公开(公告)号：US08165756B2

公开(公告)日：2012-04-24

申请号：US12406362

申请日：2009-03-18

Applicant: Yoshiyuki Yasui ,  Toshihisa Kato ,  Junya Nagaya

Inventor： Yoshiyuki Yasui ,  Toshihisa Kato ,  Junya Nagaya

IPC: A01B69/00

CPC classification number: B62D6/003 ,  B62D6/005 ,  B62D6/008

Abstract: 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.

Abstract translation: 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：US08155855B2

公开(公告)日：2012-04-10

申请号：US12022844

申请日：2008-01-30

Applicant: Toshihisa Kato ,  Atsushi Ikematsu

Inventor： Toshihisa Kato ,  Atsushi Ikematsu

IPC: B60T13/18 ,  B60T13/122

CPC classification number: B60T8/1755 ,  B60T8/36 ,  B60T8/4059 ,  B60T8/4872

Abstract: A vehicle motion control apparatus includes a motion controlling process operating a pump for supplying brake fluid between a pressure difference control valve and a pressure increasing control valve and controlling the pressure difference control valve and the pressure increasing control valve, thereby pressurizing the wheel cylinder of the wheel to be controlled, a control amount adjusting process reducing a control amount of a motor when a frictional coefficient of a road surface is small, a load judging process judging a load condition of the motor when determining to reduce the control amount of the motor, and a pressure difference controlling process reducing the pressure difference when the load of the motor is in a high load condition.

Abstract translation: 车辆运动控制装置包括运动控制过程，其操作用于在压力差控制阀和增压控制阀之间供应制动流体的泵，并且控制压力差控制阀和增压控制阀，从而对轮缸的加压 控制轮，当路面摩擦系数小时减少马达的控制量的控制量调节处理，当确定减少马达的控制量时判断马达的负载状态的负载判断过程， 以及当马达的负载处于高负载状态时减小压力差的压力差控制过程。

公开(公告)号：US07970513B2

公开(公告)日：2011-06-28

申请号：US11760106

申请日：2007-06-08

Applicant: Yoshiyuki Yasui ,  Hiroyuki Kodama ,  Kenji Asano ,  Toshihisa Kato

Inventor： Yoshiyuki Yasui ,  Hiroyuki Kodama ,  Kenji Asano ,  Toshihisa Kato

IPC: B62D5/04

CPC classification number: B62D5/0472

Abstract: A steering control apparatus is provided for a vehicle having a steering wheel for steering its steered wheels, a power source for generating power, and drive shafts for transferring the power to the wheels, to be served as driving wheels of the vehicle, and a traction control device for controlling braking torque applied to the wheels. The apparatus comprises a detection device for detecting the braking torque applied to the wheels, a calculation device for calculating a driving force difference between the wheels, on the basis of the detected braking torque, a power source state detection device for detecting an actuating state of the power source, and a control device provided for controlling steering torque created by the steering wheel, and applying torque steer reducing torque to the steering wheel. A desired value of the torque steer reducing torque is determined, on the basis of the driving force difference and the actuating state of the power source. And, the torque steer reducing torque is applied to the steering wheel, in accordance with the desired value of the torque steer reducing torque, to reduce the torque steer.

Abstract translation: 本发明提供一种转向控制装置，该车辆具有用于转向其转向轮的方向盘，用于产生动力的动力源和用于将动力传递到车轮的驱动轴，用作车辆的驱动轮，以及牵引 用于控制施加到车轮的制动转矩的控制装置。 该装置包括用于检测施加到车轮的制动转矩的检测装置，用于基于检测到的制动转矩来计算车轮之间的驱动力差的计算装置，用于检测车辆的致动状态的电源状态检测装置 所述动力源以及用于控制由所述方向盘产生的转向扭矩并且向所述方向盘施加扭矩转向减速转矩的控制装置。 基于动力源的驱动力差和起动状态来确定扭矩转向减速转矩的期望值。 并且，根据扭矩转向减速转矩的期望值，将转矩转矩减小转矩施加到方向盘，以减小转矩转向。

