公开(公告)号：US08558682B2

公开(公告)日：2013-10-15

申请号：US13063668

申请日：2010-01-20

申请人： Eiichi Ono ,  Shigeyuki Hosoe

发明人： Eiichi Ono ,  Shigeyuki Hosoe

IPC分类号： B60R25/10

CPC分类号： B60W40/08 ,  B60W40/11 ,  B60W40/112 ,  B60W40/114

摘要： A deviation angle, between a progression direction of a vehicle and a direction of a target destination point after a predetermined forward gaze duration on a target course the vehicle is travelling on, is detected by target destination point deviation angle detection unit. A yaw angular speed proportional to the deviation angle detected by the target destination point deviation angle detection unit is predicted by yaw angular speed prediction unit, as a yaw angular speed realized by steering wheel operation by a driver after a predetermined lag time for matching a timing of change in the vehicle movement with a timing of change in curvature of the target course. By so doing, the yaw angular speed due to steering wheel operation by a driver can be predicted with good precision.

摘要翻译： 由目标目标点偏差角检测单元检测在车辆行驶的目标路线上的预定向前注视持续时间之后车辆的行进方向与目标目的地点的方向之间的偏离角度。 与由目标目标点偏差角度检测单元检测到的偏差角成比例的偏航角速度由偏航角速度预测单元作为通过驾驶员在用于匹配定时的预定滞后时间之后由驾驶员的方向盘操作实现的偏航角速度来预测 的车辆运动的变化与目标路线的曲率变化的定时。 通过这样做，可以高精度地预测由驾驶员的方向盘操作引起的偏航角速度。

公开(公告)号：US08457832B2

公开(公告)日：2013-06-04

申请号：US12677578

申请日：2008-09-09

申请人： Eiichi Ono ,  Yumiko Miura ,  Katsuyuki Yamaguchi ,  Taisuke Yasutomi

发明人： Eiichi Ono ,  Yumiko Miura ,  Katsuyuki Yamaguchi ,  Taisuke Yasutomi

IPC分类号： G01M17/00 ,  G06F7/00 ,  G06F19/00

CPC分类号： B60G17/0182 ,  B60G2400/051 ,  B60G2400/0511 ,  B60G2400/0512 ,  B60G2400/0523 ,  B60G2400/104 ,  B60G2400/106 ,  B60G2400/204 ,  B60G2400/2042 ,  B60G2400/208 ,  B60G2600/09 ,  B60G2600/1872 ,  B60G2600/70 ,  B60W40/105 ,  B60W40/109 ,  B60W40/11 ,  B60W40/112 ,  B60W40/114 ,  B60W2050/0033

摘要： A vehicle body speed estimating device. An attitude angle estimating mechanism estimates a roll angle and a pitch angle. A longitudinal speed computing mechanism computes longitudinal vehicle body speed. A vehicle body speed estimator estimates lateral vehicle body speed by using, as state amounts of vehicle motion, the longitudinal vehicle body speed and the lateral vehicle body speed, and on the basis of respective detected values of longitudinal acceleration, lateral acceleration and yaw angular velocity of vehicle motion, and respective estimated values of the roll angle and the pitch angle, and a product of a computed value of the longitudinal vehicle body speed and a value obtained from an absolute value of the detected value of the yaw angular velocity.

摘要翻译： 车体速度估计装置。 姿态角估计机构估计侧倾角和俯仰角。 纵向速度计算机构计算纵向车身速度。 车身速度估计器通过使用作为车辆运动的状态量，纵向车身速度和侧车体速度，并且基于纵向加速度，横向加速度和横摆角速度的相应检测值来估计侧车身速度 以及各个滚动角和俯仰角的估计值以及纵向车身速度的计算值与从偏航角速度的检测值的绝对值获得的值的乘积。

公开(公告)号：US08301353B2

公开(公告)日：2012-10-30

申请号：US12282141

申请日：2007-03-29

申请人： Eiichi Ono ,  Yoshikazu Hattori

发明人： Eiichi Ono ,  Yoshikazu Hattori

IPC分类号： B60T8/172 ,  B60T8/1755 ,  B62D6/00

CPC分类号： B60T8/1755 ,  B60T8/172 ,  B60T2210/12 ,  B60W30/02 ,  B60W40/064 ,  B60W40/101 ,  B60W40/103 ,  B60W2040/1307 ,  B60W2520/26 ,  B60W2530/20 ,  B62D6/006 ,  B62D7/159

摘要： A vehicle motion control device and method computes a size of a using friction circle in each of wheels by multiplying a size of an each wheel friction circle indicating a maximum generating force in each of the wheel tires by a previously computed each wheel using percentage, computes the each wheel tire generating force and the each wheel using percentage indicating a rate with respect to an upper limit value of a μ-using efficiency in each of the wheels, and controls a vehicle motion in such a manner that the computed each wheel tire generating force is obtained on the basis of the computed each wheel tire generating force, thereby minimizing an upper limit of the μ-using efficiency in each of the wheels.

