公开(公告)号：US08036424B2

公开(公告)日：2011-10-11

申请号：US11786152

申请日：2007-04-11

申请人： Takahiro Ishikawa ,  Takanori Fukao

发明人： Takahiro Ishikawa ,  Takanori Fukao

IPC分类号： G06K9/00

CPC分类号： G06K9/00805 ,  G06T7/269 ,  G06T7/70

摘要： A field recognition apparatus includes a first camera for imaging a forward field and a second camera for imaging a road surface. The second camera has a light axis tilted toward a downward direction for accurately tracking a characteristic point in consecutively captured images to calculate an optical flow and for accurately recognizing road structure information. In this manner, three dimensional information of obstacles in a field is accurately processed and detected.

摘要翻译： 场识别装置包括用于对前场成像的第一相机和用于对路面成像的第二相机。 第二相机具有朝向下方向倾斜的光轴，用于精确地跟踪连续拍摄图像中的特征点，以计算光流并准确地识别道路结构信息。 以这种方式，对场中的障碍物的三维信息进行精确的处理和检测。

公开(公告)号：US20090292419A1

公开(公告)日：2009-11-26

申请号：US12468321

申请日：2009-05-19

申请人： Noriaki ITAGAKI ,  Nobuyuki ICHIMARU ,  Takahide KOBAYASHI ,  Tatsuya GANKAI ,  Takanori FUKAO

发明人： Noriaki ITAGAKI ,  Nobuyuki ICHIMARU ,  Takahide KOBAYASHI ,  Tatsuya GANKAI ,  Takanori FUKAO

IPC分类号： G06F17/00

CPC分类号： B60G17/08 ,  B60G2400/102 ,  B60G2400/20 ,  B60G2400/252 ,  B60G2500/104 ,  B60G2600/02 ,  B60G2600/184 ,  B60G2600/187 ,  B60G2600/1872

摘要： The present invention provides a suspension control apparatus capable of an excellent vibration control by a model thereof designed to incorporate nonlinearity and a time-lag element of a control damper. The present invention employs the backstepping method which is one of nonlinear control methods, and is designed so as to incorporate the nonlinearity of a damper 4. In addition, a nonlinear controller 5 uses a damping force Fu obtained by expressing the dynamics of a damping force characteristic variable portion [damping force Fu(v, i)] by a first-order lag system, so as to compensate the dynamics of the damper 4, whereby a control system is formed so as to incorporate the time-lag element of the control damper. As a result, it is possible to reduce time lag, and to practically adjust a control force according to the characteristics of the control damper.

摘要翻译： 本发明提供了一种悬架控制装置，其能够通过其设计为包含非线性的模型和控制阻尼器的时滞元件而具有优异的振动控制。 本发明采用作为非线性控制方法之一的后退方法，并且被设计成结合阻尼器4的非线性。另外，非线性控制器5使用通过表示阻尼力的动力学获得的阻尼力Fu 特征可变部分[阻尼力Fu（v，i）]，以便补偿阻尼器4的动力学，由此形成控制系统以便并入控制器的时滞元件 阻尼器。 结果，可以减少时间滞后，并且根据控制阻尼器的特性实际调节控制力。

公开(公告)号：US20100057297A1

公开(公告)日：2010-03-04

申请号：US12548736

申请日：2009-08-27

申请人： Noriaki ITAGAKI ,  Nobuyuki Ichimaru ,  Takahide Kobayashi ,  Tatsuya Gankai ,  Takanori Fukao

发明人： Noriaki ITAGAKI ,  Nobuyuki Ichimaru ,  Takahide Kobayashi ,  Tatsuya Gankai ,  Takanori Fukao

IPC分类号： B60G17/018

CPC分类号： B60G17/0182 ,  B60G2400/202 ,  B60G2500/10 ,  B60G2600/182 ,  B60G2600/184 ,  B60G2600/1873 ,  B60G2800/916

摘要： A first observer gain of an actual damping force estimating observer 21 calculates a dynamic characteristic compensating signal, and a second observer gain of an actual vehicle model state amount estimating observer 23 calculates a vehicle model compensating signal, from an output deviation corresponding to a difference between a sprung speed (observation output) provided from a vehicle 2 and an estimated sprung speed (estimated observation output) provided from a vehicle approximation model of the actual vehicle model state amount estimating observer 23. The dynamic characteristic compensating signal is input into a dynamic characteristic providing unit of the actual vehicle model state amount estimating observer 23, and is used for adjustment of the setting of the dynamic characteristic providing unit. Therefore, it is possible to curb time lag occurrence in a control, and thereby perform a vibration control with improved accuracy.

