公开(公告)号：US20040133324A1

公开(公告)日：2004-07-08

申请号：US10682405

申请日：2003-10-10

申请人： AISIN SEIKI KABUSHIKI KAISHA ,  TOYODA KOKI KABUSHIKI KAISHA ,  ADVICS CO., LTD.

发明人： Yoshiyuki Yasui ,  Eiichi Ono ,  Yuji Muragishi ,  Shinji Takeuchi ,  Minekazu Momiyama ,  Hiroaki Kato ,  Yuzo Imoto ,  Hiroaki Aizawa

IPC分类号： G06F007/00

CPC分类号： B60W40/064 ,  B60T8/172 ,  B60T8/17551 ,  B60T2210/12 ,  B60T2260/02 ,  B60W10/184 ,  B60W10/20 ,  B60W40/101 ,  B60W2530/20 ,  B62D6/04

摘要： The present invention is directed to a road condition estimation apparatus for estimating a road condition for use in a vehicle having steering control unit for actuating a device mechanically independent of a manually operated steering member to steer each wheel. The apparatus includes a reaction torque detection unit for detecting reaction torque for detecting a reaction torque when at least a wheel of the vehicle is steered by the steering control unit, an aligning torque estimation unit for estimating an aligning torque produced on the wheel on the basis of the reaction torque detected by the reaction torque detection unit, a wheel factor providing unit for providing at least one of wheel factors including a side force and a slip angle applied to the wheel, and a grip factor estimation unit for estimating a grip factor of at least a tire of the wheel, in accordance with a relationship between the aligning torque estimated by the aligning torque estimation unit and the wheel factor estimated by the wheel factor providing unit.

摘要翻译： 本发明涉及一种道路状态估计装置，用于估计具有转向控制单元的车辆中使用的道路状况，所述转向控制单元用于致动机械地独立于手动操作的转向构件的装置以转向每个车轮。 该装置包括：反作用转矩检测单元，用于当通过转向控制单元转向车辆的至少一个车轮时检测用于检测反作用转矩的反作用转矩;对准扭矩估计单元，用于基于在车轮上产生的对准扭矩 由所述反作用转矩检测单元检测到的所述反作用转矩的车轮因子提供单元，用于提供包括施加到所述车轮的侧力和滑移角的车轮因数中的至少一个，以及用于估计所述车轮因素 根据由对准转矩估计单元估计出的对准转矩和由车轮系数提供单元估计的车轮系数之间的关系，至少轮胎轮胎。

公开(公告)号：US20040024509A1

公开(公告)日：2004-02-05

申请号：US10628685

申请日：2003-07-28

发明人： Albert Chenouda Salib ,  Hani Abdul Ghani ,  Mathijs Willem Geurink ,  Todd Allen Brown

IPC分类号： G06F017/00

CPC分类号： B60T8/243 ,  B60G17/0162 ,  B60G17/0195 ,  B60G2800/012 ,  B60G2800/0194 ,  B60G2800/9124 ,  B60R21/0132 ,  B60R2021/0018 ,  B60R2021/01313 ,  B60R2021/01327 ,  B60T8/17555 ,  B60T8/18 ,  B60T2201/122 ,  B60T2210/22 ,  B60T2230/02 ,  B60T2230/03 ,  B60T2260/08 ,  B60W30/04 ,  B60W2510/20 ,  B60W2520/10 ,  B60W2520/125 ,  B60W2520/14 ,  B60W2520/18 ,  B62D6/04 ,  B62D7/159

摘要： A system 18 for controlling a safety system of an automotive vehicle has a first controller 76 generating a first control signal, a second controller 78 generating a second control signal and an arbitration module 80 coupled to the first controller 76 and the second controller 78. The arbitration module 80 chooses the higher of the first control signal and the second control signal to generate a final control signal. The safety system 38 is coupled to the arbitration module. The safety system 38 is operated in response to the final control signal.