摘要翻译： 车辆运动控制装置和方法通过将每轮轮胎中指示最大产生力的每个轮摩擦圆的尺寸乘以预先计算的每个车轮的百分比来计算每个车轮中的使用摩擦圆的尺寸，计算 每个车轮轮胎产生力和每个车轮使用百分比表示相对于每个车轮中的μ使用效率的上限值的速率，并且以这样的方式控制车辆运动，使得计算出的每个轮胎轮胎产生 基于计算出的每个轮胎轮胎产生力获得力，从而最小化每个车轮中的μ使用效率的上限。

公开(公告)号：US08073576B2

公开(公告)日：2011-12-06

申请号：US11922396

申请日：2006-07-04

申请人： Akio Matsunaga ,  Yusuke Nozaki ,  Masanori Shimada ,  Eiichi Yasuda ,  Masahiko Mizuno ,  Kazukata Takei ,  Eiichi Ono ,  Noriyoshi Terazawa ,  Mitsuteru Kokubun

发明人： Akio Matsunaga ,  Yusuke Nozaki ,  Masanori Shimada ,  Eiichi Yasuda ,  Masahiko Mizuno ,  Kazukata Takei ,  Eiichi Ono ,  Noriyoshi Terazawa ,  Mitsuteru Kokubun

IPC分类号： G05D1/00 ,  G06F19/00

CPC分类号： B60W40/107 ,  B60W40/09 ,  B60W2040/0881

摘要： The present invention provides an acceleration sensation evaluating device that evaluates a sensory acceleration of a driver with respect to an expectation value of acceleration, and a vehicle controller that controls a vehicle according to the evaluation results. The evaluation device detects an amount of operation of the vehicle by the driver of when the vehicle is accelerated, detects an amount of vehicle behavior, computes a physical quantity of an expectation value indicating the expectation value of an acceleration performance which the driver expects based on the detected values, computes a sensory physical quantity indicating a sensation of the acceleration which the driver senses, and computes an evaluation value of the acceleration sensation based on difference or ratio between the physical quantity of the expectation value and the sensory physical quantity.

摘要翻译： 本发明提供一种加速度感觉评价装置，其根据加速度的期望值来评价驾驶员的感觉加速度，以及根据评价结果来控制车辆的车辆控制器。 评估装置检测驾驶员在车辆加速时的车辆的操作量，检测车辆行为量，计算表示驾驶员期望的加速性能的期望值的物理量，该预期值基于 检测值，计算表示驾驶员感觉到的加速度的感觉的感官物理量，并且基于期望值的物理量与感官物理量之间的差或比来计算加速度感觉的评价值。

公开(公告)号：US20110040464A1

公开(公告)日：2011-02-17

申请号：US12988914

申请日：2009-04-21

申请人： Eiichi Ono ,  Yumiko Miura ,  Katsuyuki Yamaguchi ,  Taisuke Yasutomi

发明人： Eiichi Ono ,  Yumiko Miura ,  Katsuyuki Yamaguchi ,  Taisuke Yasutomi

IPC分类号： G06F19/00

CPC分类号： B60T8/1755 ,  B60T8/172 ,  B60T2250/06 ,  B60T2250/062 ,  G01C7/04 ,  G01C19/00 ,  G01C21/30 ,  G01P21/00

摘要： On the basis of a sensor signal corresponding to a detected value of a motion state amount of vehicle motion, an attitude angle estimating means of a sensor drift amount estimating device computes a derivative amount of an attitude angle with respect to a vertical axis of a vehicle body, and integrates the computed derivative amount of the attitude angle, and estimates the attitude angle. On the basis of the sensor signal and the attitude angle estimated by the attitude angle estimating means, a computing means computes a derivative amount of the attitude angle obtained from equations of motion for vehicle motion. A drift amount estimating means estimates a sensor drift amount of the sensor signal by using a relationship that, when taking a sensor drift amount of the sensor signal into consideration, the derivative amount of the attitude angle computed by the attitude angle estimating means, and a value that considers a sensor drift amount in the derivative amount of the attitude angle computed by the computing means, are equal.

