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）。

公开(公告)号：US07567865B2

公开(公告)日：2009-07-28

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： B60T8/58 ,  B62D6/00

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Fimax（步骤104至110）。 通过使用最大摩擦力Fimax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，哪个性能函数通过在下列情况下的性能函数来制备： 车体产生力大于横摆力矩，并且在车身产生力不大于横摆力矩的情况下的性能函数（步骤112）。 通过第三性能函数（步骤114）计算作用在各车轮上的轮胎产生力的合力qi，并且通过所计算的方向获得每个车轮的制动和驱动力以及每个车轮的转向角 其中轮胎产生力的合力作用在车轮上（步骤116）。 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）。

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。

公开(公告)号：US07698043B2

公开(公告)日：2010-04-13

申请号：US11363066

申请日：2006-02-28

申请人： Eiichi Ono ,  Yoshikazu Hattori ,  Yuji Muragishi

发明人： Eiichi Ono ,  Yoshikazu Hattori ,  Yuji Muragishi

IPC分类号： B60T8/175

CPC分类号： B60W10/18 ,  B60T8/1755 ,  B60T2260/022 ,  B60T2260/08 ,  B60W10/04 ,  B60W10/20 ,  B60W30/045 ,  B60W40/101 ,  B60W2520/26 ,  B62D6/003 ,  B62D6/006 ,  B62D7/159

摘要： A vehicle control system includes a calculator that calculates an integrated controlled variable including a first controlled variable used for controlling the braking/driving force of each wheel so as to optimize the μ utilization ratio of the wheel and a second controlled variable used for controlling the steering angle of each wheel, based on constraints including a target resultant force to be applied to the vehicle body and a limit friction circle of each wheel, a calculator that calculates a steering controlled variable used for controlling only the steering angle of each wheel so as to achieve the target resultant force, and a controller that controls only the steering angle of each wheel, or the steering angle and braking/driving force of each wheel, based on a controlled variable obtained by linearly interpolating the integrated controlled variable and the steering controlled variable.

摘要翻译： 车辆控制系统包括计算器，其计算包括用于控制每个车轮的制动/驱动力的第一控制变量的综合控制变量，以便优化车轮的μ利用率和用于控制转向的第二控制变量 基于包括要施加到车体的目标合力和每个车轮的极限摩擦圆的约束的每个车轮的角度，计算器，其计算用于仅控制每个车轮的转向角的转向控制变量，以便 基于通过线性内插积分控制变量和转向控制变量获得的控制变量，实现目标合力，控制器仅控制每个车轮的转向角，或每个车轮的转向角度和制动/驱动力 。

公开(公告)号：US20060217867A1

公开(公告)日：2006-09-28

申请号：US11363066

申请日：2006-02-28

申请人： Eiichi Ono ,  Yoshikazu Hattori ,  Yuji Muragishi

发明人： Eiichi Ono ,  Yoshikazu Hattori ,  Yuji Muragishi

IPC分类号： G06F19/00

CPC分类号： B60W10/18 ,  B60T8/1755 ,  B60T2260/022 ,  B60T2260/08 ,  B60W10/04 ,  B60W10/20 ,  B60W30/045 ,  B60W40/101 ,  B60W2520/26 ,  B62D6/003 ,  B62D6/006 ,  B62D7/159

摘要： A vehicle control system includes a calculator that calculates an integrated controlled variable including a first controlled variable used for controlling the braking/driving force of each wheel so as to optimize the μ utilization ratio of the wheel and a second controlled variable used for controlling the steering angle of each wheel, based on constraints including a target resultant force to be applied to the vehicle body and a limit friction circle of each wheel, a calculator that calculates a steering controlled variable used for controlling only the steering angle of each wheel so as to achieve the target resultant force, and a controller that controls only the steering angle of each wheel, or the steering angle and braking/driving force of each wheel, based on a controlled variable obtained by linearly interpolating the integrated controlled variable and the steering controlled variable.

