公开(公告)号：US4505491A

公开(公告)日：1985-03-19

申请号：US478699

申请日：1983-03-25

申请人： Shoichi Sano ,  Yoshimi Furukawa

发明人： Shoichi Sano ,  Yoshimi Furukawa

IPC分类号： B62D7/15 ,  B62D7/14

CPC分类号： B62D7/1527

摘要： A steering system for a vehicle including steerable front and rear wheels. The steering system comprises a steering wheel; a front wheel steering mechanism for steering the front wheels in accordance with a rotating movement of the steering wheel; a movement transmission mechanism for converting the rotating movement of the steering wheel into, and rearwardly transmitting, a push-pull movement and outputting same in the form of a transverse movement; and a rear wheel steering mechanism for steering the rear wheels in accordance with the transverse movement. The steering system is particularly advantageous with respect to design flexibility and manufacture.

摘要翻译： 一种用于车辆的转向系统，包括可转向的前轮和后轮。 转向系统包括方向盘; 前轮转向机构，用于根据方向盘的旋转运动来转向前轮; 运动传递机构，用于将方向盘的旋转运动转换为向后传递推拉运动并以横向运动的形式输出; 以及用于根据横向运动来转向后轮的后轮转向机构。 转向系统在设计灵活性和制造方面是特别有利的。

公开(公告)号：US4483547A

公开(公告)日：1984-11-20

申请号：US407433

申请日：1982-08-12

申请人： Yoshimi Furukawa ,  Shoichi Sano

发明人： Yoshimi Furukawa ,  Shoichi Sano

IPC分类号： B62D7/14 ,  B62D7/15

CPC分类号： B62D7/1527

摘要： A steering device for a vehicle provided with a steering wheel, front wheels and a front wheel steering mechanism, rear wheels and a rear wheel steering mechanism, a pair of rear wheel steering tie rods for respectively connecting the rear wheels to the rear wheel steering mechanism, and an operating shaft which connects the front and rear wheel steering mechanisms, the rear wheels being steered along with the front wheels in response to steering operation of the steering wheels. The rear wheel steering mechanism of the steering device comprises a plurality of rotary members operatively cooperating so as to rotate together, with the operating shaft being connected to the rotational center of one of the rotary members and the inner ends of the tie rods being connected to two of the rotary members at positions displaced from the rotational center, respectively. With such device, the rear wheels are rotated in the same direction as that of the front wheels under rotation of the rotary members during low steering angle operation of the steering wheel, and during large steering angle operation of the steering wheel the rear wheels are steered in a direction opposite to that of the front wheels or the steering angle of the rear wheels is reset to zero or near zero. The rear wheel steering mechanism is constructed so as to be very compact, and with high mechanical strength.

摘要翻译： 一种用于车辆的转向装置，其具有方向盘，前轮和前轮转向机构，后轮和后轮转向机构，一对后轮转向系杆，用于将后轮分别连接到后轮转向机构 以及连接前轮和后轮转向机构的操作轴，响应于方向盘的转向操作，后轮与前轮一起转向。 转向装置的后轮转向机构包括多个旋转构件，其可操作地协作以一起旋转，其中操作轴连接到一个旋转构件的旋转中心，并且拉杆的内端连接到 两个旋转构件分别位于从旋转中心位移的位置。 利用这样的装置，在方向盘的低转向角度操作期间，后轮在旋转构件的旋转的同时在与前轮相同的方向上旋转，并且在方向盘的大的转向角操作期间，后轮被转向 在与前轮的方向相反的方向上或后轮的转向角被重置为零或接近零。 后轮转向机构的结构非常紧凑，机械强度高。

公开(公告)号：US4412594A

公开(公告)日：1983-11-01

申请号：US296070

申请日：1981-08-25

申请人： Yoshimi Furukawa ,  Shoichi Sano

发明人： Yoshimi Furukawa ,  Shoichi Sano

IPC分类号： B62D7/15 ,  B62D5/06

CPC分类号： B62D7/159 ,  B62D7/1581

摘要： A motor vehicle steering system for steering rearward wheels as well as forward wheels. The steering system includes a sensor for sensing at least a turning motion of the motor vehicle, a computer for processing signals from the sensor, and an actuator controllable by the computer for steering the rearward wheels in order to meet driving conditions of the vehicle while turning, as much as possible. The sensor may comprise a lateral acceleration or yaw angular velocity sensor, or a combination of a steering angle sensor and a lateral acceleration or yaw angular velocity sensor, or a combination of a steering angle sensor and an acceleration and deceleration sensor, or the like. A steered angle ratio .gamma. of the rearward wheels to forward wheels is selected to be in the range of 0

