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    Steering apparatus, steering method, and computer readable storage medium
    1.
    发明授权
    Steering apparatus, steering method, and computer readable storage medium 有权
    转向装置，转向方法和计算机可读存储介质

    公开(公告)号：US08370025B2

    公开(公告)日：2013-02-05

    申请号：US13420154

    申请日：2012-03-14

    申请人： Eiichi Ono ,  Yuji Muragishi ,  Daisuke Yamada ,  Shinsuke Sato

    发明人： Eiichi Ono ,  Yuji Muragishi ,  Daisuke Yamada ,  Shinsuke Sato

    IPC分类号： G06F19/00

    CPC分类号： B62D6/008 ,  B62D6/003

    摘要： A target value for yaw angle velocity gain is computed according to a map expressing a relationship between steering wheel angle and yaw angle velocity gain predetermined such that a direction as seen from a driver of a target destination point for vehicle travel at a predetermined time after a forward gaze and a direction as seen from the driver are caused to match each other, and a steering gear ratio is controlled accordingly. A target value for a steering wheel torque corresponding to the detected steering wheel angle and the acquired yaw angular velocity is set, based on a relationship between yaw angular velocity and resistance-feel level predetermined such that the resistance feel level for a driver monotonically increases with increasing yaw angular velocity. Control is then preformed so as to realize the steering wheel torque target value.

    摘要翻译： 根据表示方向盘角度和偏航角速度增益之间的关系的映射来计算偏航角速度增益的目标值，所述映射表示预定的偏航角速度增益之间的关系，使得从车辆行驶的目标目标点的驾驶员所看到的方向在 使前进目视和从驾驶员看到的方向彼此匹配，并且相应地控制舵机比。 基于所确定的横摆角速度和电阻感觉水平之间的关系，设定与检测到的方向盘角度和所获得的横摆角速度相对应的方向盘扭矩的目标值，使得驾驶员的阻力感觉水平随着驾驶员的电阻感觉水平随单位增加而单调增加 增加偏航角速度。 然后进行控制，以实现方向盘转矩目标值。

    Vehicle motion control device
    2.
    发明授权
    Vehicle motion control device 失效
    车辆运动控制装置

    公开(公告)号：US07966127B2

    公开(公告)日：2011-06-21

    申请号：US11813037

    申请日：2005-12-28

    申请人： Eiichi Ono ,  Yoshiki Ninomiya ,  Yoshikatsu Kisanuki ,  Takero Hongo ,  Kiyokazu Sunami ,  Yuichi Tanaka ,  Kazunori Furukawa ,  Yoshikazu Hattori ,  Yuji Muragishi ,  Arata Takahashi ,  Yojiro Koike

    发明人： Eiichi Ono ,  Yoshiki Ninomiya ,  Yoshikatsu Kisanuki ,  Takero Hongo ,  Kiyokazu Sunami ,  Yuichi Tanaka ,  Kazunori Furukawa ,  Yoshikazu Hattori ,  Yuji Muragishi ,  Arata Takahashi ,  Yojiro Koike

    IPC分类号： G06F17/10

    CPC分类号： B60R21/0134 ,  B60R21/36 ,  B60R2021/346 ,  B60T7/22 ,  B60W10/04 ,  B60W10/10 ,  B60W10/18 ,  B60W10/20 ,  B60W40/04 ,  B60W2420/52 ,  B62D15/0265

    摘要： The invention provides a vehicle motion control device capable of realizing optimum avoidance control in the case of an emergency. The vehicle motion control device includes an external environment detection unit for detecting external environment, and a travel state detection unit for detecting a travel state of a driver's vehicle. An obstruction is detected based on the external environment detected by the external environment detection unit, and an environment map indicating obstructions is created. A control device estimates a plurality of possible avoidance actions for avoiding an obstruction based on the environment map and the travel state of the driver's vehicle detected by the travel state detection unit. The control device estimates collision damage according to each avoidance action estimated by the avoidance action estimation unit, and selects an appropriate avoidance action based on the estimated collision damage. The control device controls a vehicle such that the selected avoidance action is carried out.

