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公开(公告)号：US08050839B2
公开(公告)日：2011-11-01
申请号：US12355405
申请日：2009-01-16
IPC分类号： G06F7/00
摘要： A vehicle behavior detection apparatus can accurately detect an unstable state of a vehicle without making an incorrect determination even if a travel environment of the vehicle is abnormal. The apparatus includes a road surface reaction torque detecting unit that detects a road surface reaction torque which a tire of the vehicle receives from a road surface, a steering angle detecting unit that detects a steering angle of the vehicle, a vehicle speed detecting unit that detects a speed of the vehicle, a standard road surface reaction torque calculating unit that calculates a standard road surface reaction torque from the steering angle and the vehicle speed, a vehicle behavior state detecting unit that detects the unstable state of the vehicle, and a vehicle behavior detection inhibiting unit that invalidates the vehicle behavior state detecting unit based on the road surface reaction torque and the standard road surface reaction torque.
摘要翻译： 即使车辆的行驶环境异常，车辆行为检测装置也能够准确地检测车辆的不稳定状态而不进行不正确的判定。 该装置包括：路面反作用转矩检测单元，其检测车辆从路面接收的路面的路面反作用转矩;检测车辆的转向角的转向角检测单元;车速检测单元，其检测 车辆的速度，从转向角和车速计算标准路面反作用转矩的标准路面反应转矩计算单元，检测车辆的不稳定状态的车辆行为状态检测单元，以及车辆行为 检测禁止单元，其基于路面反作用力矩和标准路面反作用力矩使车辆行为状态检测单元无效。
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公开(公告)号：US20090228168A1
公开(公告)日：2009-09-10
申请号：US12355405
申请日：2009-01-16
IPC分类号： G06F7/00
摘要： A vehicle behavior detection apparatus can accurately detect an unstable state of a vehicle without making an incorrect determination even if a travel environment of the vehicle is abnormal. The apparatus includes a road surface reaction torque detecting unit that detects a road surface reaction torque which a tire of the vehicle receives from a road surface, a steering angle detecting unit that detects a steering angle of the vehicle, a vehicle speed detecting unit that detects a speed of the vehicle, a standard road surface reaction torque calculating unit that calculates a standard road surface reaction torque from the steering angle and the vehicle speed, a vehicle behavior state detecting unit that detects the unstable state of the vehicle, and a vehicle behavior detection inhibiting unit that invalidates the vehicle behavior state detecting unit based on the road surface reaction torque and the standard road surface reaction torque.
摘要翻译： 即使车辆的行驶环境异常，车辆行为检测装置也能够准确地检测车辆的不稳定状态而不进行不正确的判定。 该装置包括：路面反作用转矩检测单元，其检测车辆从路面接收的路面的路面反作用转矩;检测车辆的转向角的转向角检测单元;车速检测单元，其检测 车辆的速度，从转向角和车速计算标准路面反作用转矩的标准路面反应转矩计算单元，检测车辆的不稳定状态的车辆行为状态检测单元，以及车辆行为 检测禁止单元，其基于路面反作用力矩和标准路面反作用力矩使车辆行为状态检测单元无效。
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公开(公告)号：US08267220B2
公开(公告)日：2012-09-18
申请号：US12132209
申请日：2008-06-03
IPC分类号： B62D5/04
CPC分类号： B62D5/0463 , B62D5/0472
摘要： An electric power steering control apparatus can reduce a steering vibration such as shimmy vibration generated due to the structure of a vehicle without adding new mechanism elements. The apparatus includes a torque sensor for detecting steering torque generated by a driver, a torque controller for calculating an assist torque current for assisting the steering torque based on the detected steering torque, a vehicle speed detector for detecting the speed of the vehicle, a specific frequency detector for detecting a specific frequency from the detected vehicle speed, a motor angular velocity calculator for calculating a motor angular velocity from a motor angle detected by an angle detector, a phase compensator for converting a vibration frequency of the motor angular velocity, and a vibration suppression current calculator for calculating a vibration suppression current to suppress the steering vibration from respective output signals of the phase compensator and the specific frequency detector.