摘要翻译： 用于转向后轮以及前轮的机动车转向系统。 转向系统包括用于感测机动车辆的至少转动运动的传感器，用于处理来自传感器的信号的计算机以及可由计算机控制的用于转向后轮的致动器，以便在转动时满足车辆的行驶条件 ， 越多越好。 传感器可以包括横向加速度或偏航角速度传感器，或转向角传感器和横向加速度或偏航角速度传感器的组合，或转向角传感器和加速和减速传感器的组合等。 当车辆以80km / h以上的速度移动时，后轮与前轮的转向角度γ被选择在0 <γ<0.6的范围内。

公开(公告)号：US4313514A

公开(公告)日：1982-02-02

申请号：US107717

申请日：1979-12-28

申请人： Yoshimi Furukawa ,  Shoichi Sano

发明人： Yoshimi Furukawa ,  Shoichi Sano

IPC分类号： B62D6/02 ,  B62D7/14 ,  B62D7/15 ,  B62D5/06

CPC分类号： B62D7/1545

摘要： A steering apparatus for vehicles which includes a pinion rotatably mounted on an arm movable longitudinally in response to turning movement of a steering wheel, and a pair of longitudinally movable racks held in meshing engagement with the pinion. One of the racks is operatively coupled with front wheels of the vehicle and with a pivot arm pivotable on a movable pivot which is displaceable along the pivot arm in response to vehicle speeds. The other rack is coupled through a pivotable lever with an arm which is pivotally mounted on the pivot arm and is operatively coupled with the rear wheels. When the steering wheel is turned, the front and rear wheels are turned in the same direction or in opposite directions, depending on the position of the movable pivot on the pivot arm, which position is a function of the vehicle speed. The front and rear wheels are turned in the same direction when the vehicle is running at a high speed, and in opposite directions when the vehicle is running at a low speed. The racks and pinion may be dispensed with and the front wheels operatively coupled only through a connecting rod pivotally connected to a pivot arm pivotally mounted on a movable pivot, the rear wheels being pivotally connected through an arm to the pivot arm.

摘要翻译： 一种用于车辆的转向装置，包括可旋转地安装在臂上的臂，其响应于方向盘的转动而可纵向移动;以及一对保持与小齿轮啮合的纵向移动齿条。 其中一个机架与车辆的前轮可操作地联接，并且具有可枢转在可移动枢轴上的枢转臂，该枢转臂可响应于车辆速度沿枢转臂移动。 另一个机架通过可枢转的杠杆联接，臂与枢转地安装在枢转臂上并与后轮可操作地联接的臂。 当方向盘转动时，取决于枢转臂上的可动枢轴的位置，前轮和后轮在相同方向或相反方向转动，该位置是车速的函数。 当车辆高速行驶时，前轮和后轮以相同的方向转动，并且当车辆以低速行驶时，前轮和后轮相反方向转动。 可以省去齿条和小齿轮，并且前轮仅通过可枢转地连接到可枢转地安装在可动枢轴上的枢转臂的连杆操作地联接，后轮通过臂枢转地连接到枢转臂。

公开(公告)号：US5887268A

公开(公告)日：1999-03-23

申请号：US739524

申请日：1996-10-29

申请人： Yoshimi Furukawa

发明人： Yoshimi Furukawa

IPC分类号： G05D1/02 ,  G06F7/70

CPC分类号： G05D1/0272 ,  G05D1/0257 ,  G05D1/0261 ,  G05D1/028 ,  G05D2201/0213

摘要： An automatically driven motor vehicle automatically runs on a running path having path markers while detecting the path markers with a marker sensor. A present position of the motor vehicle on the running path is recognized, and a speed plan which governs a position and a speed of the motor vehicle on the running path is generated. A planned position to be reached by the motor vehicle after a predetermined time and a planned speed of the motor vehicle at the planned position are determined from the present position of the motor vehicle based on the speed plan. A predicted position to be reached by the motor vehicle after the predetermined time and a predicted speed of the motor vehicle at the planned position are determined from the present position, speed, and acceleration of the motor vehicle. A distance deviation between the predicted position and the predicted position and a speed deviation between the planned speed and the predicted speed are determined. Acceleration/deceleration correcting data for the motor vehicle are determined based on the distance deviation and the speed deviation. Acceleration/deceleration of the motor vehicle are controlled based on the acceleration/deceleration correcting data.

