wheel, and a steering angle of each wheel are obtained by means of the calculated direction in which the resultant force of tire generating forces acts on the wheels (step 116). Based on the obtained braking and driving forces and steering wheel of each of the wheels, these wheels are each controlled (step 118).

摘要翻译： 捕获各种类型的传感器检测到的各种状态的车体（步骤102）。 对于每个车轮计算最大摩擦力Fimax（步骤104至110）。 通过使用最大摩擦力Fimax和其他物理量，定义不依赖于车体产生力和横摆力矩的相应大小的性能函数，哪个性能函数通过在下列情况下的性能函数来制备： 车体产生力大于横摆力矩，并且在车身产生力不大于横摆力矩的情况下的性能函数（步骤112）。 通过第三性能函数（步骤114）计算作用在各车轮上的轮胎产生力的合力qi，并且通过所计算的方向获得每个车轮的制动和驱动力以及每个车轮的转向角 其中轮胎产生力的合力作用在车轮上（步骤116）。 基于获得的每个车轮的制动和驱动力和方向盘，这些轮被分别控制（步骤118）。

公开(公告)号：US07059687B2

公开(公告)日：2006-06-13

申请号：US09824143

申请日：2001-04-03

申请人： Yoshiyuki Yasui ,  Tsuyoshi Yoshida ,  Yutaka Ohnuma ,  Akira Tanaka ,  Masaru Sugai ,  Eiichi Ono ,  Mamoru Sawada

发明人： Yoshiyuki Yasui ,  Tsuyoshi Yoshida ,  Yutaka Ohnuma ,  Akira Tanaka ,  Masaru Sugai ,  Eiichi Ono ,  Mamoru Sawada

IPC分类号： B60T8/34

CPC分类号： B60T8/246 ,  B60T8/1766 ,  B60T2270/82

摘要： A braking force distribution control device is provided in which wheel speeds of respective wheels of a vehicle are detected. On the basis of the detected wheel speeds, slopes of coefficients of friction μ between the wheels and a road surface are estimated as road surface μ slope values of the respective wheels. On the basis of the estimated road surface μ slope values of the respective wheels, braking forces of the respective wheels are controlled such that the braking forces among the respective wheels are adjusted.