摘要翻译： 车辆控制系统包括计算器，其计算包括用于控制每个车轮的制动/驱动力的第一控制变量的综合控制变量，以便优化车轮的利用率和用于控制转向的第二控制变量 基于包括要施加到车体的目标合力和每个车轮的极限摩擦圆的约束的每个车轮的角度，计算器，其计算用于仅控制每个车轮的转向角的转向控制变量，以便 基于通过线性内插积分控制变量和转向控制变量获得的控制变量，实现目标合力，控制器仅控制每个车轮的转向角，或每个车轮的转向角度和制动/驱动力 。

公开(公告)号：US20090018725A1

公开(公告)日：2009-01-15

申请号：US12159862

申请日：2007-03-30

申请人： Eiichi Ono ,  Yoshikazu Hattori

发明人： Eiichi Ono ,  Yoshikazu Hattori

IPC分类号： B60W40/06

CPC分类号： B60W40/101 ,  B60T8/17551 ,  B60T2260/022 ,  B60T2260/08 ,  B62D6/006

摘要： A vehicle dynamics control system and a method of controlling vehicle dynamics that includes calculating a tire force to achieve target vehicle force and moment; calculating a longitudinal μ rate that a longitudinal force of each tire is normalized with the size of the tire friction circle of each wheel, representing the maximum tire force at each wheel; calculating a steering angle equalized for right and left wheels based on the longitudinal μ rate of each tire, a lateral force of each tire, and a vertical load of each tire; and controlling vehicle dynamics based on the calculated steering angle.

摘要翻译： 一种车辆动力学控制系统和控制车辆动力学的方法，其包括计算轮胎力以实现目标车辆力和力矩; 计算每个轮胎的纵向力与每个轮胎的轮胎摩擦圆的尺寸归一化的纵向mu率，表示每个车轮处的最大轮胎力; 基于每个轮胎的纵向mu率，每个轮胎的横向力和每个轮胎的垂直载荷计算用于左右车轮平衡的转向角; 并基于计算出的转向角控制车辆动态。

公开(公告)号：US07949469B2

公开(公告)日：2011-05-24

申请号：US11917429

申请日：2006-06-13

申请人： Yoshikazu Hattori ,  Eiichi Ono

发明人： Yoshikazu Hattori ,  Eiichi Ono

IPC分类号： G08G1/16

CPC分类号： B60W40/105 ,  B60T7/22 ,  B60T2201/022 ,  B60T2210/32 ,  B60W10/12 ,  B60W10/184 ,  B60W10/20 ,  B60W30/08 ,  B60W30/09 ,  B60W30/095 ,  B60W2050/0026 ,  B60W2520/10 ,  B60W2520/12 ,  B60W2550/302 ,  B60W2550/304 ,  B62D15/0265 ,  G08G1/166

摘要： An obstacle avoidance control device has a detector for detecting the distance between a vehicle and an obstacle and the relative speed of the vehicle with respect to the obstacle, a memory for storing a map for calculating vehicle generation force to avoid the obstacle based on a parameter set by a physical quantity determined by a component Vx in the vehicle front-rear direction as of the relative speed, a component Vy in the vehicle lateral direction of the relative speed, and a distance Ye′ in the vehicle lateral direction, for avoiding the obstacle, and a computing unit for computing the parameter based on the distance and the relative speed that are detected by the detector and computing vehicle generation force by using the calculated parameter and the map.

摘要翻译： 障碍物回避控制装置具有用于检测车辆与障碍物之间的距离的检测器以及车辆相对于障碍物的相对速度的存储器，用于存储用于计算车辆产生力以用于基于参数的障碍物的地图的存储器 通过由车辆前后方向上的分量Vx确定的相对速度的物理量，车辆横向方向上的相对速度的分量Vy和车辆横向方向上的距离Ye'来设定，以避免 障碍物和计算单元，用于基于由检测器检测到的距离和相对速度来计算参数，并通过使用计算的参数和地图来计算车辆生成力。

公开(公告)号：US20100217527A1

公开(公告)日：2010-08-26

申请号：US11917429

申请日：2006-06-13

申请人： Yoshikazu Hattori ,  Eiichi Ono

发明人： Yoshikazu Hattori ,  Eiichi Ono

IPC分类号： G08G1/16

CPC分类号： B60W40/105 ,  B60T7/22 ,  B60T2201/022 ,  B60T2210/32 ,  B60W10/12 ,  B60W10/184 ,  B60W10/20 ,  B60W30/08 ,  B60W30/09 ,  B60W30/095 ,  B60W2050/0026 ,  B60W2520/10 ,  B60W2520/12 ,  B60W2550/302 ,  B60W2550/304 ,  B62D15/0265 ,  G08G1/166

摘要： An obstacle avoidance control device has a detector for detecting the distance between a vehicle and an obstacle and the relative speed of the vehicle with respect to the obstacle, a memory for storing a map for calculating vehicle generation force to avoid the obstacle based on a parameter set by a physical quantity determined by a component Vx in the vehicle front-rear direction as of the relative speed, a component Vy in the vehicle lateral direction of the relative speed, and a distance Ye′ in the vehicle lateral direction, for avoiding the obstacle, and a computing unit for computing the parameter based on the distance and the relative speed that are detected by the detector and computing vehicle generation force by using the calculated parameter and the map.

