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    Vehicle motion control apparatus
    1.
    发明申请
    Vehicle motion control apparatus 有权
    车辆运动控制装置

    公开(公告)号：US20050085986A1

    公开(公告)日：2005-04-21

    申请号：US10925925

    申请日：2004-08-26

    申请人： Hiroaki Aizawa ,  Hiroaki Niino ,  Minekazu Momiyama ,  Hiroaki Kato ,  Eiichi Ono ,  Yuji Muragishi ,  Yoshiyuki Yasui

    发明人： Hiroaki Aizawa ,  Hiroaki Niino ,  Minekazu Momiyama ,  Hiroaki Kato ,  Eiichi Ono ,  Yuji Muragishi ,  Yoshiyuki Yasui

    IPC分类号： B60T8/1755 ,  B60W10/00 ,  B60W10/04 ,  B60W10/06 ,  B60W10/10 ,  B60W10/18 ,  B60W10/188 ,  B60W10/20 ,  B62D5/04 ,  B62D6/00 ,  B62D103/00 ,  B62D113/00 ,  B62D119/00 ,  B62D137/00 ,  G05D1/00 ,  G06F7/00

    CPC分类号： B62D6/006 ,  B60T8/1755 ,  B60T2260/02

    摘要： A vehicle motion control apparatus is provided for performing a vehicle stability control on the basis of a parameter indicative of lateral margin for a tire on a road. The apparatus includes a steering control device for controlling a relationship between a steering angle and a tire angle to be varied, and a decelerating control device for controlling a vehicle speed to be decreased. The parameter indicative of lateral margin for the tire is monitored, and the steering control device and the decelerating control device are controlled on the basis of the monitored parameter. The steering control device is controlled to decrease the tire angle relative to the steering angle, when the parameter is decreased from a value of relatively large lateral margin to a value of relatively small lateral margin, which is smaller than a first threshold value, and the decelerating control device is controlled to decrease the vehicle speed in addition to the steering control by the steering control device, when the parameter is further decreased to a value of lateral margin smaller than a second threshold value, which is smaller than the first threshold value.

    摘要翻译： 提供一种车辆运动控制装置，用于基于表示道路上的轮胎的侧向余量的参数来执行车辆稳定性控制。 该装置包括用于控制转向角和要改变的轮胎角度之间的关系的转向控制装置，以及用于控制车速降低的减速控制装置。 监测表示轮胎的侧向余量的参数，并且基于所监视的参数来控制转向控制装置和减速控制装置。 控制转向控制装置，当参数从相对大的侧向余量的值减小到小于第一阈值的相对小的侧向余量的值时，相对于转向角减小轮胎角度，并且 当所述参数进一步减小到小于小于所述第一阈值的第二阈值的横向边缘的值时，除了所述转向控制装置的转向控制之外，控制所述减速控制装置以减小所述车速。

    Vehicle motion control apparatus
    2.
    发明授权
    Vehicle motion control apparatus 有权
    车辆运动控制装置

    公开(公告)号：US07191048B2

    公开(公告)日：2007-03-13

    申请号：US10925925

    申请日：2004-08-26

    申请人： Hiroaki Aizawa ,  Hiroaki Niino ,  Minekazu Momiyama ,  Hiroaki Kato ,  Eiichi Ono ,  Yuji Muragishi ,  Yoshiyuki Yasui

    发明人： Hiroaki Aizawa ,  Hiroaki Niino ,  Minekazu Momiyama ,  Hiroaki Kato ,  Eiichi Ono ,  Yuji Muragishi ,  Yoshiyuki Yasui