公开(公告)号：US20100332098A1

公开(公告)日：2010-12-30

申请号：US12822435

申请日：2010-06-24

Applicant: Toshihisa Kato

Inventor： Toshihisa Kato

IPC: B60T8/24

CPC classification number: B60T8/24 ,  B60T8/172 ,  B60T8/1755 ,  B60T8/17554 ,  B60T8/241 ,  B60T8/243 ,  B60T8/246 ,  B60T2230/03

Abstract: The vehicle motion control device performs anti-lateral overturn control for increasing a brake force to be generated at a front inside wheel of a vehicle in order to cause skidding at the front inside wheel when a condition for increasing a brake force to be generated at an outside wheel is satisfied, wherein the condition is that the vehicle motion control device is in the anti-lateral overturn mode and the vehicle is turning.

Abstract translation: 车辆运动控制装置执行防侧向翻转控制，用于增加在车辆的前内轮处产生的制动力，以便在用于增加在制动力时产生的制动力的条件时，在前内轮处产生打滑 外部轮满足，其中条件是车辆运动控制装置处于反侧翻转模式并且车辆正在转动。

公开(公告)号：US20100268419A1

公开(公告)日：2010-10-21

申请号：US12729755

申请日：2010-03-23

Applicant: Yoshiyuki Yasui ,  Toshihisa Kato ,  Hiroshi Matsuoka ,  Junya Nagaya

Inventor： Yoshiyuki Yasui ,  Toshihisa Kato ,  Hiroshi Matsuoka ,  Junya Nagaya

IPC: B60T8/1755 ,  B62D15/02

CPC classification number: B60T8/1755

Abstract: A motion control device for a vehicle having a braking means for applying a brake toque to a wheel of the vehicle and maintaining a traveling stability of the vehicle by controlling the braking means, the motion control for the vehicle, includes a steering angular velocity obtaining means for obtaining a steering angular velocity of the vehicle, a maximum steering angular velocity calculating means for calculating a maximum steering angular velocity on the basis of the steering angular velocity, a determining means for determining a reference turning state quantity on the basis of the maximum steering angular velocity, an actual turning state quantity obtaining means for obtaining an actual turning state quantity of the vehicle, and a control means for controlling the brake toque on the basis of the reference turning state quantity and the actual turning state quantity.

Abstract translation: 一种用于车辆的运动控制装置，具有用于通过控制制动装置将制动器扭矩施加到车辆的车轮并保持车辆的行驶稳定性的制动装置，所述车辆的运动控制包括转向角速度获取装置 用于获得车辆的转向角速度;最大转向角速度计算装置，用于基于转向角速度计算最大转向角速度;确定装置，用于基于最大转向确定参考转弯状态量; 角速度，用于获得车辆的实际转弯状态量的实际转弯状态量获取装置，以及用于根据基准转动状态量和实际转动状态量来控制制动器转矩的控制装置。

公开(公告)号：US07676314B2

公开(公告)日：2010-03-09

申请号：US10523590

申请日：2003-07-28

Applicant: Toshihisa Kato ,  Junya Nagaya ,  Tokio Yakushijin

Inventor： Toshihisa Kato ,  Junya Nagaya ,  Tokio Yakushijin

IPC: G06G1/00

CPC classification number: B60T8/172 ,  B60T8/171 ,  B60T8/1755 ,  B60T2230/03 ,  B60T2250/04 ,  B60T2260/04 ,  B60W2510/1005 ,  B60W2520/10 ,  B60W2720/14

Abstract: When the absolute value of the steering angle equals or is greater than a prescribed angle, a vehicle motion control apparatus sets a control gear ratio so that when an estimated vehicle-body speed is equal to or greater than a prescribed value, the control gear ratio becomes a value equal to or greater than a certain value and which increases with estimated vehicle-body speed as the absolute value of the steering angle increases. When the estimated vehicle-body speed is less than the prescribed value, the control gear ratio becomes a value not greater than the certain value and which decreases with estimated vehicle-body speed as the absolute value of the steering angle increases. The apparatus then calculates a target yaw rate making use of the control gear ratio, and controls a braking force applied to each wheel so that the actual yaw rate coincides with the target yaw rate.

