公开(公告)号：US06308115B1

公开(公告)日：2001-10-23

申请号：US09361996

申请日：1999-07-28

申请人： Hiroyuki Yamaguchi ,  Katsuhiro Asano ,  Kenji Tozu ,  Takayuki Itoh ,  Akitaka Nishio

发明人： Hiroyuki Yamaguchi ,  Katsuhiro Asano ,  Kenji Tozu ,  Takayuki Itoh ,  Akitaka Nishio

IPC分类号： G06F770

CPC分类号： B60W40/064 ,  B60T8/172 ,  B60T2270/86 ,  B60W40/101 ,  B60W40/103 ,  B60W2550/12 ,  B62D6/04 ,  B62D7/159

摘要： A vehicle running condition judgment device for accurately detecting a change in a road surface condition and a vehicle's limit running condition. With substitution of respective tire characteristics and a detected state quantity into a vehicle motion model, vehicle slip angles are estimated for respective assumed road surface conditions. Based on the current state quantity and the last estimated vehicle slip angle, currently estimated vehicle slip angles for the respective assumed road surface conditions are compensated. A differential operation section calculates an estimation value of a vehicle slip angular velocity for each of the assumed road surface conditions based on the compensated vehicle slip angles for the respective assumed road surface conditions. Meanwhile, an operation section calculates a detection value of a vehicle slip angular velocity based on the detected state quantity. By comparing the detection value and the respective estimation values for the assumed road surface conditions, the current road surface condition is determined. Further, a lateral acceleration is calculated based on a vehicle slip angle, and compared with the detection value for determination of the road surface condition, and also with a predetermined limit value for determination of a vehicle's limit running condition.

摘要翻译： 一种车辆行驶状态判断装置，用于准确地检测路面状况和车辆极限行驶状态的变化。 通过将各轮胎特性和检测到的状态量替换为车辆运动模型，针对相应的假定路面条件估计车辆滑行角度。 基于当前状态量和最后估计的车辆滑移角度，对各个假设路面条件的当前估计车辆滑移角进行补偿。 差分运算部根据各假定路面条件的补偿车辆滑移角，计算出各假定路面条件下的车辆滑行角速度的推定值。 同时，操作部根据检测到的状态量来计算车辆滑行角速度的检测值。 通过比较所述假设路面条件的检测值和各自的估计值，确定当前路面状况。 此外，基于车辆滑移角计算横向加速度，并且与用于确定路面状况的检测值进行比较，并且还与用于确定车辆极限行驶状态的预定极限值进行比较。

公开(公告)号：US06374172B1

公开(公告)日：2002-04-16

申请号：US09684923

申请日：2000-10-10

申请人： Hiroyuki Yamaguchi ,  Katsuhiro Asano ,  Yasushi Amano ,  Kenji Tozu ,  Akitaka Nishio

发明人： Hiroyuki Yamaguchi ,  Katsuhiro Asano ,  Yasushi Amano ,  Kenji Tozu ,  Akitaka Nishio

IPC分类号： B60T824

CPC分类号： B60W40/103 ,  B60T8/172 ,  B60T2210/22 ,  B60T2230/02 ,  B60W30/18172 ,  B60W2050/0028 ,  B60W2550/12 ,  B60W2550/142 ,  B62D6/04 ,  G01L5/20

摘要： A vehicle driving condition detection device is adapted to detect a vehicle running along a banked or laterally sloping road, as well as a lateral acceleration, and sideslip angle with good accuracy. The sideslip angle is estimated at a vehicle-body sideslip angle estimating circuit based on a steering angle &dgr;f, a lateral acceleration ÿ, a yaw rate {dot over (&thgr;)}, and a vehicle speed V. In addition, using a differentiating device, the estimated sideslip angle is differentiated to calculate a slip angular velocity. A subtracting device is provided at which a deviation is calculated between the slip angular velocity and a slip angular velocity detected at a slip angular velocity calculating circuit. The deviation can detect a banked or laterally sloping road due to the fact that the detected slip angular velocity at the slip angular velocity calculating circuit includes the gravity acceleration component that depends on the slope or bank of the road. Upon detecting a banked or sloping road, a deviation &Dgr;ÿ (={dot over (&thgr;)}·V−ÿ) is outputted from a switching device, and at a subtracting device the detected lateral acceleration ÿ is corrected by being subtracted with the deviation &Dgr;ÿ. On the basis of the resultant or corrected lateral acceleration ÿ, the vehicle-body sideslip angle is estimated. Such an estimation is made irrespective of the slope or bank of the road.

