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公开(公告)号：US06377885B2
公开(公告)日：2002-04-23
申请号：US09824131
申请日：2001-04-03
Applicant: Yoshiyuki Yasui , Kenji Asano , Shoji Ito , Akira Tanaka , Hiroaki Yoshida , Mamoru Sawada , Yuji Muragishi , Michio Ishiguro , Tsugiharu Matsunaga , Eiichi Ono
Inventor： Yoshiyuki Yasui , Kenji Asano , Shoji Ito , Akira Tanaka , Hiroaki Yoshida , Mamoru Sawada , Yuji Muragishi , Michio Ishiguro , Tsugiharu Matsunaga , Eiichi Ono
IPC: B60T800
CPC classification number: B60T8/17636 , B60T8/172 , B60T2210/12
Abstract: A braking force control device is provided in which wheel speeds of respective wheels of a vehicle are detected. On the basis of detected wheel speeds, a road surface &mgr; slope, which is a slope of a coefficient of friction &mgr; between a wheel and a road surface, is estimated for each wheel. On the basis of the road surface &mgr; slope estimated for each wheel, a braking force of each wheel is controlled such that the braking force of each wheel is adjusted.
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公开(公告)号：USRE37522E1
公开(公告)日：2002-01-22
申请号：US09385001
申请日：1999-08-27
Applicant: Dean C. Karnopp , Yoshiyuki Yasui
Inventor： Dean C. Karnopp , Yoshiyuki Yasui
IPC: B60T860
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.
Abstract translation: 本发明涉及一种用于控制车辆运动的装置和方法。 更具体地，本发明涉及一种通过在例如转弯机构中控制车辆的制动转矩来提高车辆稳定性的装置。 根据本发明，通过响应于感测到的偏航率独立地控制制动转矩来提高车辆的稳定性。
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公开(公告)号：US5390118A
公开(公告)日：1995-02-14
申请号：US156944
申请日：1993-11-24
Applicant: Donald Margolis , Yoshiyuki Yasui
Inventor： Donald Margolis , Yoshiyuki Yasui
CPC classification number: G01S17/936 , B62D1/28 , G05D1/0236 , G05D1/0255 , G05D1/0272 , G05D2201/0213
Abstract: An improved automatic lateral guidance control system for guiding moving vehicles is provided which includes a sensing subsystem for viewing an area in front of a vehicle, a plurality of energy radiating or energy reflective devices disposed adjacent a predetermined length of road, an apparatus for translating the radiated or reflected information from the viewed area into coordinate data representing an approximation of the predetermined path along the road, and a vehicle controller for determining the vehicle's heading with respect to the approximated path and providing an output control signal to correct the vehicle's heading with respect to the approximated path. The system uses past and present position data to calculate a predetermined path for the vehicle. Gain factors and comfort factors are determined to maximize comfort to passengers of the system and to optimize performance of the system.
Abstract translation: 提供了一种用于引导移动车辆的改进的自动横向引导控制系统，其包括用于观察车辆前方的区域的感测子系统，邻近预定长度的道路设置的多个能量辐射或能量反射装置，用于将 辐射或反射的信息从所观看的区域转换为表示沿着道路的预定路径的近似的坐标数据，以及车辆控制器，用于相对于近似路径确定车辆的航向，并提供输出控制信号以相对于车辆的航向进行校正 到近似路径。 系统使用过去和现在的位置数据来计算车辆的预定路径。 确定增益因素和舒适因素以最大程度地提高系统乘客的舒适度并优化系统的性能。
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公开(公告)号：US5357432A
公开(公告)日：1994-10-18
申请号：US156943
申请日：1993-11-24
Applicant: Donald L. Margolis , Yoshiyuki Yasui
Inventor： Donald L. Margolis , Yoshiyuki Yasui
CPC classification number: G05D1/0265 , G05D1/0236 , G05D1/0272 , G05D1/0278 , G05D1/028 , G05D1/0221 , G05D1/0255 , G05D2201/021 , G05D2201/0213
Abstract: An improved automatic lateral guidance control system for guiding moving vehicles is provided which includes a sensing subsystem for viewing an area in front of a vehicle, a plurality of energy radiating or energy reflective devices disposed adjacent a predetermined length of road, an apparatus for translating the radiated or reflected information from the viewed area into coordinate data representing an approximation of the predetermined path along the road, and a vehicle controller for determining the vehicle's heading with respect to the approximated path and providing an output control signal to correct the vehicle's heading with respect to the approximated path.