Abstract translation: 当转向角的绝对值等于或大于规定角度时，车辆运动控制装置设定控制齿轮比，使得当估计车身速度等于或大于规定值时，控制齿轮比 成为等于或大于某一值的值，并且随着转向角的绝对值增加而随着车身速度的估计而增加。 当估计车体速度小于规定值时，控制齿轮比变为不大于该值的值，并且随着转向角的绝对值的增加而随着车身速度的估计而减小。 然后，该装置使用控制齿轮比来计算目标横摆角速度，并且控制施加到每个车轮的制动力，使得实际横摆率与目标横摆率一致。

公开(公告)号：US07643926B2

公开(公告)日：2010-01-05

申请号：US11190822

申请日：2005-07-28

Applicant: Yoshiyuki Yasui ,  Toshihisa Kato ,  Hiroshi Matsuoka ,  Junya Nagaya

Inventor： Yoshiyuki Yasui ,  Toshihisa Kato ,  Hiroshi Matsuoka ,  Junya Nagaya

IPC: B60T8/24 ,  G06G1/00

CPC classification number: G05D1/0891 ,  B60T8/17554 ,  B60T2230/03

Abstract: A rolling motion stability control apparatus restrains a roll increasing tendency of a vehicle, with each wheel of the vehicle being braked by a wheel brake device. A first braking force control device is provided for applying a first braking force to the wheel, when the vehicle is turned to one direction. A second braking force control device is provided for applying a second braking force to the wheel, when the vehicle is turned to the other direction. References for starting controls of the first and second braking force control devices are set to be of predetermined values, respectively. The reference for starting the control of the second braking force control device is modified to be smaller than a predetermined value, when the vehicle is turned to the one direction.

Abstract translation: 滚动运动稳定性控制装置抑制车辆的卷轴增加趋势，车辆的每个车轮由车轮制动装置制动。 第一制动力控制装置用于当车辆向一个方向转动时，向车轮施加第一制动力。 第二制动力控制装置用于当车辆向另一方向转动时，向车轮施加第二制动力。 将第一和第二制动力控制装置的启动控制的参考分别设定为预定值。 当车辆向一个方向转动时，用于启动第二制动力控制装置的控制的参考被修改为小于预定值。

公开(公告)号：US07489995B2

公开(公告)日：2009-02-10

申请号：US11442535

申请日：2006-05-30

Applicant: Yoshiyuki Yasui ,  Toshihisa Kato ,  Eiichi Ono ,  Yuji Muragishi ,  Tomoko Sugawara

Inventor： Yoshiyuki Yasui ,  Toshihisa Kato ,  Eiichi Ono ,  Yuji Muragishi ,  Tomoko Sugawara

IPC: B60G17/018 ,  B60G23/00

CPC classification number: B60T8/1755 ,  B60T8/172 ,  B60T2230/03 ,  B60W10/04 ,  B60W10/18 ,  B60W30/04 ,  B60W30/045 ,  B60W40/11 ,  B60W40/112 ,  B60W40/114

Abstract: An angular velocity detection device is provided for detecting an angular velocity about a single axis tilted in a longitudinal direction of a vehicle to a normal axis thereof. An actual motion state variable of the vehicle is calculated on the basis of the detected angular velocity. At least one of the braking force and driving force applied to a vehicle is controlled to stabilize a yawing motion and a rolling motion of the vehicle, on the basis of a motion state variable deviation between a desired motion state variable and the actual motion state variable, e.g., a deviation between a yaw velocity and a roll velocity of the vehicle.