    IPC分类号： B60T8/58 ,  G06F7/00

    CPC分类号： B62D6/006 ,  B60T8/1755 ,  B60T2260/02

    摘要： A vehicle motion control apparatus is provided for performing a vehicle stability control on the basis of a parameter indicative of lateral margin for a tire on a road. The apparatus includes a steering control device for controlling a relationship between a steering angle and a tire angle to be varied, and a decelerating control device for controlling a vehicle speed to be decreased. The parameter indicative of lateral margin for the tire is monitored, and the steering control device and the decelerating control device are controlled on the basis of the monitored parameter. The steering control device is controlled to decrease the tire angle relative to the steering angle, when the parameter is decreased from a value of relatively large lateral margin to a value of relatively small lateral margin, which is smaller than a first threshold value, and the decelerating control device is controlled to decrease the vehicle speed in addition to the steering control by the steering control device, when the parameter is further decreased to a value of lateral margin smaller than a second threshold value, which is smaller than the first threshold value.

    摘要翻译： 提供一种车辆运动控制装置，用于基于表示道路上的轮胎的侧向余量的参数来执行车辆稳定性控制。 该装置包括用于控制转向角和要改变的轮胎角度之间的关系的转向控制装置，以及用于控制车速降低的减速控制装置。 监测表示轮胎的侧向余量的参数，并且基于所监视的参数来控制转向控制装置和减速控制装置。 控制转向控制装置，当参数从相对大的侧向余量的值减小到小于第一阈值的相对小的侧向余量的值时，相对于转向角减小轮胎角度，并且 当所述参数进一步减小到小于小于所述第一阈值的第二阈值的横向边缘的值时，除了所述转向控制装置的转向控制之外，控制所述减速控制装置以减小所述车速。

    Vehicle roll sensing using load shift estimation
    3.
    发明授权
    Vehicle roll sensing using load shift estimation 失效
    使用负载偏移估计的车辆感知

    公开(公告)号：US07164974B2

    公开(公告)日：2007-01-16

    申请号：US10895120

    申请日：2004-07-21

    申请人： Eiichi Ono ,  Yuji Muragishi ,  Hiroaki Aizawa ,  Hiroaki Niino ,  Yoshiyuki Yasui ,  Minekazu Momiyama ,  Hiroaki Kato

    发明人： Eiichi Ono ,  Yuji Muragishi ,  Hiroaki Aizawa ,  Hiroaki Niino ,  Yoshiyuki Yasui ,  Minekazu Momiyama ,  Hiroaki Kato

    IPC分类号： G05D1/00

    CPC分类号： B60R16/0233 ,  B60T8/172 ,  B60T2230/03 ,  B60W40/11 ,  B60W40/112 ,  B60W40/114 ,  B60W40/12 ,  B60W2040/1307 ,  B60W2040/1315 ,  B60W2520/30

    摘要： In vehicle roll sensing of the present invention, a self-aligning torque (SAT) estimator estimates a composite value of SATs generated on tire contact patch of right and left wheels. A slip angle computer detects a vehicle speed and a steering angle and computes a slip angle of the wheel from the measured vehicle speed and steering angle. An SAT model value computer estimates an SAT model value as a composite value of SATs of the right and left wheels when no load shifts between the right and left wheels on the basis of the slip angle. A load shift ratio estimator estimates a load shift state of the right and left wheels on the basis of the composite value of the SATs of the wheels and the SAT model value. A vehicle rollover estimator estimates a rollover of the vehicle on the basis of the estimated load-shift state.

    摘要翻译： 在本发明的车辆感知中，自对准扭矩（SAT）估计器估计在左右车轮的轮胎接触片上产生的SAT的复合值。 滑差计算机检测车速和转向角，并根据测量的车速和转向角计算车轮的滑移角。 SAT模型值计算机基于滑移角度估计在左右车轮之间没有负载偏移时，SAT模型值作为左右车轮的SAT的复合值。 负载偏移比估计器基于车轮的SAT和SAT模型值的复合值来估计左右车轮的负载偏移状态。 车辆翻车估算器基于估计的负载转移状态来估计车辆的翻转。

    Method and device for controlling maneuverability of vehicle
    8.
    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
    10.
    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。