摘要翻译： 车辆驾驶状况检测装置适用于检测沿着横向倾斜的道路行驶的车辆以及横向加速度和高精度的侧滑角。 在基于转向角增量，横向加速度ÿ，偏航率{点（θ））和车速V的车身侧滑角估计电路估计侧滑角。另外，使用微分装置 ，估计的侧滑角被差分以计算滑移角速度。 提供一种减法装置，在该减法装置中计算滑移角速度与在滑动角速度计算电路处检测到的滑移角速度之间的偏差。 由于在滑移角速度计算电路处检测到的滑动角速度包括取决于道路的坡度或堤岸的重力加速度分量，偏差可以检测堤岸或横向倾斜的道路。 在检测到一条倾斜的道路时，从切换装置输出偏差DELTAÿ（= {dot over（θ）} V-ÿ），在减法装置中，通过用偏差减去检测到的横向加速度ÿ DELTAÿ。 基于所得到的或校正的横向加速度is，估计车身侧滑角度。 无论道路的坡度还是堤岸，都做出这样的估计。

公开(公告)号：US5588721A

公开(公告)日：1996-12-31

申请号：US519965

申请日：1995-08-28

申请人： Katsuhiro Asano ,  Masaru Sugai ,  Hiroyuki Yamaguchi ,  Takaji Umeno

发明人： Katsuhiro Asano ,  Masaru Sugai ,  Hiroyuki Yamaguchi ,  Takaji Umeno

IPC分类号： B60T8/173 ,  B60T8/1763 ,  B60T8/32 ,  B60T8/64 ,  F16D65/14 ,  B60T8/66

CPC分类号： B60T8/173 ,  B60T8/17636 ,  B60T8/3295 ,  F16D2129/12

摘要： A braking force acting on the wheel is actuated by a very small amount at a resonant frequency of a vibrating system comprised of a vehicle body, a wheel, and road surface, and the amplitude of the resonant-frequency component of the wheel speed is detected. A gain in the amplitude of the resonant-frequency component of the wheel speed with respect to the amplitude of the very small actuation of the braking force is determined. A mean braking force is controlled to decrease when the gain is smaller than a reference value, and to increase when the gain is greater than the reference value.

摘要翻译： 作用在车轮上的制动力以由车体，车轮和路面组成的振动系统的共振频率的非常小的量被致动，并且检测到车轮速度的共振频率分量的振幅 。 确定车轮速度的共振频率分量的振幅相对于制动力非常小的致动的振幅的增益。 当增益小于参考值时，平均制动力被控制为减小，并且当增益大于参考值时增加。

公开(公告)号：US06324461B1

公开(公告)日：2001-11-27

申请号：US09106342

申请日：1998-06-29

申请人： Hiroyuki Yamaguchi ,  Katsuhiro Asano ,  Eiichi Ono ,  Takaji Umeno ,  Masaru Sugai

发明人： Hiroyuki Yamaguchi ,  Katsuhiro Asano ,  Eiichi Ono ,  Takaji Umeno ,  Masaru Sugai

IPC分类号： B60T800

CPC分类号： B60T8/172 ,  B60T2210/12

摘要： Disclosed is a road surface condition estimating apparatus including: a converting portion having a table showing a relation among a vehicle speed, a braking force and a resonance gain for each road surface condition and converting a detected value of the input vehicle speed and braking force into a resonance gain on the basis of the table, a subtracting device for computing each of differences between the resonance gain for each road surface condition converted by each of the converting portions and the detected value of the input resonance gain, and a minimum value selecting portion selecting the minimum value among the computed values in the subtracting device and outputting an information of the road surface condition corresponding to the converting portion giving the minimum value.

