公开(公告)号：US06640623B2

公开(公告)日：2003-11-04

申请号：US09976163

申请日：2001-10-15

申请人： Eiichi Ono ,  Takaji Umeno ,  Masaru Sugai ,  Akira Tanaka ,  Yoshiyuki Yasui ,  Mamoru Sawada

发明人： Eiichi Ono ,  Takaji Umeno ,  Masaru Sugai ,  Akira Tanaka ,  Yoshiyuki Yasui ,  Mamoru Sawada

IPC分类号： E01C2300

CPC分类号： G01N19/02 ,  B60T8/172 ,  B60T8/173 ,  B60T2210/12

摘要： In order to estimate a braking force gradient in a low slip region including a steady travelling region, there is provided a device comprising a wheel speed sensor for detecting a wheel speed in a predetermined sampling period and outputting time series data of the wheel speed as a wheel speed signal, a break point frequency estimating section for estimating a break point frequency in a gain diagram that represents a frequency response of a first order lag model that approximates a transmission characteristics from road surface disturbances to wheel speed, and a braking force gradient estimating section for estimating a braking force gradient with respect to the estimated break point frequency on the basis of the map showing a relationship between braking force gradient and break point frequency stored in advance.

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。

公开(公告)号：US5230396A

公开(公告)日：1993-07-27

申请号：US805960

申请日：1991-12-12

申请人： Yoshiyuki Yasui

发明人： Yoshiyuki Yasui

IPC分类号： B62D5/22 ,  B62D6/04 ,  B62D7/15 ,  B62D9/00

CPC分类号： B62D7/159 ,  B62D5/22 ,  B62D6/04 ,  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. That motor may comprise a fluid motor or an electric motor.

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。 该马达可以包括流体马达或电马达。

公开(公告)号：US4852699A

公开(公告)日：1989-08-01

申请号：US32255

申请日：1987-03-31

申请人： Dean C. Karnopp ,  Yoshiyuki Yasui

发明人： Dean C. Karnopp ,  Yoshiyuki Yasui

IPC分类号： F16D55/224 ,  B60T13/74 ,  F16D55/2255 ,  F16D65/14 ,  F16D65/18

CPC分类号： F16D55/2255 ,  B60T13/741 ,  F16D65/18 ,  F16D2121/24 ,  F16D2125/40 ,  F16D2125/587 ,  F16D2127/08

摘要： There is disclosed a disk brake assembly which includes a brake pad adapted to be urged by an electric motor into braking engagement with a brake disk rotatable with, for example, the wheel of a vehicle, the brake pad being supported for pivotal movement about an axis in the plane parallel to and spaced laterally from the face of the brake disk and exposed substantially at a right angle to a line tangent to the periphery of and in the plane of the brake disk and downstream from the brake pad in the direction of rotation of the brake disk whereby the frictional force between the brake pad and the brake disk has a component complementary to the force exerted by the motor to urge the brake pads against the brake disk.

摘要翻译： 公开了一种盘式制动器组件，其包括适于被电动机推动以与可与例如车辆的车轮一起旋转的制动盘制动接合的制动衬块，所述制动衬块被支撑为围绕轴线枢转运动 在与制动盘的表面平行并横向偏离的平面中，与制动盘的周边和制动盘平面相切的直线与制动衬块的沿着旋转方向的下游大致直角地露出 制动盘，由此制动衬块和制动盘之间的摩擦力具有与由电动机施加的力相互补充的部件，以将刹车片推向制动盘。

公开(公告)号：US08892329B2

公开(公告)日：2014-11-18

申请号：US12849494

申请日：2010-08-03

申请人： Yoshiyuki Yasui ,  Hideaki Koto ,  Manabu Tanaka ,  Takayuki Miyajima

发明人： Yoshiyuki Yasui ,  Hideaki Koto ,  Manabu Tanaka ,  Takayuki Miyajima

IPC分类号： B60T8/24 ,  B60T8/32 ,  B60W30/14

CPC分类号： B60W30/146 ,  B60W2550/143

摘要： A plurality of position data sets representing a plurality of points on a road ahead of a vehicle are acquired, and the degree of curvature of the road at each point is computed. On the basis of the degree of curvature, a constant curvature degree section of a curve is identified, and the degree of curvature and the end position of the constant curvature degree section are determined. In order to cause the vehicle to properly pass through the curve, curve deceleration control is executed on the basis of the actual vehicle speed, a proper vehicle speed determined from the degree of curvature, and the end position of the constant curvature degree section. That is, the curve deceleration control is performed on the basis of the start point of a section of a curve having the maximum degree of curvature and the constant degree of curvature of that section.