摘要翻译： 自动驾驶的机动车辆在具有路径标记的运行路径上自动运行，同时用标记传感器检测路径标记。 识别出机动车辆在行驶路径上的当前位置，并且生成控制机动车辆在行驶路径上的位置和速度的速度计划。 基于速度计划，从机动车辆的当前位置确定预定时间之后的机动车辆到达规划位置的计划位置和机动车辆的计划速度。 从机动车辆的当前位置，速度和加速度确定在预定时间之后由机动车辆达到的预测位置和机动车辆在预定位置处的预测速度。 确定预测位置与预测位置之间的距离偏差和计划速度与预测速度之间的速度偏差。 基于距离偏差和速度偏差确定机动车辆的加速/减速校正数据。 基于加减速校正数据控制机动车辆的加速/减速。

公开(公告)号：US4767129A

公开(公告)日：1988-08-30

申请号：US821998

申请日：1986-01-24

申请人： Yoshimichi Kawamoto ,  Yoshimi Furukawa ,  Tetsuro Hamada ,  Mitsuya Serizawa

发明人： Yoshimichi Kawamoto ,  Yoshimi Furukawa ,  Tetsuro Hamada ,  Mitsuya Serizawa

IPC分类号： B62D7/15 ,  B62D9/00

CPC分类号： B62D7/1545

摘要： Disclosed is an actuator for steering the rear wheels in front and rear wheel steering device for vehicle in which the external forces, such as the self aligning torque of the rear wheels and irregularities of the road surface, which may be applied to the rear wheels are prevented from being transmitted to the actuator for controlling the steering angle of the rear wheels. Thereby, the steering angle of the rear wheels are determined solely by the control action of the front and rear wheel steering device and the motion of the vehicle is not affected by external forces. As a result, the vehicle motion is stabilized. When the force for steering the front wheels is transmitted to the rear wheels to steer them, elimination of the reaction from the road to the actuator prevents undesirable variation in the force required to steer the vehicle or the force required to hold a steering angle. Elimination of reaction to the actuator can be accomplished by worm gears, screw threads and so on in which the lead angle is smaller than the friction angle.

摘要翻译： 公开了一种用于车辆前轮转向装置和后轮转向装置中用于转向后轮的致动器，其中可以施加到后轮的后轮的自对准扭矩和路面的不规则性等外力是 防止被传递到用于控制后轮的转向角的致动器。 因此，后轮的转向角仅由前轮和后轮转向装置的控制动作确定，车辆的运动不受外力的影响。 结果，车辆运动稳定。 当用于转向前轮的力被传递到后轮以转向时，消除从道路到致动器的反作用力可防止转向车辆所需的力或保持转向角所需的力的不期望的变化。 消除对致动器的反应可以通过蜗杆，螺纹等实现，其中导程角小于摩擦角。

公开(公告)号：US4705135A

公开(公告)日：1987-11-10

申请号：US822293

申请日：1986-01-24

申请人： Yoshimichi Kawamoto ,  Yoshimi Furukawa ,  Tetsuro Hamada ,  Mitsuya Serizawa

发明人： Yoshimichi Kawamoto ,  Yoshimi Furukawa ,  Tetsuro Hamada ,  Mitsuya Serizawa

IPC分类号： B62D7/15 ,  B60K17/358

CPC分类号： B62D7/1545

摘要： The front and rear wheel steering device of the present invention not only has a means for allowing the manual selection of a mathematical function which determines the steering angle ratio of the rear wheels relative to the front wheels from a plurality of mathematical functions but also has a means for limiting such a manual selection depending on the condition of the vehicle. Since manual selection of a mathematical function for the steering angle ratio may not be appropriate under certain vehicle conditions, the device of the present invention limits such a manual selection when the vehicle speed, the vehicle acceleration, the shift position of the transmission, the steering speed or the steering acceleration is greater than a certain value. Thereby, the convenience of the manual selection of the steering angle ratio is preserved yet any undesirable vehicle response from improper manual selection of the steering angle ratio is prevented.

