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公开(公告)号:US20050205346A1
公开(公告)日:2005-09-22
申请号:US11067720
申请日:2005-03-01
申请人: Hiroaki Aizawa , Hiroaki Niino , Minekazu Momiyama , Hiroaki Kato
发明人: Hiroaki Aizawa , Hiroaki Niino , Minekazu Momiyama , Hiroaki Kato
IPC分类号: B60T8/172 , B60T8/1755 , B60T8/1764 , B60T8/58 , B60T8/60 , B60W10/20 , B60W30/00 , B60W30/02 , B60W40/068 , B62D5/04 , B62D5/06 , B62D6/00 , B62D101/00 , B62D103/00 , B62D105/00 , B62D109/00 , B62D111/00 , B62D113/00 , B62D119/00 , B62D137/00
CPC分类号: B60W10/184 , B60T8/1764 , B60T2260/024 , B60T2270/602 , B60W10/20 , B60W30/02 , B60W40/068 , B60W2510/20 , B60W2520/20 , B62D6/003 , B62D6/006
摘要: A steering control apparatus is provided for controlling a steered wheel angle of a wheel to be steered. On the basis of a road coefficient of friction estimated between right and left wheels, a braking force difference between the right and left wheels is calculated. A slip angle—total lateral force characteristic indicative of a relationship between a slip angle and a total lateral force of a wheel to be steered is provided on the basis of the estimated coefficient of friction. Then, a steered wheel angle of the wheel to be steered is set on the basis of the braking force difference and the slip angle—total lateral force characteristic.
摘要翻译: 提供一种用于控制要转向的车轮的转向轮角度的转向控制装置。 基于在左右车轮之间估计的道路摩擦系数,计算左右车轮之间的制动力差。 基于所估计的摩擦系数,提供表示滑行角和要转向的车轮的总侧向力之间的关系的滑移角 - 总侧向力特性。 然后,基于制动力差和滑移角 - 总横向力特性来设定要转向的车轮的转向车轮角。
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公开(公告)号:US07212903B2
公开(公告)日:2007-05-01
申请号:US10938552
申请日:2004-09-13
申请人: Hiroaki Niino , Hiroaki Aizawa , Minekazu Momiyama , Hiroaki Kato
发明人: Hiroaki Niino , Hiroaki Aizawa , Minekazu Momiyama , Hiroaki Kato
IPC分类号: G06G7/76
CPC分类号: B60T8/1755 , B60T8/17616 , B60T2260/02 , B62D7/159
摘要: A vehicle motion control apparatus is provided with an anti-skid control device and a steering angle adjusting device, which adjusts the steering angle of at least one of the front and rear wheels to cancel a yaw deviation between a desired yaw factor and an actual yaw factor, to be substantially zero. An incompatibility between the devices is determined on the basis of a state of the wheel adjusted by the steering angle adjusting device to cancel the yaw deviation. And, a predetermined parameter provided between a vehicle stability directive parameter and a brake directive parameter is set on the basis of the incompatibility. Then, the anti-skid control device controls the braking force applied to each wheel of the vehicle on the basis of the predetermined parameter. Consequently, the anti-skid control giving importance to the braking force can be performed, as long as the steering angle adjusting device is operative.
摘要翻译: 车辆运动控制装置设置有防滑控制装置和转向角调节装置,其调整前轮和后轮中的至少一个的转向角以抵消期望的偏航因数和实际偏航之间的偏航偏差 因子基本为零。 基于由转向角调节装置调整的车轮的状态来确定装置之间的不兼容性,以消除偏航偏差。 并且,基于不兼容性来设定在车辆稳定性指令参数和制动指令参数之间提供的预定参数。 然后,防滑控制装置根据规定的参数来控制施加于车辆的各车轮的制动力。 因此,只要转向角调节装置可操作,就可以执行重要的制动力的防滑控制。
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公开(公告)号:US20050065697A1
公开(公告)日:2005-03-24
申请号:US10938552
申请日:2004-09-13
申请人: Hiroaki Niino , Hiroaki Aizawa , Minekazu Momiyama , Hiroaki Kato
发明人: Hiroaki Niino , Hiroaki Aizawa , Minekazu Momiyama , Hiroaki Kato
IPC分类号: B60T8/1755 , B60T8/1761 , B62D7/15 , B62D6/00
CPC分类号: B60T8/1755 , B60T8/17616 , B60T2260/02 , B62D7/159
摘要: A vehicle motion control apparatus is provided with an anti-skid control device and a steering angle adjusting device, which adjusts the steering angle of at least one of the front and rear wheels to cancel a yaw deviation between a desired yaw factor and an actual yaw factor, to be substantially zero. An incompatibility between the devices is determined on the basis of a state of the wheel adjusted by the steering angle adjusting device to cancel the yaw deviation. And, a predetermined parameter provided between a vehicle stability directive parameter and a brake directive parameter is set on the basis of the incompatibility. Then, the anti-skid control device controls the braking force applied to each wheel of the vehicle on the basis of the predetermined parameter. Consequently, the anti-skid control giving importance to the braking force can be performed, as long as the steering angle adjusting device is operative.