摘要翻译： 电动助力转向控制装置可以减少由于车辆结构而产生的振动振动的转向振动，而不增加新的机构元件。 该装置包括用于检测由驾驶员产生的转向转矩的转矩传感器，用于基于检测到的转向转矩计算用于辅助转向转矩的辅助转矩电流的转矩控制器，用于检测车辆速度的车速检测器， 频率检测器，用于从检测到的车速检测特定频率;马达角速度计算器，用于从由角度检测器检测的马达角计算马达角速度，用于转换马达角速度的振动频率的相位补偿器，以及 振动抑制电流计算器，用于计算振动抑制电流，以抑制来自相位补偿器和特定频率检测器的各个输出信号的转向振动。
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公开(公告)号：US07212902B2
公开(公告)日：2007-05-01
申请号：US11030401
申请日：2005-01-07
申请人： Hiroshi Fujioka , Takanori Matsunaga , Takashi Maeda , Toshinori Matsui , Masahiko Kurishige , Hideyuki Tanaka
发明人： Hiroshi Fujioka , Takanori Matsunaga , Takashi Maeda , Toshinori Matsui , Masahiko Kurishige , Hideyuki Tanaka
IPC分类号： G06F7/00
CPC分类号： B62D6/005 , B60T2230/02 , B60T2260/02 , B62D6/04
摘要： System for detecting stability/instability of behavior of a motor vehicle upon occurrence of tire slip or lock. State of the motor vehicle is determined on the basis of an alignment torque (Ta) applied from a road and a side slip angle (β). By taking advantage of such torque/slip-angle characteristic that although the alignment torque is proportional to a side slip angle when the latter is small, the alignment torque becomes smaller as the side slip angle increases, a normal value is determined from a straight line slope and the side slip angle in a region where the latter is small. Unstable behavior of the motor vehicle is determined when deviation of actual measured value from the normal value increases. Further, unstable state is determined when the slope of the alignment torque for the slip angle departs significantly from that of approximate straight line slope.
摘要翻译： 用于在发生轮胎滑动或锁定时检测机动车辆的行为的稳定性/不稳定性的系统。 基于从道路施加的对准扭矩（Ta）和侧滑角（β）来确定机动车辆的状态。 通过利用这样的扭矩/滑移角特性，即使在后者较小时，对位转矩与侧滑角成比例，随着侧滑角增大，对位转矩变小，从直线 斜率和侧滑角在后者较小的区域。 当实际测量值与正常值的偏差增加时，确定机动车辆的不稳定行为。 此外，当滑移角的对准扭矩的斜率与近似直线斜率的斜率大大偏离时，确定不稳定状态。
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公开(公告)号：US07454279B2
公开(公告)日：2008-11-18
申请号：US11030159
申请日：2005-01-07
申请人： Hiroshi Fujioka , Takanori Matsunaga , Takashi Maeda , Toshinori Matsui , Masahiko Kurishige , Hideyuki Tanaka
发明人： Hiroshi Fujioka , Takanori Matsunaga , Takashi Maeda , Toshinori Matsui , Masahiko Kurishige , Hideyuki Tanaka
CPC分类号： B62D6/005 , B60T2230/02 , B60T2260/02 , B62D6/04
摘要： System for detecting stability/instability of behavior of a motor vehicle upon occurrence of tire slip or lock. State of the motor vehicle is determined on the basis of an alignment torque (Ta) applied from a road and a side slip angle (β). By taking advantage of such torque/slip-angle characteristic that although the alignment torque is proportional to a side slip angle when the latter is small, the alignment torque becomes smaller as the side slip angle increases, a normal value is determined from a straight line slope and the side slip angle in a region where the latter is small. Unstable behavior of the motor vehicle is determined when deviation of actual measured value from the normal value increases. Further, unstable state is determined when the slope of the alignment torque for the slip angle departs significantly from that of approximate straight line slope.