摘要翻译： 本发明的前轮和后轮转向装置不仅具有允许手动选择从多个数学函数确定后轮相对于前轮的转向角比的数学函数的装置，而且还具有 用于根据车辆的状况限制这种手动选择的装置。 由于在某些车辆状态下手动选择转向角比的数学函数可能不合适，所以本发明的装置在车速，车辆加速度，变速器的换档位置，转向 转速或转向加速度大于一定值。 因此，保持手动选择转向角比的便利性，防止了由于不正确的手动选择转向角比而导致的不期望的车辆响应。

公开(公告)号：US06574560B2

公开(公告)日：2003-06-03

申请号：US09985635

申请日：2001-11-05

申请人： Masato Abe ,  Yoshimi Furukawa

发明人： Masato Abe ,  Yoshimi Furukawa

IPC分类号： B60T800

CPC分类号： G01C21/26 ,  B60W2550/10 ,  B60W2550/143 ,  B60W2550/402 ,  G01S13/931 ,  G01S2013/9342 ,  G01S2013/9353 ,  G01S2013/936 ,  G01S2013/9375

摘要： In a vehicle operation assist control system for assisting a vehicle operator to operate a vehicle, a distance to the obstacle and a width of the obstacle are detected by a radar or the like, and, when an obstacle is detected, the system determines an evasion path and accordingly modifies the map information available to the system. Therefore, the system, being aware of the situation, would not interfere with the vehicle operator taking an evasive action. The evasive path may be defined as a curvature which changes as a sinusoidal mathematical function of the position of the vehicle along the path. The control system may be based on a yaw rate control or a vehicle side slip angle control.

公开(公告)号：US06233513B1

公开(公告)日：2001-05-15

申请号：US09192894

申请日：1998-11-17

申请人： Yoshimi Furukawa ,  Yasuji Shibahata ,  Masato Abe

发明人： Yoshimi Furukawa ,  Yasuji Shibahata ,  Masato Abe

IPC分类号： G06F700

CPC分类号： B62D6/04 ,  B60T2230/02

摘要： Provided are a method and system for computing a vehicle body slip angle in the vehicle movement control so as to allow the vehicle movement to be controlled with an adequate response and stability for practical purposes even without directly detecting or accurately estimating the frictional coefficient between the road surface and the tire. A tire slip angle is computed from a yaw rate, a vehicle speed, a vehicle body slip angle and a road wheel steering angle; a cornering force is computed from a dynamic model of the tire by taking into account at least the tire slip angle; and a hypothetical vehicle body slip angle is computed from the cornering force, the vehicle speed and the yaw rate; the tire slip angle being computed by feeding back the hypothetical vehicle body slip angle in a recursive manner.

摘要翻译： 提供了一种用于在车辆运动控制中计算车体滑动角度的方法和系统，以便即使在不直接检测或精确地估计道路之间的摩擦系数的情况下，也可以以适当的响应和稳定性来控制车辆运动 表面和轮胎。 从偏航率，车速，车体滑移角和车轮转向角计算轮胎滑移角; 通过考虑至少轮胎滑移角度，从轮胎的动态模型计算出转弯力; 并且从转弯力，车速和横摆率计算出假想的车体滑移角; 通过以递归的方式反馈假想车身滑移角来计算轮胎滑移角。

公开(公告)号：US4706976A

公开(公告)日：1987-11-17

申请号：US822010

申请日：1986-01-24

申请人： Yoshimichi Kawamoto ,  Yoshimi Furukawa ,  Tetsuro Hamada ,  Mitsuya Serizawa

发明人： Yoshimichi Kawamoto ,  Yoshimi Furukawa ,  Tetsuro Hamada ,  Mitsuya Serizawa

IPC分类号： B62D6/02 ,  B62D7/14 ,  B62D7/15

CPC分类号： B62D7/1545

摘要： In a front and rear wheel steering device for a vehicle in which the steering angle ratio of the rear wheels relative to the front wheels is variable according to the vehicle speed, by accounting for the magnitude of vehicle acceleration in determining the steering angle ratio of the rear wheels by using a mathematical function in the form of f(u) - g(u')where u is a vehicle speed and u' is a change rate of the vehicle speed, it is possible to reduce the slip angle of the vehicle to zero irrespective of the vehicle speed and the vehicle acceleration and the phase delay of the lateral response of the vehicle can be reduced, whereby the driveability of the vehicle is substantially improved and, thus, driving a car can be made easier, safer and less tiring.

摘要翻译： 在前轮和后轮转向装置中，其中后轮相对于前轮的转向角比可根据车速而变化，通过考虑确定车辆的转向角比的车辆加速度的大小， 通过使用f（u）-g（u'）形式的数学函数，其中u是车速，u'是车速的变化率，可以减小车辆的滑移角 无论车速如何，车辆的加速度和车辆的横向响应的相位延迟都可以减小，由此可以显着提高车辆的驾驶能力，因此可以使驾驶汽车更容易，更安全，更少 累了