Abstract translation: 提供一种角速度检测装置，用于检测围绕在车辆的纵向方向上倾斜的单个轴相对于其法线的角速度。 基于检测到的角速度来计算车辆的实际运动状态变量。 控制施加到车辆的制动力和驱动力中的至少一个，以基于期望运动状态变量与实际运动状态变量之间的运动状态可变偏差来稳定车辆的偏转运动和滚动运动 例如，车辆的偏航速度和侧倾速度之间的偏差。

公开(公告)号：US20080300764A1

公开(公告)日：2008-12-04

申请号：US12073862

申请日：2008-03-11

Applicant: Toshihisa Kato ,  Toshio Yasutake ,  Atsushi Ikematsu

Inventor： Toshihisa Kato ,  Toshio Yasutake ,  Atsushi Ikematsu

IPC: B60T7/12

CPC classification number: B60T8/1755 ,  B60T2220/03

Abstract: A vehicle motion control apparatus includes a first means applying a first braking force to an outer wheel, relative to a turning direction, for suppressing oversteer when the vehicle is judged to be skidding in vehicle turning movement, a second means obtaining a state of a driver's steering operation in the vehicle turning movement, a third means applying a second braking force, set to be smaller than the first braking force, to a wheel located at a horizontally opposite side of the outer wheel to which the first braking force is applied, when the state of the driver's steering operation is judged to be in a steering turning back state, in which a steering wheel is turned from a turning direction to a reverse direction of the turning direction, based on the state of the driver's steering operation obtained by the second means.

Abstract translation: 车辆运动控制装置包括：第一装置，相对于转向方向对外轮施加第一制动力，用于当车辆在车辆转向运动中被判断为打滑时抑制过度转向;第二装置，获得驾驶员的状态; 在车辆转向运动中的转向操作，第三装置将设置为小于第一制动力的第二制动力施加到位于施加第一制动力的外轮的水平相对侧的车轮上，当 驾驶员的转向操作的状态被判定为基于由驾驶员的转向操作所获得的驾驶员的转向操作的状态而使转向方向从转向方向转向相反方向的转向回转状态 第二种手段。

公开(公告)号：US20080281491A1

公开(公告)日：2008-11-13

申请号：US12174281

申请日：2008-07-16

Applicant: Yoshiyuki Yasui ,  Hiroyuki Kodama ,  Kenji Asano ,  Toshihisa Kato

Inventor： Yoshiyuki Yasui ,  Hiroyuki Kodama ,  Kenji Asano ,  Toshihisa Kato

IPC: B62D6/00

CPC classification number: B62D5/0472

Abstract: A steering control apparatus for a vehicle having a power source for generating power, and drive shafts for transferring the power to driving wheels of the vehicle, and a traction control device for controlling braking torque applied to the wheels. The apparatus comprises a detection device for detecting the braking torque applied to the wheels, a calculation device for calculating a driving force difference between the wheels, on the basis of the detected braking torque, a power source state detection device for detecting an actuating state of the power source, and a control device for controlling steering torque created by the steering wheel, and applying torque steer reducing torque to the steering wheel. A desired value of the torque steer reducing torque is determined, based on the driving force difference and the actuating state of the power source. And, the torque steer reducing torque is applied to the steering wheel, according to the desired value of the torque steer reducing torque, to reduce the torque steer.

Abstract translation: 一种用于具有用于产生动力的动力源的车辆的转向控制装置和用于将动力传递到车辆的驱动轮的驱动轴以及用于控制施加到车轮的制动转矩的牵引控制装置。 该装置包括用于检测施加到车轮的制动转矩的检测装置，用于基于检测到的制动转矩来计算车轮之间的驱动力差的计算装置，用于检测车辆的致动状态的电源状态检测装置 所述动力源和用于控制由所述方向盘产生的转向转矩的控制装置，以及向所述方向盘施加扭矩转向减速转矩。 基于驱动力差和电源的致动状态来确定扭矩转向减速转矩的期望值。 并且，根据扭矩转向减速转矩的期望值，对转向盘施加扭矩转向减速转矩，以减小转矩转向。