摘要翻译： 获取表示车辆前方道路上的多个点的多个位置数据组，并计算出各点的道路的曲率。 基于曲率，确定曲率的恒定曲率部分，并且确定恒定曲率部分的曲率和终点位置。 为了使车辆正确地通过曲线，基于实际车速，从曲率度确定的适当车速和恒定曲率度部分的终点位置来执行曲线减速控制。 也就是说，曲线减速控制是基于具有该部分的最大曲率半径和恒定曲率的曲线的一部分的起点进行的。

公开(公告)号：US08412433B2

公开(公告)日：2013-04-02

申请号：US12362229

申请日：2009-01-29

申请人： Yoshiyuki Yasui ,  Keita Nakano ,  Yosuke Kuki ,  Takayuki Miyajima ,  Yoshito Kondo ,  Atsushi Takeuchi

发明人： Yoshiyuki Yasui ,  Keita Nakano ,  Yosuke Kuki ,  Takayuki Miyajima ,  Yoshito Kondo ,  Atsushi Takeuchi

IPC分类号： G06F17/00

CPC分类号： B60W10/02 ,  B60T2201/16 ,  B60T2210/22 ,  B60T2210/24 ,  B60W10/06 ,  B60W10/11 ,  B60W10/184 ,  B60W2520/125 ,  B60W2550/143 ,  B60W2550/402 ,  B60W2720/103 ,  Y10T477/692

摘要： A motion control device for a vehicle includes a vehicle speed obtaining device, a curvature obtaining device for obtaining a bending grade of a curve existing ahead of the vehicle, a position obtaining device for obtaining a relative position between the vehicle and the curve, a determination device for determining an appropriate vehicle speed for the vehicle passing through the curve based on the bending grade, a speed reduction control device for executing a speed reduction control for reducing the vehicle speed based on the vehicle speed and the relative position so that the vehicle passes through the curve at the appropriate vehicle speed, and a gradient obtaining device for obtain a gradient of the road on the curve existing in a traveling direction of the vehicle, wherein the determination device determines the appropriate vehicle speed based on the gradient of the road in addition to the bending grade.

摘要翻译： 车辆用运动控制装置包括车速获取装置，用于获得车辆前方的曲线的弯曲等级的曲率取得装置，获取车辆与曲线的相对位置的位置取得装置， 用于基于弯曲等级确定通过曲线的车辆的适当车速的装置，用于执行基于车速和相对位置使车辆速度降低的速度降低控制的减速控制装置，使得车辆通过 通过在适当的车速下的曲线，以及梯度获取装置，用于获得在车辆的行进方向上存在的曲线上的道路的坡度，其中，确定装置基于道路的坡度来确定适当的车速 除了弯曲等级。

公开(公告)号：US08165756B2

公开(公告)日：2012-04-24

申请号：US12406362

申请日：2009-03-18

申请人： Yoshiyuki Yasui ,  Toshihisa Kato ,  Junya Nagaya

发明人： Yoshiyuki Yasui ,  Toshihisa Kato ,  Junya Nagaya

IPC分类号： A01B69/00

CPC分类号： B62D6/003 ,  B62D6/005 ,  B62D6/008

摘要： A vehicle steering control device includes a yawing value obtaining unit which obtains a yawing value corresponding to a vehicle yawing motion, a stabilizing force calculating unit which calculates a stabilizing force for assisting an operation of a steering operation member, operated by a driver for steering a steered wheel of the vehicle, in a direction opposite a direction of the vehicle yawing motion, based on the yawing value, and a force applying unit which applies the stabilizing force to the steering operation member in the direction opposite the yawing motion direction, wherein the stabilizing force calculating unit includes a counter-steer value calculating unit which calculates a counter-steer value indicating a degree of steering the steered wheel in the direction opposite the yawing motion direction, and wherein the stabilizing force is adjusted based on the counter-steer value.

