公开(公告)号：US08892329B2

公开(公告)日：2014-11-18

申请号：US12849494

申请日：2010-08-03

Applicant: Yoshiyuki Yasui ,  Hideaki Koto ,  Manabu Tanaka ,  Takayuki Miyajima

Inventor： Yoshiyuki Yasui ,  Hideaki Koto ,  Manabu Tanaka ,  Takayuki Miyajima

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

CPC classification number: B60W30/146 ,  B60W2550/143

Abstract: 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.

Abstract translation: 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

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

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

IPC: G06F17/00

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

Abstract: 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.

Abstract translation: 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

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：US08140233B2

公开(公告)日：2012-03-20

申请号：US12171474

申请日：2008-07-11

Applicant: Hiroaki Niino ,  Yoshiyuki Yasui ,  Takashi Sato

Inventor： Hiroaki Niino ,  Yoshiyuki Yasui ,  Takashi Sato

IPC: B60T8/40

CPC classification number: B60T13/141 ,  B60T8/442 ,  B60T8/4872

Abstract: 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.

Abstract translation: 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

Applicant: Yoshiyuki Yasui ,  Hiroaki Aizawa

Inventor： Yoshiyuki Yasui ,  Hiroaki Aizawa

IPC: G05D1/00 ,  B62D6/00

CPC classification number: B62D7/159 ,  B62D6/003

Abstract: 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.

Abstract translation: 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

Applicant: Yoshiyuki Yasui ,  Keita Nakano ,  Chihiro Nitta

Inventor： Yoshiyuki Yasui ,  Keita Nakano ,  Chihiro Nitta

IPC: B60T7/12

CPC classification number: B60T8/17552 ,  B60T2240/06

Abstract: 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.

Abstract translation: 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。

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：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：US20100082215A1

公开(公告)日：2010-04-01

申请号：US12557217

申请日：2009-09-10

Applicant: Takayuki MIYAJIMA ,  Yoshiyuki YASUI

Inventor： Takayuki MIYAJIMA ,  Yoshiyuki YASUI

IPC: G06F19/00

CPC classification number: B60W30/18009 ,  B60W10/08 ,  B60W10/10 ,  B60W10/184 ,  B60W30/14 ,  B60W2510/0604 ,  B60W2510/0638 ,  B60W2520/105 ,  B60W2520/125 ,  B60W2520/14 ,  B60W2520/28 ,  B60W2540/10 ,  B60W2540/12 ,  B60W2540/16 ,  B60W2550/143 ,  B60W2550/402 ,  B60W2720/103 ,  Y02T10/7258

Abstract: A speed control device includes: a continuous curve acquiring unit that acquires curve shapes and positions of two successive curves in advance of the vehicle; a curve-to-curve distance calculating unit that calculates distance between the two curves based on curve shapes and positions of the two curves; a selection unit that selects, based on the curve shapes, the curve shape of the curve having the larger radius of curvature; a vehicle speed limit setting unit that sets, based on the curve-to-curve distance and selected curve shape, a vehicle speed limit for travel between the two curves; a target vehicle speed determination unit that determines, based on vehicle location, the curve shapes and positions, and the vehicle speed limit, a target vehicle speed for traveling the two curves; and a vehicle speed control unit that controls vehicle speed based on the target and detected vehicle speeds.

Abstract translation: 速度控制装置包括：连续曲线获取单元，其获取车辆之前的两个连续曲线的曲线形状和位置; 曲线到曲线距离计算单元，其基于所述两条曲线的曲线形状和位置来计算所述两条曲线之间的距离; 选择单元，其基于曲线形状来选择具有较大曲率半径的曲线的曲线形状; 车速极限设定单元，其基于曲线到曲线的距离和所选择的曲线形状来设定两条曲线之间的行驶速度限制; 目标车速确定单元，其基于车辆位置确定曲线形状和位置以及车速极限，用于行驶两条曲线的目标车速; 以及车速控制单元，其基于目标和检测到的车辆速度来控制车辆速度。

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。