摘要翻译： 障碍物回避控制装置具有用于检测车辆与障碍物之间的距离的检测器以及车辆相对于障碍物的相对速度的存储器，用于存储用于计算车辆产生力以用于基于参数的障碍物的地图的存储器 通过由车辆前后方向上的分量Vx确定的相对速度的物理量，车辆横向方向上的相对速度的分量Vy和车辆横向方向上的距离Ye'来设定，以避免 障碍物和计算单元，用于基于由检测器检测到的距离和相对速度来计算参数，并通过使用计算的参数和地图来计算车辆生成力。

公开(公告)号：US08301353B2

公开(公告)日：2012-10-30

申请号：US12282141

申请日：2007-03-29

申请人： Eiichi Ono ,  Yoshikazu Hattori

发明人： Eiichi Ono ,  Yoshikazu Hattori

IPC分类号： B60T8/172 ,  B60T8/1755 ,  B62D6/00

CPC分类号： B60T8/1755 ,  B60T8/172 ,  B60T2210/12 ,  B60W30/02 ,  B60W40/064 ,  B60W40/101 ,  B60W40/103 ,  B60W2040/1307 ,  B60W2520/26 ,  B60W2530/20 ,  B62D6/006 ,  B62D7/159

摘要： A vehicle motion control device and method computes a size of a using friction circle in each of wheels by multiplying a size of an each wheel friction circle indicating a maximum generating force in each of the wheel tires by a previously computed each wheel using percentage, computes the each wheel tire generating force and the each wheel using percentage indicating a rate with respect to an upper limit value of a μ-using efficiency in each of the wheels, and controls a vehicle motion in such a manner that the computed each wheel tire generating force is obtained on the basis of the computed each wheel tire generating force, thereby minimizing an upper limit of the μ-using efficiency in each of the wheels.

摘要翻译： 车辆运动控制装置和方法通过将每轮轮胎中指示最大产生力的每个轮摩擦圆的尺寸乘以预先计算的每个车轮的百分比来计算每个车轮中的使用摩擦圆的尺寸，计算 每个车轮轮胎产生力和每个车轮使用百分比表示相对于每个车轮中的μ使用效率的上限值的速率，并且以这样的方式控制车辆运动，使得计算出的每个轮胎轮胎产生 基于计算出的每个轮胎轮胎产生力获得力，从而最小化每个车轮中的μ使用效率的上限。

公开(公告)号：US20090063002A1

公开(公告)日：2009-03-05

申请号：US12282141

申请日：2007-03-29

申请人： Eiichi Ono ,  Yoshikazu Hattori

发明人： Eiichi Ono ,  Yoshikazu Hattori

IPC分类号： B60T8/1755 ,  G05D13/02 ,  G06F19/00 ,  B60T7/12

CPC分类号： B60T8/1755 ,  B60T8/172 ,  B60T2210/12 ,  B60W30/02 ,  B60W40/064 ,  B60W40/101 ,  B60W40/103 ,  B60W2040/1307 ,  B60W2520/26 ,  B60W2530/20 ,  B62D6/006 ,  B62D7/159

摘要： A vehicle motion control device and method computes a size of a using friction circle in each of wheels by multiplying a size of an each wheel friction circle indicating a maximum generating force in each of the wheel tires by a previously computed each wheel using percentage, computes the each wheel tire generating force and the each wheel using percentage indicating a rate with respect to an upper limit value of a μ-using efficiency in each of the wheels, on the basis of a target vehicle body force and moment indicating a target vehicle body longitudinal force, a target vehicle body transverse force and a target yaw moment, and the computed size of the using friction circle, and controls a vehicle motion in such a manner that the computed each wheel tire generating force is obtained on the basis of the computed each wheel tire generating force, thereby minimizing an upper limit of the μ-using efficiency in each of the wheels.

摘要翻译： 车辆运动控制装置和方法通过将每轮轮胎中指示最大产生力的每个轮摩擦圆的尺寸乘以预先计算的每个车轮的百分比来计算每个车轮中的使用摩擦圆的尺寸，计算 基于目标车身力和表示目标车体的力矩，每个车轮轮胎产生力和每个车轮使用百分比指示相对于每个车轮中的mu使用效率的上限值的速率 纵向力，目标车身横向力和目标横摆力矩以及所计算的使用摩擦圆的尺寸，并且以这样的方式控制车辆运动，即计算出的每个轮胎轮胎产生力是基于计算出的 每个车轮轮胎产生力，从而使每个车轮中的mu使用效率的上限最小化。