摘要翻译： 实际阻尼力估计观测器21的第一观测者增益计算动态特性补偿信号，并且实际车辆模型状态量估计观测器23的第二观测器增益根据对应于车辆模型补偿信号之间的差的输出偏差来计算车辆模型补偿信号 从车辆2提供的弹簧速度（观测输出）和由实际车辆型态状态量估计观测器23的车辆近似模型提供的估计的弹簧速度（估计观测输出）。动态特性补偿信号被输入到动态特性 提供实际车型​​状态量估计观测器23的提供单元，并且用于动态特性提供单元的设置的调整。 因此，可以抑制控制中的时滞发生，从而以提高精度进行振动控制。

公开(公告)号：US08086377B2

公开(公告)日：2011-12-27

申请号：US12468321

申请日：2009-05-19

申请人： Noriaki Itagaki ,  Nobuyuki Ichimaru ,  Takahide Kobayashi ,  Tatsuya Gankai ,  Takanori Fukao

发明人： Noriaki Itagaki ,  Nobuyuki Ichimaru ,  Takahide Kobayashi ,  Tatsuya Gankai ,  Takanori Fukao

IPC分类号： G05D3/12

CPC分类号： B60G17/08 ,  B60G2400/102 ,  B60G2400/20 ,  B60G2400/252 ,  B60G2500/104 ,  B60G2600/02 ,  B60G2600/184 ,  B60G2600/187 ,  B60G2600/1872

摘要： The present invention provides a suspension control apparatus capable of an excellent vibration control by a model thereof designed to incorporate nonlinearity and a time-lag element of a control damper. The present invention employs the backstepping method which is one of nonlinear control methods, and is designed so as to incorporate the nonlinearity of a damper 4. In addition, a nonlinear controller 5 uses a damping force Fu obtained by expressing the dynamics of a damping force characteristic variable portion [damping force Fu(v, i)] by a first-order lag system, so as to compensate the dynamics of the damper 4, whereby a control system is formed so as to incorporate the time-lag element of the control damper. As a result, it is possible to reduce time lag, and to practically adjust a control force according to the characteristics of the control damper.

摘要翻译： 本发明提供了一种悬架控制装置，其能够通过其设计为包含非线性的模型和控制阻尼器的时滞元件而具有优异的振动控制。 本发明采用作为非线性控制方法之一的后退方法，并且被设计成结合阻尼器4的非线性。另外，非线性控制器5使用通过表示阻尼力的动力学获得的阻尼力Fu 特征可变部分[阻尼力Fu（v，i）]，以便补偿阻尼器4的动力学，由此形成控制系统以便并入控制器的时滞元件 阻尼器。 结果，可以减少时间滞后，并且根据控制阻尼器的特性实际调节控制力。

公开(公告)号：US20070285217A1

公开(公告)日：2007-12-13

申请号：US11786152

申请日：2007-04-11

申请人： Takahiro Ishikawa ,  Takanori Fukao

发明人： Takahiro Ishikawa ,  Takanori Fukao

IPC分类号： G06T7/20

CPC分类号： G06K9/00805 ,  G06T7/269 ,  G06T7/70

摘要： A field recognition apparatus includes a first camera for imaging a forward field and a second camera for imaging a road surface. The second camera has a light axis tilted toward a downward direction for accurately tracking a characteristic point in consecutively captured images to calculate an optical flow and for accurately recognizing road structure information. In this manner, three dimensional information of obstacles in a field is accurately processed and detected.

摘要翻译： 场识别装置包括用于对前场成像的第一相机和用于对路面成像的第二相机。 第二相机具有朝向下方向倾斜的光轴，用于精确地跟踪连续拍摄图像中的特征点，以计算光流并准确地识别道路结构信息。 以这种方式，对场中的障碍物的三维信息进行精确的处理和检测。

公开(公告)号：US08116938B2

公开(公告)日：2012-02-14

申请号：US12548736

申请日：2009-08-27

申请人： Noriaki Itagaki ,  Nobuyuki Ichimaru ,  Takahide Kobayashi ,  Tatsuya Gankai ,  Takanori Fukao

发明人： Noriaki Itagaki ,  Nobuyuki Ichimaru ,  Takahide Kobayashi ,  Tatsuya Gankai ,  Takanori Fukao

IPC分类号： B60G17/018

CPC分类号： B60G17/0182 ,  B60G2400/202 ,  B60G2500/10 ,  B60G2600/182 ,  B60G2600/184 ,  B60G2600/1873 ,  B60G2800/916

摘要： A first observer gain of an actual damping force estimating observer 21 calculates a dynamic characteristic compensating signal, and a second observer gain of an actual vehicle model state amount estimating observer 23 calculates a vehicle model compensating signal, from an output deviation corresponding to a difference between a sprung speed (observation output) provided from a vehicle 2 and an estimated sprung speed (estimated observation output) provided from a vehicle approximation model of the actual vehicle model state amount estimating observer 23. The dynamic characteristic compensating signal is input into a dynamic characteristic providing unit of the actual vehicle model state amount estimating observer 23, and is used for adjustment of the setting of the dynamic characteristic providing unit. Therefore, it is possible to curb time lag occurrence in a control, and thereby perform a vibration control with improved accuracy.

摘要翻译： 实际阻尼力估计观测器21的第一观测者增益计算动态特性补偿信号，并且实际车辆模型状态量估计观测器23的第二观测器增益根据对应于车辆模型补偿信号之间的差的输出偏差来计算车辆模型补偿信号 从车辆2提供的弹簧速度（观测输出）和由实际车辆型态状态量估计观测器23的车辆近似模型提供的估计的弹簧速度（估计观测输出）。动态特性补偿信号被输入到动态特性 提供实际车型​​状态量估计观测器23的提供单元，并且用于动态特性提供单元的设置的调整。 因此，可以抑制控制中的时滞发生，从而以提高精度进行振动控制。