摘要翻译： 用于控制机动车辆的安全系统的系统18具有产生第一控制信号的第一控制器76，产生第二控制信号的第二控制器78和耦合到第一控制器76和第二控制器78的仲裁模块80。 仲裁模块80选择第一控制信号和第二控制信号中的较高者来产生最终控制信号。 安全系统38耦合到仲裁模块。 响应于最终控制信号操作安全系统38。

公开(公告)号：US20040007412A1

公开(公告)日：2004-01-15

申请号：US10390852

申请日：2003-03-17

发明人： Barbara Neef ,  Stefan Berkner ,  Holger Duda

IPC分类号： B62D005/06

CPC分类号： G05B17/02 ,  B60G2400/204 ,  B60G2400/41 ,  B60G2600/02 ,  B60G2600/1873 ,  B60G2800/70 ,  B60G2800/702 ,  B60G2800/96 ,  B60G2800/962 ,  B60T2230/02 ,  B60T2260/02 ,  B60T2260/022 ,  B60T2270/86 ,  B60W2520/10 ,  B60W2520/14 ,  B62D6/04 ,  B62D7/159

摘要： In a method and device for controlling driving dynamics, at least one steering action at a vehicle axle being controlled, a driving-dynamics setpoint, which is described by at least a yaw-dynamics setpoint, being ascertained, a steering-angle precontrol value being determined on the basis of the driving-dynamics setpoint, using a model of the controlled system, the driving state, which is described by at least the yaw rate, being ascertained, at least one steering-angle correction value being ascertained, based on the deviation of the actual yaw rate from a setpoint yaw rate, and the steering action being defined by the steering-angle precontrol value and the at least one steering-angle correction value.

摘要翻译： 在用于控制驾驶动态的方法和装置中，确定车辆轴上的至少一个转向动作，确定由至少偏航动力学设定点描述的驾驶动力学设定点，转向角预控制值 基于所述驾驶动力学设定点，使用所述受控系统的模型，确定至少由所述横摆角速度描述的驾驶状态，基于所述驾驶动力学设定点确定至少一个转向角校正值， 实际横摆率与设定点横摆角速度的偏差，并且转向动作由转向角预控制值和至少一个转向角校正值限定。

公开(公告)号：US20030135290A1

公开(公告)日：2003-07-17

申请号：US10037059

申请日：2001-12-31

发明人： Yixin Yao ,  Gregory James Stout

IPC分类号： G06F015/18 ,  G05B013/02

CPC分类号： G05B13/0275 ,  B60G17/0182 ,  B60G17/0195 ,  B60G2400/41 ,  B60G2600/1879 ,  B60G2800/91 ,  B60G2800/96 ,  B62D6/04

摘要： A road wheel fuzzy logic control system, including a fuzzy logic control unit having, a plurality of inputs signals, and generating a control output signal, and a road wheel subsystem that receives the control output signal and generates an output feedback signal to the fuzzy logic control unit, wherein the fuzzy logic control tracks an input signal under the effects of uncertainties and disturbances from the road wheel subsystem and vehicle dynamics. The fuzzy logic control unit controls the effects of the uncertainty and disturbance and provides vehicle stability.

摘要翻译： 一种车轮模糊逻辑控制系统，包括具有多个输入信号并产生控制输出信号的模糊逻辑控制单元，以及接收控制输出信号并向模糊逻辑产生输出反馈信号的车轮子系统 控制单元，其中模糊逻辑控制在来自车轮子系统和车辆动力学的不确定性和干扰的影响下跟踪输入信号。 模糊逻辑控制单元控制不确定性和扰动的影响，并提供车辆稳定性。