摘要翻译: 车辆运动控制装置设置有防滑控制装置和转向角调节装置,其调整前轮和后轮中的至少一个的转向角以抵消期望的偏航因数和实际偏航之间的偏航偏差 因子基本为零。 基于由转向角调节装置调整的车轮的状态来确定装置之间的不兼容性,以消除偏航偏差。 并且,基于不兼容性来设定在车辆稳定性指令参数和制动指令参数之间提供的预定参数。 然后,防滑控制装置根据规定的参数来控制施加于车辆的各车轮的制动力。 因此,只要转向角调节装置可操作,就可以执行重要的制动力的防滑控制。
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公开(公告)号:US07171296B2
公开(公告)日:2007-01-30
申请号:US10957542
申请日:2004-10-01
申请人: Hiroaki Kato , Minekazu Momiyama , Takayuki Ohta , Akira Kodama
发明人: Hiroaki Kato , Minekazu Momiyama , Takayuki Ohta , Akira Kodama
CPC分类号: B62D6/006 , B60T8/172 , B60T8/17558 , B60T2210/12 , B60T2260/02 , B60W10/18 , B60W10/20 , B60W40/064 , B60W2550/148
摘要: An electronic control unit calculates a target yaw rate in accordance with a vehicle speed and a steering angle and calculates the yaw rate difference on the basis of the target yaw rate and an actual yaw rate. The electronic control unit estimates the grip factor of a front wheel to road surface and sets a distribution ratio for distribution of a vehicle-control target value among actuators of a steering system, a brake system, and a drive system in accordance with the estimated grip factor. The electronic control unit controls the actuators of the three systems in accordance with control instruction values distributed on the basis of the vehicle-control target value and the distribution ratio.
摘要翻译: 电子控制单元根据车速和转向角计算目标横摆率,并根据目标横摆率和实际横摆率计算横摆率差。 电子控制单元估计前轮对路面的夹紧系数,并根据估计的把手设定转向系统,制动系统和驱动系统的执行器之间的车辆控制目标值的分配比率 因子。 电子控制单元根据基于车辆控制目标值和分配比例分配的控制指令值来控制三个系统的致动器。
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公开(公告)号:US20050273235A1
公开(公告)日:2005-12-08
申请号:US11139695
申请日:2005-05-31
申请人: Takayuki Ohta , Minekazu Momiyama , Hiroaki Kato
发明人: Takayuki Ohta , Minekazu Momiyama , Hiroaki Kato
IPC分类号: B62D1/20 , B62D5/00 , B62D5/04 , B62D6/00 , B62D6/04 , B62D101/00 , B62D111/00 , B62D113/00 , B62D137/00
摘要: When a variable value indicates that a steering characteristic is understeer, a control unit controls a variable transmission ratio device to change a second steering angle such that the greater the understeer indicated by the variable value, the smaller the steering angle of steered wheels relative to the turning angle of a steering wheel becomes. When the differentiated value of the variable value indicates that the understeer is changing to increase, a correction unit corrects the variable value such that the greater the degree of change of the understeer indicated by the differentiated value, the greater the understeer indicated by the variable value becomes. Hence, the attitude of a vehicle in understeer is stabilized with a simple configuration.
摘要翻译: 当可变值表示转向特性不足时,控制单元控制可变变速比装置以改变第二转向角,使得由可变值指示的转向不足转向越大,转向轮相对于转向角的转向角越小 方向盘的转角变成了。 当可变值的微分值表示不足转向增加时,校正单元校正变量值,使得由微分值表示的不足转换程度越大,变量值指示的转向不足越大 成为 因此,通过简单的结构,车辆在转向不足中的姿态稳定。
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公开(公告)号:US20050257988A1
公开(公告)日:2005-11-24
申请号:US11134835
申请日:2005-05-20
IPC分类号: B60K17/348 , B62D5/00 , B62D5/04 , B62D6/00 , B62D6/04 , B62D101/00 , B62D113/00 , B62D119/00 , B62D137/00 , B62D5/06
摘要: The control system of a vehicle according to the present invention controls the transmission ratio of the steering angle of a steering wheel relative to a turning angle of front wheels based on a drive force distribution ratio. Thus, the performance of the tires on the front wheels can be used to almost maximum potential, providing effective prevention of understeering. The present invention provides a steering system that limits understeering effectively.
摘要翻译: 根据本发明的车辆的控制系统基于驱动力分配比来控制方向盘相对于前轮的转向角的转向角的传动比。 因此,轮胎在前轮上的性能可以用于几乎最大的潜力,从而有效地防止转向不足。 本发明提供了一种有效地限制转向不足的转向系统。
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公开(公告)号:US07441627B2
公开(公告)日:2008-10-28
申请号:US11134835
申请日:2005-05-20
IPC分类号: B62D5/04
摘要: The control system of a vehicle controls the transmission ratio of the steering angle of a steering wheel relative to a turning angle of front wheels based on a drive force distribution ratio. Thus, the performance of the tires on the front wheels can be used to almost maximum potential, providing effective prevention of understeering.