Abstract translation: 提供了一种用于引导移动车辆的改进的自动横向引导控制系统，其包括用于观察车辆前方的区域的感测子系统，邻近预定长度的道路设置的多个能量辐射或能量反射装置，用于将 辐射或反射的信息从所观看的区域转换为表示沿着道路的预定路径的近似的坐标数据，以及车辆控制器，用于相对于近似路径确定车辆的航向，并提供输出控制信号以相对于车辆的航向进行校正 到近似路径。
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公开(公告)号：US5279380A
公开(公告)日：1994-01-18
申请号：US858498
申请日：1992-03-27
Applicant: Andrew A. Frank , Yoshiyuki Yasui
Inventor： Andrew A. Frank , Yoshiyuki Yasui
Abstract: A hydrostatic power steering system including an electric motor is provided for a automotive vehicle. The hydrostatic power steering system utilizes a power steering piston responsive to movement of the rack element of the rack and pinion steering connection. The power steering piston is provided in a piston chamber divided by a valve land into first and second portions, each of which are connected to first and second hydraulic lines. A torque sensor is connected to the steering shaft for providing an output torque signal to a power steering controller. The electric motor of the system is responsive to a command signal generated by the power steering controller. An electrically operated valve is connected to the hydraulic lines and is adapted to receive a signal from the power steering controller for controlling flow of hydraulic fluid to the power steering chamber. The electrically operated valve arrangement is rendered inoperative within a predetermined zone defined by the command signal and the output torque signal.
Abstract translation: 为汽车提供了包括电动机的静液压动力转向系统。 液压动力转向系统利用响应于齿条和小齿轮转向连接的齿条元件运动的动力转向活塞。 动力转向活塞设置在由阀岛分隔的活塞室中，第一和第二部分分别连接到第一和第二液压管线。 扭矩传感器连接到转向轴，用于向动力转向控制器提供输出转矩信号。 该系统的电动机响应于由动力转向控制器产生的指令信号。 电动阀连接到液压管路，并且适于接收来自动力转向控制器的信号，用于控制液压流体到动力转向室的流动。 电动阀装置在由指令信号和输出转矩信号限定的预定区域内不起作用。
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Patent Agency Ranking
公开(公告)号：US4998593A
公开(公告)日：1991-03-12
申请号：US331343
申请日：1989-03-31
Applicant: Dean C. Karnopp , Yoshiyuki Yasui
Inventor： Dean C. Karnopp , Yoshiyuki Yasui
IPC: B60T8/1755 , B60T8/1761 , B60T8/24 , B60T8/58 , B62D6/00 , B62D7/15 , B62D101/00 , B62D105/00 , B62D113/00
CPC classification number: B62D6/003 , B60T8/1755 , B62D7/159 , B60G2400/0523 , B60G2400/1042 , B60G2800/702 , B60T2230/03 , B60T2260/024
Abstract: Steering and braking are coordinated and controlled according to a sensed yaw rate error or lateral acceleration error to increase vehicle stability without increasing braking distance. A desired yaw rate or lateral acceleration rate is computed from the vehicle velocity and the steering wheel angle. If the yaw rate or the lateral acceleration is excessive, indicating instability, and the brakes are being operated, then both steering and braking are controlled to reduce the yaw rate or lateral acceleration rate. In all other cases, steering control alone is performed. The yaw rate or lateral acceleration rate is reduced under steering control by adjusting wheel positions in a direction opposite the direction of yaw or lateral acceleration. The control system of the present invention is applicable to both two-wheel and four-wheel steering and braking. The yaw rate or lateral acceleration is further reduced under braking control by decreasing brake pressure on a side of the vehicle corresponding to the direction of yaw or lateral acceleration and increasing brake pressure on the opposite side of the vehicle. In the case of anti-lock brakes, pressure is not increased beyond a slip rate threshold. Rather than controlling brake pressure, the slip rate threshold itself may be controlled in like manner to reduce the yaw rate or lateral acceleration.