    摘要翻译： 本发明提供一种能够在紧急情况下实现最佳回避控制的车辆运动控制装置。 车辆运动控制装置包括用于检测外部环境的外部环境检测单元和用于检测驾驶员车辆的行驶状态的行驶状态检测单元。 基于由外部环境检测单元检测到的外部环境来检测障碍物，并且创建指示障碍物的环境地图。 控制装置基于由行驶状态检测单元检测到的驾驶员车辆的环境映射和行驶状态来估计用于避免障碍物的多个可能的回避动作。 控制装置根据由回避动作估计部估计出的每个回避动作来估计碰撞破坏，并且基于所估计的碰撞破坏选择合适的回避动作。 控制装置控制车辆，使得执行所选择的回避动作。

    Vehicle body motion realization method and apparatus
    3.
    发明申请
    Vehicle body motion realization method and apparatus 失效
    车身运动实现方法及装置

    公开(公告)号：US20070055432A1

    公开(公告)日：2007-03-08

    申请号：US10577732

    申请日：2004-11-12

    申请人： Ken Koibuchi ,  Eiichi Ono ,  Yoshikazu Hattori ,  Yuji Muragishi

    发明人： Ken Koibuchi ,  Eiichi Ono ,  Yoshikazu Hattori ,  Yuji Muragishi

    IPC分类号： B60T8/24

    CPC分类号： B62D6/006 ,  B60T8/172 ,  B60T8/17551 ,  B60T2210/12 ,  B60T2270/86 ,  B60W40/11 ,  B60W40/112 ,  B60W40/114 ,  B60W2710/207

    摘要： Various state amounts of a vehicle body detected by various types of sensors are captured (step 102). A maximum frictional force Fimax is calculated for each of wheels (steps 104 to 110). By use of the maximum frictional force Fimax and other physical quantities, a performance function not dependent on respective magnitudes of a vehicle body generating force and a yaw moment is defined, which performance function is prepared by means of a performance function in a case in which the vehicle body generating force is larger than the yaw moment, and a performance function in a case in which the vehicle body generating force is not larger than the yaw moment (step 112). A resultant force qi of tire generating forces acting on respective wheels is calculated by means of a third performance function (step 114), and braking and driving forces of each wheel, and a steering angle of each wheel are obtained by means of the calculated direction in which the resultant force of tire generating forces acts on the wheels (step 116). Based on the obtained braking and driving forces and steering wheel of each of the wheels, these wheels are each controlled (step 118).

    摘要翻译： 捕获各种类型的传感器检测到的各种状态的车体（步骤102）。 对于每个车轮计算最大摩擦力F imax （步骤104至110）。 通过使用最大摩擦力F max和其他物理量，定义不依赖于车体产生力和横摆力矩的相应大小的性能函数，该性能函数通过 在车体产生力大于横摆力矩的情况下的演奏功能以及车身产生力不大于横摆力矩的情况下的演奏功能（步骤112）。 通过第三性能函数（步骤114）和每个车轮的制动和驱动力以及每个车轮的转向角来计算作用在相应车轮上的轮胎产生力的合力q 通过计算出的轮胎产生力的合力的方向（步骤116）获得。 基于获得的每个车轮的制动和驱动力和方向盘，这些轮被分别控制（步骤118）。

    Method and device for controlling maneuverability of vehicle
    5.
    发明授权
    Method and device for controlling maneuverability of vehicle 有权
    控制车辆机动性的方法和装置

    公开(公告)号：US07055645B2

    公开(公告)日：2006-06-06

    申请号：US10507374

    申请日：2003-04-21

    申请人： Hiroaki Kato ,  Minekazu Momiyama ,  Yoshiyuki Yasui ,  Wataru Tanaka ,  Kenji Asano ,  Yuzou Imoto ,  Eiichi Ono ,  Yuji Muragishi

    发明人： Hiroaki Kato ,  Minekazu Momiyama ,  Yoshiyuki Yasui ,  Wataru Tanaka ,  Kenji Asano ,  Yuzou Imoto ,  Eiichi Ono ,  Yuji Muragishi

    IPC分类号： B62D5/04

    CPC分类号： B62D15/0235 ,  B62D5/008

    摘要： In accordance with a vehicle motion control apparatus, a steering angle (θh) of a steering wheel is determined on the basis of a rotation angle (θpm) of an assist motor (24m) detected by a rotation angle sensor (24s) and a rotation angle (θvm) of a gear ratio variable motor (32m) detected by a rotation angle sensor (32s), and a VGRS control process (40a) of a gear ratio variable mechanism is executed on the basis of the determined steering angle (θh). Accordingly, since the steering angle (θh) of the steering wheel is determined on the basis of the rotation angle (θvm) used for the VGRS control process (40a) of the gear ratio variable mechanism and the rotation angle (θpm) used for an EPS control process (30a) of an EPS actuator, it is possible to obtain the steering angle (θh) of the steering wheel without a steering angle sensor. Therefore, it is possible to reduce the number of the parts of a vehicle motion control apparatus.