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公开(公告)号：US20080189014A1
公开(公告)日：2008-08-07
申请号：US11591608
申请日：2006-11-02
IPC分类号： B62D6/04
CPC分类号： B62D5/0466
摘要： Provided is a vehicular steering apparatus capable of improving a steering feeling and achieving a reduction in cost. The vehicular steering apparatus according to the present invention is equipped with an assist motor for generating an assist torque, a state quantity detector for detecting a steering shaft reaction torque and a road surface reaction torque, and a control unit for calculating a target current value of the assist motor. The control unit includes a friction compensation portion and a return compensation portion, which calculate a friction compensation torque for compensating for the assist torque and a return compensation torque for compensating for the assist torque from the steering shaft reaction torque and the road surface reaction torque respectively. The control unit compensates for an overall friction torque in a steering mechanism and a gradient of the road surface reaction torque, using the friction compensation torque and the return compensation torque.
摘要翻译： 提供一种能够改善转向感并实现成本降低的车辆转向装置。 根据本发明的车辆转向装置配备有用于产生辅助转矩的辅助电动机，用于检测转向轴反作用转矩的状态量检测器和路面反作用转矩，以及用于计算目标电流值的控制单元 辅助马达。 控制单元包括摩擦补偿部分和返回补偿部分，其分别计算用于补偿辅助转矩的摩擦补偿转矩和用于分别从转向轴反作用转矩和路面反作用转矩补偿辅助转矩的返回补偿转矩 。 控制单元使用摩擦补偿扭矩和返回补偿扭矩补偿转向机构中的总体摩擦转矩和路面反作用转矩的梯度。
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公开(公告)号：US20050119815A1
公开(公告)日：2005-06-02
申请号：US11030306
申请日：2005-01-07
申请人： Hiroshi Fujioka , Takanori Matsunaga , Takashi Maeda , Toshinori Matsui , Masahiko Kurishige , Hideyuki Tanaka
发明人： Hiroshi Fujioka , Takanori Matsunaga , Takashi Maeda , Toshinori Matsui , Masahiko Kurishige , Hideyuki Tanaka
IPC分类号： B60R16/02 , B60W40/10 , B60W40/101 , B60W40/103 , B62D5/04 , B62D6/00 , B62D6/04 , B62D101/00 , B62D111/00 , B62D117/00 , B62D121/00 , B62D137/00 , G06F7/00 , G06F7/70 , G08G1/16 , G06F19/00
CPC分类号： B62D6/005 , B60T2230/02 , B60T2260/02 , B62D6/04
摘要： System for detecting stability/instability of behavior of a motor vehicle upon occurrence of tire slip or lock. State of the motor vehicle is determined on the basis of an alignment torque (Ta) applied from a road and a side slip angle (β). By taking advantage of such torque/slip-angle characteristic that although the alignment torque is proportional to a side slip angle when the latter is small, the alignment torque becomes smaller as the side slip angle increases, a normal value is determined from a straight line slope and the side slip angle in a region where the latter is small. Unstable behavior of the motor vehicle is determined when deviation of actual measured value from the normal value increases. Further, unstable state is determined when the slope of the alignment torque for the slip angle departs significantly from that of approximate straight line slope.
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公开(公告)号：US08209089B2
公开(公告)日：2012-06-26
申请号：US12015784
申请日：2008-01-17
IPC分类号： A01B69/00 , B62D6/00 , B62D11/00 , B62D12/00 , B63G8/20 , B63H25/04 , G05D1/00 , G06F7/00 , G06F17/00 , G06F19/00
CPC分类号： B62D6/008 , B62D5/0463 , B62D6/04
摘要： A vehicular steering apparatus can accurately detect occurrence of a disturbance even where steering torque is limited, and can achieve a low cost and simple construction. The apparatus includes a road surface reaction torque detector that detects an actual road surface reaction torque received by tires of a vehicle from a road surface, a vehicle speed detector that detects a vehicle speed, a steering wheel angle detector that detects a steering angle of a steering wheel, a target road surface reaction torque calculation section that calculates a target road surface reaction torque based on the vehicle speed and the steering wheel angle, and a disturbance occurrence detection section that detects occurrence of a disturbance to the vehicle and outputs a disturbance state signal. The disturbance occurrence detection section includes a sign comparison section that compares signs of the actual and target road surface reaction torques.