摘要翻译： 基于与车辆运动的运动状态量的检测值对应的传感器信号，传感器漂移量估计装置的姿态角估计装置计算相对于车辆的纵轴的姿态角的微分量 并计算姿态角的计算导数，并估计姿态角。 基于由姿态角估计装置估计出的传感器信号和姿态角，计算装置计算由车辆运动的运动方程获得的姿态角的导数。 漂移量估计装置通过使用以下关系来估计传感器信号的传感器漂移量：当考虑到传感器信号的传感器漂移量时，由姿态角度估计装置计算的姿态角的导数量和 考虑由计算装置计算的姿态角的导数量中的传感器漂移量的值相等。

公开(公告)号：US20090063002A1

公开(公告)日：2009-03-05

申请号：US12282141

申请日：2007-03-29

申请人： Eiichi Ono ,  Yoshikazu Hattori

发明人： Eiichi Ono ,  Yoshikazu Hattori

IPC分类号： B60T8/1755 ,  G05D13/02 ,  G06F19/00 ,  B60T7/12

CPC分类号： B60T8/1755 ,  B60T8/172 ,  B60T2210/12 ,  B60W30/02 ,  B60W40/064 ,  B60W40/101 ,  B60W40/103 ,  B60W2040/1307 ,  B60W2520/26 ,  B60W2530/20 ,  B62D6/006 ,  B62D7/159

摘要： A vehicle motion control device and method computes a size of a using friction circle in each of wheels by multiplying a size of an each wheel friction circle indicating a maximum generating force in each of the wheel tires by a previously computed each wheel using percentage, computes the each wheel tire generating force and the each wheel using percentage indicating a rate with respect to an upper limit value of a μ-using efficiency in each of the wheels, on the basis of a target vehicle body force and moment indicating a target vehicle body longitudinal force, a target vehicle body transverse force and a target yaw moment, and the computed size of the using friction circle, and controls a vehicle motion in such a manner that the computed each wheel tire generating force is obtained on the basis of the computed each wheel tire generating force, thereby minimizing an upper limit of the μ-using efficiency in each of the wheels.

摘要翻译： 车辆运动控制装置和方法通过将每轮轮胎中指示最大产生力的每个轮摩擦圆的尺寸乘以预先计算的每个车轮的百分比来计算每个车轮中的使用摩擦圆的尺寸，计算 基于目标车身力和表示目标车体的力矩，每个车轮轮胎产生力和每个车轮使用百分比指示相对于每个车轮中的mu使用效率的上限值的速率 纵向力，目标车身横向力和目标横摆力矩以及所计算的使用摩擦圆的尺寸，并且以这样的方式控制车辆运动，即计算出的每个轮胎轮胎产生力是基于计算出的 每个车轮轮胎产生力，从而使每个车轮中的mu使用效率的上限最小化。

公开(公告)号：US07366598B2

公开(公告)日：2008-04-29

申请号：US10745557

申请日：2003-12-29

申请人： Eiichi Ono ,  Ken Koibuchi ,  Kenji Asano

发明人： Eiichi Ono ,  Ken Koibuchi ,  Kenji Asano

IPC分类号： B62D6/00 ,  B62D15/00 ,  G06F7/00 ,  G06F19/00

CPC分类号： G01P21/00 ,  B60T8/172 ,  B60T2210/12 ,  B60T2250/06 ,  B62D6/006

摘要： An SAT estimating section estimates self-aligning torque (SAT) on the basis of a steering torque, which is detected by a steering torque detecting section, and an assist torque, which is detected by an assist torque detecting section. An SAT model value computing section computes an SAT model value by using an integrated slip angle αI. An SAT ratio/drift amount computing section computes, by on-line identification, a ratio (SAT ratio) of the SAT to the SAT model value, and a drift amount of a lateral acceleration sensor.

摘要翻译： 基于由转向转矩检测部检测的转向转矩和由辅助转矩检测部检测到的辅助转矩，SAT估计部估计自对准转矩（SAT）。 SAT模型值计算部分通过使用积分滑移角α1 / I计算SAT模型值。 SAT比/漂移量计算部通过在线识别来计算SAT与SAT模型值的比（SAT比）和横向加速度传感器的漂移量。

公开(公告)号：US20060186702A1

公开(公告)日：2006-08-24

申请号：US11332178

申请日：2006-01-17

申请人： Yoshikatsu Kisanuki ,  Tetsuzou Inoue ,  Kazunori Furukawa ,  Kazuo Miki ,  Eiichi Ono ,  Yoshiki Ninomiya ,  Kiyokazu Sunami

发明人： Yoshikatsu Kisanuki ,  Tetsuzou Inoue ,  Kazunori Furukawa ,  Kazuo Miki ,  Eiichi Ono ,  Yoshiki Ninomiya ,  Kiyokazu Sunami

IPC分类号： B60J7/00 ,  E05F15/00 ,  B60R19/54

CPC分类号： B60R21/36 ,  B60R21/0134 ,  B60R2021/346

摘要： A collision behavior control apparatus which comprises a contacting portion disposed in a portion of the front of a vehicle, and which, at the time of collision against a pedestrian or a two-wheeler with a rider riding thereon, controls the behavior of the pedestrian or the two-wheeler rider by pushing the pedestrian or the two-wheeler rider separated from the two-wheeler with the contacting portion, wherein the pedestrian or the two-wheeler rider is pushed by the contacting portion such that the pedestrian or the two-wheeler rider is not bumped up onto the hood, whereby the pedestrian or the two-wheeler rider is moved to the vehicle side.