摘要翻译： 一种车辆转向控制装置，包括获得与车辆横摆运动对应的偏航值的偏航值获取单元，稳定力计算单元，其计算用于辅助驾驶员操作的转向操作构件的操作的稳定力， 基于偏航值与车辆横摆运动的方向相反的方向的车辆的转向轮;以及施力单元，其在与偏航运动方向相反的方向上向转向操作构件施加稳定力，其中， 稳定力计算单元包括反转向量计算单元，该计数器计算单元计算指示与偏转运动方向相反的方向转向转向轮的反向转向值，并且其中基于反向转向值来调整稳定力 。

公开(公告)号：US08140233B2

公开(公告)日：2012-03-20

申请号：US12171474

申请日：2008-07-11

申请人： Hiroaki Niino ,  Yoshiyuki Yasui ,  Takashi Sato

发明人： Hiroaki Niino ,  Yoshiyuki Yasui ,  Takashi Sato

IPC分类号： B60T8/40

CPC分类号： B60T13/141 ,  B60T8/442 ,  B60T8/4872

摘要： Braking discomfort applied to the driver is minimized. Provided are a brake operation amount section (26) capable of detecting a brake operation before a master cylinder hydraulic pressure is generated; an estimation section (28) for estimating the hydraulic pressure generation timing at which the master cylinder hydraulic pressure is generated, on the basis of detection information of the brake operation amount section (26); and a hydraulic pressure control section (29) for controlling the operation of an assist hydraulic pressure generation mechanism (D) by using the hydraulic pressure generation timing estimated by the estimation section (28) as a reference.

摘要翻译： 施加到驾驶员的制动不适最小化。 提供一种能够在产生主缸液压之前检测制动操作的制动操作量部分（26） 基于制动操作量部分（26）的检测信息，估计产生主缸液压的液压产生正时的估计部分（28）。 以及液压控制部（29），其通过使用由所述推定部（28）估计出的液压产生定时作为基准来控制辅助液压发生机构（D）的动作。

公开(公告)号：US08116942B2

公开(公告)日：2012-02-14

申请号：US11984519

申请日：2007-11-19

申请人： Yoshiyuki Yasui ,  Hiroaki Aizawa

发明人： Yoshiyuki Yasui ,  Hiroaki Aizawa

IPC分类号： G05D1/00 ,  B62D6/00

CPC分类号： B62D7/159 ,  B62D6/003

摘要： A steering angle control apparatus for a vehicle includes a first calculating means calculating a longitudinal force, a second calculating device calculating a longitudinal force difference between at least one of right side wheels and at least one of left side wheels based on the longitudinal force, a third calculating device calculating a contribution rate of front wheels at a steering angle control and a contribution rate of rear wheels at the steering angle control, a fourth calculating device calculating a front wheel correction steering angle and a rear wheel correction steering angle based on the contribution rate of the front wheel, the contribution rate of the rear wheel, and a state quantity including the longitudinal force difference, and a driving device outputting a control command value based on the front wheel correction steering angle and the rear wheel correction steering angle.

摘要翻译： 一种用于车辆的转向角控制装置包括：计算纵向力的第一计算装置，基于纵向力计算右侧轮和至少一个左侧轮之间的纵向力差的第二计算装置， 第三计算装置计算转向角控制时的前轮的贡献率和转向角控制下的后轮的贡献率，第四计算装置，基于贡献计算前轮校正转向角和后轮校正转向角 前轮的速度，后轮的贡献率和包括纵向力差的状态量，以及基于前轮校正转向角和后轮校正转向角输出控制指令值的驱动装置。

公开(公告)号：US08082087B2

公开(公告)日：2011-12-20

申请号：US12414942

申请日：2009-03-31

申请人： Yoshiyuki Yasui ,  Keita Nakano ,  Chihiro Nitta

发明人： Yoshiyuki Yasui ,  Keita Nakano ,  Chihiro Nitta

IPC分类号： B60T7/12

CPC分类号： B60T8/17552 ,  B60T2240/06

摘要： A motion control device for a vehicle includes a controlling means for maintaining a traveling stability of the vehicle by controlling a braking force of a wheel of the vehicle, a friction coefficient obtaining means for obtaining a friction coefficient of a road surface on which the vehicle travels, a lateral force reference value calculating means for calculating a lateral force reference value acting on the wheel on the basis of the friction coefficient of the road surface and a lateral force actual value obtaining means for obtaining a lateral force actual value acting on the wheel, wherein the controlling means controls the braking force on the basis of a comparison result between the lateral force reference value and the lateral force actual value.

摘要翻译： 一种用于车辆的运动控制装置，包括：控制装置，用于通过控制车辆的车轮的制动力来保持车辆的行驶稳定性;摩擦系数获取装置，用于获得车辆行驶的路面的摩擦系数 横向力基准值计算装置，用于基于路面的摩擦系数计算作用在车轮上的横向力参考值;以及横向力实际值获取装置，用于获得作用在车轮上的横向力实际值， 其中所述控制装置基于所述横向力参考值和所述横向力实际值之间的比较结果来控制所述制动力。