公开(公告)号：US20020140197A1

公开(公告)日：2002-10-03

申请号：US10105868

申请日：2002-03-25

发明人： Durrell U. Howard

IPC分类号： B62D001/00

CPC分类号： B62D6/04 ,  B62D7/22

摘要： A linkage assembly (10) of remotely adjustable length extends between a steerable member (17) and a frame member (12) to define the center position of the steerable member (17). The linkage assembly includes a resistance assembly (30) for providing a resistance force resisting forces tending to move the steerable member (17) to either side of the center position, and a trim assembly (28) having a piston (36) that may be locked in position (C1) in a trim cylinder (33) for transmitting steering forces to the resistance assembly (30). A trim valve (52, 52null, 52,null 301) is operable between a closed position for preventing trim fluid flow so that the piston (36) is held in its locked position (C1), and an open position for allowing the trim piston (36) to move away from its prior locked position (C1) to a new locked position (C2) to permit the length of the linkage (10) to be changed in response to a steering force applied to the steering wheel. A liquid pressurized by a gas from a gas pressure source (88) is provided to the resistance assembly (30) and to the trim assembly (28) by a single joint accumulator assembly (275) or by a dual accumulator assembly (75, 175). The dual accumulator assembly (75, 175) provides liquid at two different pressures, one for the resistance assembly (30) and the other for the trim assembly (28).

摘要翻译： 可遥控长度的连杆组件（10）在可操纵构件（17）和框架构件（12）之间延伸以限定可转向构件（17）的中心位置。 连杆组件包括用于提供趋向于将可转向构件（17）移动到中心位置的任一侧的阻力抵抗力的阻力组件（30），以及具有活塞（36）的修剪组件（28） 锁定在装配缸（33）中的位置（C1），用于将转向力传递到阻力组件（30）。 调节阀（52,52'，52“”301“）可在闭合位置之间操作，以防止修整液体流动，使得活塞（36）保持在其锁定位置（C1），并且打开位置允许 微调活塞（36）从其先前的锁定位置（C1）移动到新的锁定位置（C2），以允许连杆机构（10）的长度响应于施加到方向盘的转向力而改变。 由气体压力源（88）的气体加压的液体通过单个接头蓄能器组件（275）或双重蓄能器组件（75,175）被提供到电阻组件（30）和修剪组件（28） ）。 双重蓄能器组件（75,175）在两个不同的压力下提供液体，一个用于电阻组件（30），另一个用于装配组件（28）。

公开(公告)号：US06374172B1

公开(公告)日：2002-04-16

申请号：US09684923

申请日：2000-10-10

申请人： Hiroyuki Yamaguchi ,  Katsuhiro Asano ,  Yasushi Amano ,  Kenji Tozu ,  Akitaka Nishio

发明人： Hiroyuki Yamaguchi ,  Katsuhiro Asano ,  Yasushi Amano ,  Kenji Tozu ,  Akitaka Nishio

IPC分类号： B60T824

CPC分类号： B60W40/103 ,  B60T8/172 ,  B60T2210/22 ,  B60T2230/02 ,  B60W30/18172 ,  B60W2050/0028 ,  B60W2550/12 ,  B60W2550/142 ,  B62D6/04 ,  G01L5/20

摘要： A vehicle driving condition detection device is adapted to detect a vehicle running along a banked or laterally sloping road, as well as a lateral acceleration, and sideslip angle with good accuracy. The sideslip angle is estimated at a vehicle-body sideslip angle estimating circuit based on a steering angle &dgr;f, a lateral acceleration ÿ, a yaw rate {dot over (&thgr;)}, and a vehicle speed V. In addition, using a differentiating device, the estimated sideslip angle is differentiated to calculate a slip angular velocity. A subtracting device is provided at which a deviation is calculated between the slip angular velocity and a slip angular velocity detected at a slip angular velocity calculating circuit. The deviation can detect a banked or laterally sloping road due to the fact that the detected slip angular velocity at the slip angular velocity calculating circuit includes the gravity acceleration component that depends on the slope or bank of the road. Upon detecting a banked or sloping road, a deviation &Dgr;ÿ (={dot over (&thgr;)}·V−ÿ) is outputted from a switching device, and at a subtracting device the detected lateral acceleration ÿ is corrected by being subtracted with the deviation &Dgr;ÿ. On the basis of the resultant or corrected lateral acceleration ÿ, the vehicle-body sideslip angle is estimated. Such an estimation is made irrespective of the slope or bank of the road.