摘要翻译： 一种碰撞行为控制装置，包括设置在车辆前部的一部分中的接触部分，并且在与乘坐骑乘者的行人或两轮车碰撞时，控制行人的行为或 所述两轮车骑乘者通过将所述行人或所述两轮车骑乘者与所述两轮车与所述接触部分分开，其中所述行人或所述两轮车骑乘者被所述接触部分推动，使得所述行人或所述两轮车 车手没有撞到发动机罩上，由此行人或两轮车骑手被移动到车辆侧。

公开(公告)号：US08788171B2

公开(公告)日：2014-07-22

申请号：US12988914

申请日：2009-04-21

申请人： Eiichi Ono ,  Yumiko Miura ,  Katsuyuki Yamaguchi ,  Taisuke Yasutomi

发明人： Eiichi Ono ,  Yumiko Miura ,  Katsuyuki Yamaguchi ,  Taisuke Yasutomi

IPC分类号： G06F19/00 ,  G06G7/00 ,  B60T8/1755 ,  B60T8/172 ,  G01C21/30 ,  G01C7/04

CPC分类号： B60T8/1755 ,  B60T8/172 ,  B60T2250/06 ,  B60T2250/062 ,  G01C7/04 ,  G01C19/00 ,  G01C21/30 ,  G01P21/00

摘要： An attitude angle estimating means computes a derivative amount of an attitude angle with respect to a vertical axis of a vehicle body, and integrates the computed derivative amount of the attitude angle, and estimates the attitude angle. On the basis of the sensor signal and the attitude angle estimated by the attitude angle estimating means, a computing means computes a derivative amount of the attitude angle obtained from equations of motion for vehicle motion. A drift amount estimating means estimates a sensor drift amount of the sensor signal by using a relationship that, when taking a sensor drift amount of the sensor signal into consideration, the derivative amount of the attitude angle computed by the attitude angle estimating means, and a value that considers a sensor drift amount in the derivative amount of the attitude angle computed by the computing means, are equal.

摘要翻译： 姿态角估计装置计算相对于车身的垂直轴的姿态角的微分量，并且对计算出的姿态角的导数进行积分，并且估计姿态角。 基于由姿态角估计装置估计出的传感器信号和姿态角，计算装置计算由车辆运动的运动方程获得的姿态角的导数。 漂移量估计装置通过使用以下关系来估计传感器信号的传感器漂移量：当考虑到传感器信号的传感器漂移量时，由姿态角度估计装置计算的姿态角的导数量和 考虑由计算装置计算的姿态角的导数量中的传感器漂移量的值相等。

公开(公告)号：US20100217527A1

公开(公告)日：2010-08-26

申请号：US11917429

申请日：2006-06-13

申请人： Yoshikazu Hattori ,  Eiichi Ono

发明人： Yoshikazu Hattori ,  Eiichi Ono

IPC分类号： G08G1/16

CPC分类号： B60W40/105 ,  B60T7/22 ,  B60T2201/022 ,  B60T2210/32 ,  B60W10/12 ,  B60W10/184 ,  B60W10/20 ,  B60W30/08 ,  B60W30/09 ,  B60W30/095 ,  B60W2050/0026 ,  B60W2520/10 ,  B60W2520/12 ,  B60W2550/302 ,  B60W2550/304 ,  B62D15/0265 ,  G08G1/166

摘要： An obstacle avoidance control device has a detector for detecting the distance between a vehicle and an obstacle and the relative speed of the vehicle with respect to the obstacle, a memory for storing a map for calculating vehicle generation force to avoid the obstacle based on a parameter set by a physical quantity determined by a component Vx in the vehicle front-rear direction as of the relative speed, a component Vy in the vehicle lateral direction of the relative speed, and a distance Ye′ in the vehicle lateral direction, for avoiding the obstacle, and a computing unit for computing the parameter based on the distance and the relative speed that are detected by the detector and computing vehicle generation force by using the calculated parameter and the map.

摘要翻译： 障碍物回避控制装置具有用于检测车辆与障碍物之间的距离的检测器以及车辆相对于障碍物的相对速度的存储器，用于存储用于计算车辆产生力以用于基于参数的障碍物的地图的存储器 通过由车辆前后方向上的分量Vx确定的相对速度的物理量，车辆横向方向上的相对速度的分量Vy和车辆横向方向上的距离Ye'来设定，以避免 障碍物和计算单元，用于基于由检测器检测到的距离和相对速度来计算参数，并通过使用计算的参数和地图来计算车辆生成力。