摘要翻译: 车辆的控制系统基于驱动力分配比来控制方向盘相对于前轮的转向角的转向角的传动比。 因此,轮胎在前轮上的性能可以用于几乎最大的潜力,从而有效地防止转向不足。
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38.
公开(公告)号:US07315773B2
公开(公告)日:2008-01-01
申请号:US10811843
申请日:2004-03-30
申请人: Hiroaki Kato , Minekazu Momiyama , Takayuki Ohta
发明人: Hiroaki Kato , Minekazu Momiyama , Takayuki Ohta
摘要: This invention provides a vehicle motion control method and a vehicle motion control apparatus capable of improving the behavior stability of a vehicle. According to the vehicle motion control method, vehicle steering characteristic is determined based on a behavior amount differentiated value obtained by differentiating (S203) a slip angle differential value which is a behavior amount of the vehicle which occurs around a z-axis in the vertical direction with respect to the vehicle body (S205, S209). Consequently, because the phase of the slip angle differential value is progressed, the transition tendency of the steering characteristic, that is, which the vehicle motion condition is moved to over-steer or under-steer, can be obtained early. Therefore, the starting timing of the steering control or drive power control of the vehicle can be accelerated thereby improving the behavior stability of the vehicle.
摘要翻译: 本发明提供一种能够改善车辆行为稳定性的车辆运动控制方法和车辆运动控制装置。 根据车辆运动控制方法,基于通过对作为在垂直方向上的z轴周围出现的车辆的行为量的滑移角差分值进行微分而获得的行为量微分值(S103)来确定车辆转向特性 相对于车体的方向(S 205,S 209)。 因此,由于滑移角差分值的相位发生变化,所以可以及早获得转向特性的转变趋势,即车辆运动状态转向过转向或转向不足的过渡趋势。 因此,可以加速车辆的转向控制或驱动力控制的开始时刻,从而提高车辆的行驶稳定性。
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公开(公告)号:US07257474B2
公开(公告)日:2007-08-14
申请号:US11097131
申请日:2005-04-04
摘要: In a steering system 30, a transmission ratio R1 which is determined in dependence on the vehicle speed by reference to a transmission ratio decision map is multiplied with a first transmission ratio alteration gain g10 which is determined in dependence on the distribution of a traveling drive torque from an engine 11 to front wheels 14 and rear wheels 15, thereby to alter the ratio R1 of steering torque distribution from a steering handle 31 to the front wheels 14, whereby the variation of the steering feeling due to an increase or decrease in the distribution of the traveling drive torque to the front wheels 14 can be suppressed. Further, the transmission ratio R1 is multiplied with a second transmission ratio alteration gain g11 which is determined in dependence on the gradient of the road surface by reference to a second transmission ratio alteration map, thereby to alter the transmission ratio R1, whereby the variation of the steering feeling due to the variation of the gradient can also be suppressed.
摘要翻译: 在转向系统30中,通过参照传动比决定图将根据车速确定的传动比R 1乘以第一传动比变更增益g 10,该第一变速比改变增益g 10根据行驶 从发动机11到前轮14和后轮15的驱动扭矩,从而改变转向转向分配从转向手柄31到前轮14的比率R 1,从而由于增加或减少转向感觉的变化 可以抑制向前轮14的行驶驱动扭矩的分配。 此外,传动比R 1与通过参照第二传动比变更图相对于路面的坡度而确定的第二传动比变更增益g 11相乘,从而改变传动比R 1,由此 也可以抑制由于梯度的变化引起的转向感的变化。
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公开(公告)号:US07066295B2
公开(公告)日:2006-06-27
申请号:US11139695
申请日:2005-05-31
申请人: Takayuki Ohta , Minekazu Momiyama , Hiroaki Kato
发明人: Takayuki Ohta , Minekazu Momiyama , Hiroaki Kato
IPC分类号: B62D5/00 , B62D137/00
摘要: When a variable value indicates that a steering characteristic is understeer, a control unit controls a variable transmission ratio device to change a second steering angle such that the greater the understeer indicated by the variable value, the smaller the steering angle of steered wheels relative to the turning angle of a steering wheel becomes. When the differentiated value of the variable value indicates that the understeer is changing to increase, a correction unit corrects the variable value such that the greater the degree of change of the understeer indicated by the differentiated value, the greater the understeer indicated by the variable value becomes. Hence, the attitude of a vehicle in understeer is stabilized with a simple configuration.
摘要翻译: 当可变值表示转向特性不足时,控制单元控制可变变速比装置以改变第二转向角,使得由可变值指示的转向不足转向越大,转向轮相对于转向角的转向角越小 方向盘的转角变成了。 当可变值的微分值表示不足转向增加时,校正单元校正变量值,使得由微分值表示的不足转换程度越大,变量值指示的转向不足越大 成为 因此,通过简单的结构,车辆在转向不足中的姿态稳定。
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