摘要翻译： 车辆驾驶状况检测装置适用于检测沿着横向倾斜的道路行驶的车辆以及横向加速度和高精度的侧滑角。 在基于转向角增量，横向加速度ÿ，偏航率{点（θ））和车速V的车身侧滑角估计电路估计侧滑角。另外，使用微分装置 ，估计的侧滑角被差分以计算滑移角速度。 提供一种减法装置，在该减法装置中计算滑移角速度与在滑动角速度计算电路处检测到的滑移角速度之间的偏差。 由于在滑移角速度计算电路处检测到的滑动角速度包括取决于道路的坡度或堤岸的重力加速度分量，偏差可以检测堤岸或横向倾斜的道路。 在检测到一条倾斜的道路时，从切换装置输出偏差DELTAÿ（= {dot over（θ）} V-ÿ），在减法装置中，通过用偏差减去检测到的横向加速度ÿ DELTAÿ。 基于所得到的或校正的横向加速度is，估计车身侧滑角度。 无论道路的坡度还是堤岸，都做出这样的估计。

公开(公告)号：US6112845A

公开(公告)日：2000-09-05

申请号：US182469

申请日：1998-10-30

申请人： Yasuharu Oyama ,  Yutaka Nishi ,  Takashi Nishimori ,  Kazushige Sugamata ,  Hiroyuki Kawagoe

发明人： Yasuharu Oyama ,  Yutaka Nishi ,  Takashi Nishimori ,  Kazushige Sugamata ,  Hiroyuki Kawagoe

IPC分类号： B62D6/00 ,  B62D5/04 ,  B62D6/04 ,  B62D101/00 ,  B62D117/00 ,  B62D119/00 ,  B62D137/00

CPC分类号： B62D5/0463 ,  B62D5/0472 ,  B62D6/008 ,  B62D6/04

摘要： In a steering system which produces a reactive steering assist torque which tends to cancel any unintended or undesired behavior of the vehicle, the relationship between the steering angle and the vehicle behavior such as the yaw rate and the lateral acceleration reverses in sense depending on the traveling direction of the vehicle. To prevent the control unit for the steering system from producing any reactive steering assist torque which could worsen the behavior of the vehicle when the vehicle is traveling rearward, the control unit either eliminates or reverses the sense of the reactive steering assist torque when the vehicle is traveling rearward.

摘要翻译： 在产生倾向于消除车辆的任何非预期或不期望的行为的反作用力转向辅助转矩的转向系统中，转向角和车辆行为（例如横摆角速度和横向加速度）之间的关系取决于行驶 车辆的方向 为了防止转向系统的控制单元产生任何反作用力转向辅助扭矩，当车辆向后行进时，可能会使车辆的行为恶化，控制单元可以消除或反转当车辆是 向后走

公开(公告)号：US5481457A

公开(公告)日：1996-01-02

申请号：US218116

申请日：1994-03-25

申请人： Yorihisa Yamamoto ,  Yutaka Nishi ,  Takashi Nishimori ,  Hiroyuki Tokunaga

发明人： Yorihisa Yamamoto ,  Yutaka Nishi ,  Takashi Nishimori ,  Hiroyuki Tokunaga

IPC分类号： B62D6/00 ,  B62D5/04 ,  B62D6/04 ,  B62D101/00 ,  B62D111/00 ,  B62D113/00 ,  B62D117/00 ,  B62D137/00

CPC分类号： B62D5/0463 ,  B62D6/04

摘要： Provided is a vehicle steering system which can substantially stabilize the lateral dynamic behavior of a vehicle with a simple control logic over the entire range of the vehicle speed. A steering torque proportional to a yaw rate and/or a lateral acceleration of the vehicle is applied to the steerable wheels to counteract a lateral deviation of the vehicle. To avoid the oscillatory or overshooting behavior of the control system, a damping torque is applied to the steering wheel. Thus, the counteracting steering torque is given as a mathematical function including a sum of a first term consisting of a product of a yaw rate and/or the lateral acceleration of the vehicle and a first coefficient, and a second term consisting of a product of an angular speed of the steering wheel and a second coefficient. In particular, the first coefficient and second coefficient are variable in a mutually proportional relationship so that the optimum selection of the first and second conditions can be done without any complication.