摘要翻译： 车辆转向装置即使在转向转矩受到限制的情况下，也能够准确地检测出发生的干扰，能够实现低成本，结构简单。 该装置包括路面反作用转矩检测器，其检测来自路面的车辆的轮胎接收到的实际路面反作用转矩，检测车速的车速检测器，检测车辆的转向角的方向盘角度检测器 方向盘，基于车速和方向盘角度计算目标路面反作用转矩的目标路面反作用转矩计算部，以及检测车辆的干扰发生的扰动发生检测部，并输出干扰状态 信号。 干扰发生检测部分包括比较实际和目标路面反作用转矩的符号的符号比较部分。
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公开(公告)号：US07571033B2
公开(公告)日：2009-08-04
申请号：US11030309
申请日：2005-01-07
申请人： Hiroshi Fujioka , Takanori Matsunaga , Takashi Maeda , Toshinori Matsui , Masahiko Kurishige , Hideyuki Tanaka
发明人： Hiroshi Fujioka , Takanori Matsunaga , Takashi Maeda , Toshinori Matsui , Masahiko Kurishige , Hideyuki Tanaka
CPC分类号： B62D6/005 , B60T2230/02 , B60T2260/02 , B62D6/04
摘要： System for detecting stability/instability of behavior of a motor vehicle upon occurrence of tire slip or lock. State of the motor vehicle is determined on the basis of an alignment torque (Ta) applied from a road and a side slip angle (β). By taking advantage of such torque/slip-angle characteristic that although the alignment torque is proportional to a side slip angle when the latter is small, the alignment torque becomes smaller as the side slip angle increases, a normal value is determined from a straight line slope and the side slip angle in a region where the latter is small. Unstable behavior of the motor vehicle is determined when deviation of actual measured value from the normal value increases. Further, unstable state is determined when the slope of the alignment torque for the slip angle departs significantly from that of approximate straight line slope.
摘要翻译： 用于在发生轮胎滑动或锁定时检测机动车辆的行为的稳定性/不稳定性的系统。 基于从道路施加的对准扭矩（Ta）和侧滑角（β）来确定机动车辆的状态。 通过利用这样的扭矩/滑移角特性，即使在后者较小时，对位转矩与侧滑角成比例，随着侧滑角增大，对位转矩变小，从直线 斜率和侧滑角在后者较小的区域。 当实际测量值与正常值的偏差增加时，确定机动车辆的不稳定行为。 此外，当滑移角的对准扭矩的斜率与近似直线斜率的斜率大大偏离时，确定不稳定状态。
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公开(公告)号：US07412318B2
公开(公告)日：2008-08-12
申请号：US11030306
申请日：2005-01-07
申请人： Hiroshi Fujioka , Takanori Matsunaga , Takashi Maeda , Toshinori Matsui , Masahiko Kurishige , Hideyuki Tanaka
发明人： Hiroshi Fujioka , Takanori Matsunaga , Takashi Maeda , Toshinori Matsui , Masahiko Kurishige , Hideyuki Tanaka
CPC分类号： B62D6/005 , B60T2230/02 , B60T2260/02 , B62D6/04
摘要： System for detecting stability/instability of behavior of a motor vehicle upon occurrence of tire slip or lock. State of the motor vehicle is determined on the basis of an alignment torque (Ta) applied from a road and a side slip angle (β). By taking advantage of such torque/slip-angle characteristic that although the alignment torque is proportional to a side slip angle when the latter is small, the alignment torque becomes smaller as the side slip angle increases, a normal value is determined from a straight line slope and the side slip angle in a region where the latter is small. Unstable behavior of the motor vehicle is determined when deviation of actual measured value from the normal value increases. Further, unstable state is determined when the slope of the alignment torque for the slip angle departs significantly from that of approximate straight line slope.
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