摘要翻译： 公开了一种路面状态估计装置，包括：转换部，具有表示车辆速度，制动力和各路面状况的共振增益之间的关系的表，并将输入车速和制动力的检测值转换为 基于该表的共振增益，用于计算由每个转换部分转换的每个路面条件的共振增益与输入谐振增益的检测值之间的每个差异的减法装置，以及最小值选择部分 选择减法装置中的计算值中的最小值，并输出与给出最小值的转换部分相对应的路面条件的信息。

公开(公告)号：US06264292B1

公开(公告)日：2001-07-24

申请号：US09118016

申请日：1998-07-17

申请人： Takaji Umeno ,  Katsuhiro Asano ,  Eiichi Ono ,  Hiroyuki Yamaguchi ,  Masaru Sugai

发明人： Takaji Umeno ,  Katsuhiro Asano ,  Eiichi Ono ,  Hiroyuki Yamaguchi ,  Masaru Sugai

IPC分类号： B60T832

CPC分类号： B60T8/172 ,  B60T2210/12

摘要： In a wheel condition estimating apparatus for estimating a wheel condition in a wheel resonance system including a frictional characteristic between a tire and a road surface, a transfer characteristic of the wheel resonance system from the vibration input to the output response is expressed by a transfer function including, as an unknown component of a wheel condition, a physical quantity relating to ease of a slipping between the tire and the road surface, an output response with respect to the vibration input to the wheel resonance system is detected and the unknown component which substantially satisfies the detected output response is estimated on the basis of the transfer function.

摘要翻译： 在包括轮胎和路面之间的摩擦特性的车轮共振系统中估计车轮状态的车轮状态估计装置中，从振动输入到输出响应的车轮共振系统的传递特性由传递函数 作为车轮状态的未知分量，涉及与轮胎和路面之间的滑动容易性相关的物理量，检测输入到车轮共振系统的振动的输出响应，并且将未知分量基本上 基于传递函数估计满足检测到的输出响应。

公开(公告)号：US6122585A

公开(公告)日：2000-09-19

申请号：US910898

申请日：1997-08-13

申请人： Eiichi Ono ,  Katsuhiro Asano ,  Takaji Umeno ,  Hiroyuki Yamaguchi ,  Masaru Sugai

发明人： Eiichi Ono ,  Katsuhiro Asano ,  Takaji Umeno ,  Hiroyuki Yamaguchi ,  Masaru Sugai

IPC分类号： B60T8/172 ,  B60T8/1763 ,  B60T8/44 ,  B60T8/48 ,  G06F7/00 ,  G06F17/00

CPC分类号： B60T8/172 ,  B60T8/17636 ,  B60T8/445 ,  B60T8/4845 ,  B60T2210/12

摘要： An anti-lock braking system includes a friction torque gradient estimating unit for estimating, from a small number of parameters, the gradient of friction torque with respect to a slip speed, and controls a braking force acting on wheels on the basis of the friction torque gradient estimated by the friction torque gradient estimating unit. The friction torque gradient estimating unit may employ several types of estimating methods; e.g., a method of estimating the gradient of friction torque from only time-series data concerning a wheel speed; a method of estimating the friction torque gradient from time-series data concerning wheel deceleration as well as from braking torque or time-series data concerning physical quantities associated with the braking torque; or a method of estimating the friction torque gradient from micro-gains which are obtained when brake pressure is excited in a very small amount at the resonance frequency of a vibration system comprising a vehicle, wheels, and a road surface and which represent the characteristics of the vibration system. Further, there is also disclosed a method of determining, from the thus-estimated friction torque gradient, the limit of the characteristics of friction torque developed between the wheels and the road surface.