Abstract translation: 根据感测到的横摆角速度误差或横向加速度误差来协调和控制转向和制动，以增加车辆稳定性而不增加制动距离。 从车辆速度和方向盘角度计算出期望的偏航率或横向加速度。 如果偏航率或横向加速度过大，指示不稳定性，并且制动器正在操作，则控制转向和制动以减小偏航率或横向加速度。 在所有其他情况下，仅执行转向控制。 通过在与偏航方向或横向加速度方向相反的方向上调整车轮位置，在转向控制下减小偏航率或横向加速度。 本发明的控制系统适用于两轮和四轮转向和制动。 在制动控制下，横摆速度或横向加速度进一步减小，通过减少对应于偏航方向或侧向加速度的车辆侧的制动压力并增加车辆相对侧上的制动压力。 在防抱死制动器的情况下，压力不会超过滑动率阈值。 而不是控制制动压力，可以以相似的方式控制滑移率阈值本身以减小横摆率或横向加速度。
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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
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。
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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.
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公开(公告)号：US09604608B2
公开(公告)日：2017-03-28
申请号：US14361760
申请日：2012-11-30
Applicant: Yoshiyuki Yasui , Hiroyuki Kodama , Naotoshi Satake
Inventor： Yoshiyuki Yasui , Hiroyuki Kodama , Naotoshi Satake
CPC classification number: B60T8/17 , B60T7/042 , B60T8/171 , B60T8/172 , B60T8/173 , B60T13/586 , F16D61/00 , H02P3/06 , H02P7/28
Abstract: An electric motor is controlled based on a target energization amount calculated based on an operation amount of a braking operation member. Based on the operation amount, it is determined whether or not an inertia compensation control for compensating for the influence of the inertia of a brake actuator is necessary. When the inertia compensation control is determined to be necessary, an inertia compensation energization amount compensating for the influence of the inertia of the brake actuator is calculated using a time-series pattern set in advance based on the maximum response of the brake actuator. Using the inertia compensation energization amount, the target energization amount is calculated. The vehicle brake control device causes an electric motor to generate a braking torque and appropriately compensates for the influence of the inertia of the entire device including the inertia of the electric motor.
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公开(公告)号：US09475471B2
公开(公告)日：2016-10-25
申请号：US14368868
申请日：2012-12-25
Applicant: Yoshiyuki Yasui , Hiroyuki Kodama , Naotoshi Satake
Inventor： Yoshiyuki Yasui , Hiroyuki Kodama , Naotoshi Satake
IPC: G06F7/70 , B60T8/172 , B60T13/74 , B60T7/04 , B60T13/66 , B60T17/22 , F16D65/18 , B60T8/171 , B60T8/58 , F16D66/00 , F16D125/40 , F16D125/48
CPC classification number: B60T8/172 , B60T7/042 , B60T8/171 , B60T8/58 , B60T13/662 , B60T13/741 , B60T17/22 , F16D65/18 , F16D2066/005 , F16D2125/40 , F16D2125/48
Abstract: Based on a difference between target and actual values of a friction member force pressing a brake disc, feedback control over the pressing force is executed. As the actual value, a “limit pressing force (Fbs) obtained by placing a limitation on a temporal change amount of the Fba based on a limit value (Lmt)” is used. The limit value (Lmt) is set based on an electric motor speed (dMkt, dMka), a wheel speed (Vwa), and a temporal change amount (ΔTmp) of the friction member temperature. The Lmt is set to increase as the dMkt (dMka) increases and the temporal change amount (ΔTmp) of the temperature increases, and to also increase as the wheel speed (Vwa) decreases. Thus, even when a rotating member (brake disc) is deformed, braking torque control can be appropriately executed without accelerating a fluctuation of a braking torque on the wheel.
Abstract translation: 基于按压制动盘的摩擦构件力的目标值和实际值之间的差异，执行对按压力的反馈控制。 作为实际值，使用通过基于限制值（Lmt）对Fba的时间变化量进行限制而获得的“限制按压力（Fbs）”。 基于电动机速度（dMkt，dMka），车轮速度（Vwa）和摩擦构件温度的时间变化量（ΔTmp）来设定极限值（Lmt）。 Lmt被设置为随着dMkt（dMka）增加而增加，并且温度的时间变化量（ΔTmp）增加，并且随着车轮速度（Vwa）的降低也增加。 因此，即使旋转构件（制动盘）变形，也可以适当地执行制动转矩控制，而不会加速车轮上的制动转矩的波动。
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