摘要翻译： 提供一种车辆转向系统，其能够在车辆速度的整个范围上以简单的控制逻辑基本上稳定车辆的横向动态特性。 与车辆的偏航率和/或横向加速度成比例的转向扭矩被施加到可转向轮以抵消车辆的横向偏差。 为了避免控制系统的振荡或过冲行为，向方向盘施加阻尼扭矩。 因此，反作用转向扭矩被给出为数学函数，其包括由横摆率和/或车辆的横向加速度的乘积和第一系数组成的第一项的和和由第一项组成的第二项， 方向盘的角速度和第二系数。 特别地，第一系数和第二系数可以相互成比例的关系变化，从而可以在没有任何复杂性的情况下进行第一和第二条件的最佳选择。

公开(公告)号：US5467278A

公开(公告)日：1995-11-14

申请号：US13979

申请日：1993-02-05

申请人： Mizuho Sugiyama

发明人： Mizuho Sugiyama

IPC分类号： B62D6/00 ,  B62D6/04 ,  B62D7/14 ,  B62D7/15 ,  B62D137/00 ,  B62D5/04

CPC分类号： B62D7/159 ,  B62D6/04

摘要： An electric control apparatus for a four-wheel steering system of an automotive vehicle having a front wheel steering mechanism for a set of dirigible front road wheels and a rear wheel steering mechanism for a set of dirigible rear road wheels, which includes a yaw rate sensor arranged to detect an actual yaw rate of the vehicle for producing a detection signal indicative of the actual yaw rate, and a microcomputer programmed to determine a target steering angle of the rear road wheels in proportion to a high-frequency component of the actual yaw rate for producing a control signal indicative of the target steering angle and to apply the control signal to an electrically operated actuator of the rear wheel steering mechanism so that the rear road wheels are steered at the target steering angle.

摘要翻译： 一种用于机动车辆的四轮转向系统的电气控制装置，其具有用于一组不透气的前轮的前轮转向机构和用于一组不透气的后轮的后轮转向机构，其包括横摆率传感器 布置成检测用于产生表示实际横摆率的检测信号的车辆的实际横摆角速度;以及微型计算机，被编程为与实际横摆率的高频分量成比例地确定后轮的目标转向角 用于产生表示目标转向角的控制信号，并将该控制信号施加到后轮转向机构的电动执行机构，以使后轮车以目标转向角度转向。

公开(公告)号：US5261503A

公开(公告)日：1993-11-16

申请号：US807247

申请日：1991-12-18

申请人： Yoshiyuki Yasui

发明人： Yoshiyuki Yasui

IPC分类号： B62D5/04 ,  B62D5/22 ,  B62D5/30 ,  B62D6/00 ,  B62D6/04 ,  B62D7/15 ,  B62D9/00 ,  B62D101/00 ,  B62D111/00 ,  B62D113/00 ,  B62D123/00 ,  B62D137/00 ,  F16H19/04 ,  B67D5/04 ,  B67D5/22

CPC分类号： B62D5/22 ,  B62D5/30 ,  B62D6/04 ,  B62D7/159 ,  B62D9/00

摘要： 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 and producing an output signal in response to a comparison of the actual and desired yaw rates. The steering 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 by a motor in response to the output signal. The amount of steering provided by the motor is controlled in dependence upon an estimated frictional coefficient between the vehicle and the road, or upon detected values of the environmental temperature and precipitation.

摘要翻译： 通过测量车辆的实际横摆角速度和确定车辆的期望偏航角速度并响应于实际和期望的偏航率的比较来产生输出信号来维持移动车辆的转向稳定性。 响应于输出信号控制车辆的可转向车轮的转向角度，其倾向于基本上使实际的横摆率与所期望的横摆角速度一致，从而保持车辆的稳定性。 可转向的车轮由方向盘转向，并响应于输出信号由电动机独立转向。 由电动机提供的转向量根据车辆和道路之间的估计摩擦系数，或者环境温度和降水的检测值进行控制。