摘要翻译： 防抱死制动系统包括：摩擦转矩梯度估计单元，用于从少数参数估计相对于滑移速度的摩擦转矩的梯度，并且基于摩擦转矩来控制作用在车轮上的制动力 由摩擦转矩梯度估计单元估计出的梯度。 摩擦转矩梯度估计单元可以采用几种估计方法; 例如，仅从关于车轮速度的时间序列数据估计摩擦转矩的梯度的方法; 从关于车轮减速度的时间序列数据以及关于与制动转矩相关联的物理量的制动转矩或时间序列数据估计摩擦转矩梯度的方法; 或从在包括车辆，车轮和路面的振动系统的共振频率下以非常小的量激励制动压力时获得的微增益估计摩擦转矩梯度的方法，并且其代表 振动系统。 此外，还公开了一种根据这样估计的摩擦转矩梯度来确定在车轮和路面之间产生的摩擦转矩的特性的极限的方法。

公开(公告)号：US06447076B1

公开(公告)日：2002-09-10

申请号：US09407894

申请日：1999-09-29

申请人： Shoji Ito ,  Eiichi Ono ,  Masaru Sugai ,  Takaji Umeno ,  Katsuhiro Asano ,  Hiroyuki Yamaguchi ,  Satoru Onozawa

发明人： Shoji Ito ,  Eiichi Ono ,  Masaru Sugai ,  Takaji Umeno ,  Katsuhiro Asano ,  Hiroyuki Yamaguchi ,  Satoru Onozawa

IPC分类号： B60T860

CPC分类号： B60T8/172

摘要： A wheel velocity signal for each wheel detected by a wheel velocity sensor is input to a bandpass filter. Signals from frequency bands unrelated to the unsprung resonance are then removed from the wheel velocity signal and only signals from frequency bands related to the unsprung resonance are output. A road surface &mgr; gradient estimation device uses an online identification method to identify an damping ratio of a second order resonance model similar to a suspension—tire resonance model from the signal output from the bandpass filter. The road surface &mgr; gradient is then estimated from the identified damping ratio. The damping ratio of the second order resonance model corresponds to the road surface &mgr; gradient in the following manner: when the damping ratio is identified as being small, the road surface &mgr; gradient is estimated as being large; and when the road surface &mgr; gradient is identified as being large, the damping ratio is estimated as being small.

摘要翻译： 由车轮速度传感器检测到的每个车轮的车轮速度信号被输入到带通滤波器。 然后从不同于簧下共振的频带发出的信号从车轮速度信号中除去，并且仅输出与非簧下共振相关的频带的信号。 路面mu梯度估计装置使用在线识别方法从与带通滤波器输出的信号相似的悬挂轮胎共振模型中识别类似于二次谐振模型的阻尼比。 然后根据所识别的阻尼比估计路面μm梯度。 二次谐振模型的阻尼比以下列方式对应于路面μ0的梯度：当阻尼比被识别为小时，路面μ0的梯度被估计为较大; 并且当路面μm梯度被识别为大时，阻尼比被估计为小。

公开(公告)号：US06182001B2

公开(公告)日：2001-01-30

申请号：US08996316

申请日：1997-12-22

申请人： Masaru Sugai ,  Katsuhiro Asano ,  Takaji Umeno ,  Eiichi Ono ,  Hiroyuki Yamaguchi

发明人： Masaru Sugai ,  Katsuhiro Asano ,  Takaji Umeno ,  Eiichi Ono ,  Hiroyuki Yamaguchi

IPC分类号： G06F700

CPC分类号： B60T8/885 ,  B60T2270/413

摘要： An apparatus for diagnosing a fault in a dynamic system includes a controller which controls the dynamic system through use of a control input signal and vibrates the dynamic system through use of an vibration signal irrelevant to the internal state quantity of the dynamic system; an observer for estimating, on the basis of a response output from the vibration dynamic system, total disturbance which is a sum of an internal disturbance vector stemming from a fault in the dynamic system and a vibration disturbance vector occurring in the dynamic system through vibration; a correlation calculation unit which calculates cross-correlation between the thus-estimated total disturbance and the internal state quantity of the dynamic system and separates a component related to the internal disturbance from the total disturbance; and a diagnostic unit for diagnosing a fault in the dynamic system on the basis of the thus-separated component related to the internal disturbance. Since the dynamic system is vibrated, the response output can be increased even when there exists small external disturbance. As a result, a fault or a variation in air pressure in a tire can be highly accurately diagnosed.