    摘要翻译： 根据车辆运动控制装置，基于由旋转角度传感器（24s）检测到的辅助马达（24m）的旋转角度（ttm）来确定方向盘的转向角（thetah），并且 通过旋转角度传感器（32s）检测到的齿轮比可变马达（32m）的旋转角（tavm）和齿轮比可变机构的VGRS控制处理（40a），基于所确定的 转向角（thetah）。 因此，由于根据用于变速比可变机构的VGRS控制处理（40a）的旋转角（tavm）和用于变速比可变机构的旋转角度（ttm）来确定方向盘的转向角（thetah） EPS致动器的EPS控制过程（30a），可以获得没有转向角传感器的方向盘的转向角（thetah）。 因此，可以减少车辆运动控制装置的部件的数量。

    Steering device
    7.
    发明申请
    Steering device 有权
    转向装置

    公开(公告)号：US20050161279A1

    公开(公告)日：2005-07-28

    申请号：US10515178

    申请日：2003-05-26

    申请人： Hiroaki Kato ,  Minekazu Momiyama ,  Shoji Ogawa ,  Kenji Asano ,  Yuzou Imoto ,  Yoshiyuki Yasui ,  Eiichi Ono ,  Yuji Muragishi

    发明人： Hiroaki Kato ,  Minekazu Momiyama ,  Shoji Ogawa ,  Kenji Asano ,  Yuzou Imoto ,  Yoshiyuki Yasui ,  Eiichi Ono ,  Yuji Muragishi

    IPC分类号： B62D5/04 ,  B62D5/22 ,  B62D6/00 ,  B62D15/02 ,  B62D101/00 ,  B62D113/00 ,  B62D137/00

    CPC分类号： B62D6/008 ,  B62D6/006 ,  B62D15/029

    摘要： In a steering apparatus, in accordance with a grip limit control process (30b′), it is determined whether or not a grip degree ε estimated by a grip degree estimation arithmetically operating process (30a) is less than a predetermined grip degree (ε′), and in the case that it is determined that an estimated grip degree (ε) is less than the predetermined grip degree (ε′), the process applies such a feeling that a steering operation by a steering wheel suddenly becomes light to a driver, by suddenly increasing an assist quantity by a motor (M), thereby notifying the driver of the matter that the grip degree of a steered wheel is close to a limit. Therefore, it is possible to transmit to the driver a probability that a side slip is generated by further turning the steering wheel 21 in the same direction as the current direction, thereby calling the driver's attention for steering. Accordingly, there is an effect that a stability of a vehicle behavior can be improved without applying any fear of insecurity to the driver.

    摘要翻译： 在转向装置中，根据握持限制控制处理（30b'），判定通过握持度估计算术运算处理（30a）估计出的抓地力程度ε是否小于预定抓地力（ epsilon'），并且在确定估计抓地力（ε）小于预定抓地力（epsilon））的情况下，该处理应用这样的感觉，即方向盘的转向操作突然变亮 驾驶员通过马达（M）突然增加辅助量，从而通知驾驶员转向轮的夹紧度接近极限。 因此，通过使方向盘21与当前方向相同的方向进一步转动方向盘21，可以向驾驶员发送侧滑的概率，从而呼叫司机注意转向。 因此，存在可以提高车辆行为的稳定性的效果，而不会对驾驶员造成不安全感的担心。

    Steering apparatus
    10.
    发明授权
    Steering apparatus 失效
    转向装置

    公开(公告)号：US08515623B2

    公开(公告)日：2013-08-20

    申请号：US13496767

    申请日：2011-01-11

    申请人： Eiichi Ono ,  Yuji Muragishi ,  Shinsuke Sato ,  Yutaka Onuma ,  Kimiaki Ono

    发明人： Eiichi Ono ,  Yuji Muragishi ,  Shinsuke Sato ,  Yutaka Onuma ,  Kimiaki Ono

    IPC分类号： A01B69/00 ,  B62D6/00 ,  B62D11/00 ,  B62D12/00 ,  B63G8/20 ,  B63H25/04 ,  G05D1/00 ,  G06F7/00

    CPC分类号： B62D6/002 ,  B60W10/20 ,  B60W2540/00 ,  B60W2540/18 ,  B62D5/008 ,  B62D6/001

    摘要： A steering apparatus that by effecting a predetermined relationship between a steering wheel angle and a yaw angular velocity generated for a vehicle makes a direction θgaze β, seen from the view point of the driver, of a target destination point on a target course for vehicle travel after a predetermined forward gaze time, and a direction δSW of a steering wheel reference position, seen from the view point of the driver, coincide with each other. The steering apparatus can accordingly enhance the sensation of driver-vehicle togetherness, thereby enabling steering to be performed that matches driver sensation and does not cause discomfort.

    摘要翻译： 通过对车辆产生的方向盘角度和偏航角速度之间的预定关系实现的转向装置，从驾驶员的观察点看到的车辆行驶目标路线上的目标目的地点的方向为“ 在预定的向前注视时间之后，并且从驾驶员的视点看到的方向盘参考位置的方向ΔSW彼此一致。 因此，转向装置能够增强驾驶员车辆一体感的感觉，由此能够进行与驾驶员感觉匹配的转向，不会引起不适。