摘要翻译： 用于诊断动态系统中的故障的装置包括控制器，其通过使用控制输入信号来控制动态系统，并通过使用与动态系统的内部状态量无关的振动信号来振动动态系统; 基于来自振动动态系统的响应输出，基于动态系统中的故障产生的内部干扰矢量与通过振动在动态系统中发生的振动干扰矢量之和的总干扰来估计观测器; 相关计算单元，其计算由此估计的总干扰与动态系统的内部状态量之间的互相关，并将与内部干扰有关的分量与全部干扰分离; 以及用于基于与内部干扰相关的如此分离的分量来诊断动态系统中的故障的诊断单元。 由于动态系统振动，即使存在小的外部干扰，响应输出也可以增加。 结果，可以高精度地诊断轮胎中的故障或空气压力的变化。

公开(公告)号：US20090067205A1

公开(公告)日：2009-03-12

申请号：US12226916

申请日：2007-05-24

申请人： Hichirosai Oyobe ,  Tetsuhiro Ishikawa ,  Yoshitoshi Watanabe ,  Katsuhiro Asano

发明人： Hichirosai Oyobe ,  Tetsuhiro Ishikawa ,  Yoshitoshi Watanabe ,  Katsuhiro Asano

IPC分类号： H02M7/68

CPC分类号： H02J7/022 ,  B60K1/02 ,  B60K6/365 ,  B60K6/445 ,  B60L11/123 ,  B60L11/14 ,  B60L11/1814 ,  B60L11/1816 ,  B60L11/1842 ,  B60L11/185 ,  B60L15/007 ,  B60L2210/20 ,  B60L2220/12 ,  B60L2220/14 ,  B60L2220/54 ,  H02J3/32 ,  H02J7/0044 ,  Y02E60/721 ,  Y02P80/10 ,  Y02T10/6217 ,  Y02T10/6239 ,  Y02T10/6269 ,  Y02T10/641 ,  Y02T10/644 ,  Y02T10/645 ,  Y02T10/646 ,  Y02T10/7005 ,  Y02T10/7072 ,  Y02T10/7077 ,  Y02T10/725 ,  Y02T90/121 ,  Y02T90/127 ,  Y02T90/128 ,  Y02T90/14 ,  Y04S10/126

摘要： An ECU detects an effective value and phase of a voltage from a commercial power supply, based on a voltage from a voltage sensor. Further, ECU generates a command current, which is a command value of current caused to flow through power lines and in-phase with the voltage of the commercial power supply, based on the detected effective value and the phase and on a charge/discharge power command value for a power storage device. Then, ECU controls zero-phase voltage of inverters based on the generated command current.

摘要翻译： ECU根据来自电压传感器的电压检测来自商用电源的电压的有效值和相位。 此外，ECU基于检测到的有效值和相位以及充电/放电功率，生成作为电力线流动并与商用电源的电压同相的指令值的指令电流 蓄电装置的指令值。 然后，ECU根据产生的指令电流控制逆变器的零相电压。

公开(公告)号：US20060214625A1

公开(公告)日：2006-09-28

申请号：US11443365

申请日：2006-05-31

申请人： Hideo Nakai ,  Hiroki Ohtani ,  Yukio Inaguma ,  Katsuhiro Asano ,  Hideto Hanada ,  Nasaki Okamura

发明人： Hideo Nakai ,  Hiroki Ohtani ,  Yukio Inaguma ,  Katsuhiro Asano ,  Hideto Hanada ,  Nasaki Okamura

IPC分类号： H02P27/04

CPC分类号： H02P21/06 ,  H02P2207/05

摘要： In one coordinate system of arbitrary rectangular coordinate systems including a coordinate system in which the position of a stator is fixed, a coordinate system in which the position of a rotor is fixed, and a coordinate system which rotates at a rotational frequency which is n times (n is an integer which is not 0 or 1) that of the rotor, a filter on any other coordinate system is defined. Further, driving of a motor is controlled by utilizing this filter. As a result, a coordinate transformation operation need not be individually performed with respect to control variables.

摘要翻译： 在包括固定定子的位置的坐标系，固定有转子位置的坐标系和以n次旋转的旋转频率旋转的坐标系的任意直角坐标系的坐标系中， （n是不为0或1的整数）转子的任何其他坐标系上的滤波器被定义。 此外，通过利用该过滤器来控制电动机的驱动。 结果，不需要相对于控制变量单独执行坐标变换操作。