公开(公告)号：US07058541B2

公开(公告)日：2006-06-06

申请号：US10847657

申请日：2004-05-18

申请人： Masaru Kogure ,  Koji Matsuno ,  Katsufumi Ichikawa ,  Takayuki Ushijima ,  Yutaka Hiwatashi

发明人： Masaru Kogure ,  Koji Matsuno ,  Katsufumi Ichikawa ,  Takayuki Ushijima ,  Yutaka Hiwatashi

IPC分类号： G06F19/00

CPC分类号： B60W40/068 ,  B60T8/172 ,  B60T2210/12

摘要： A correlation coefficient computing unit receives front-left and front-right wheel-accelerations from high-pass filters, each having a driver-operating component removed therefrom, and computes a correlation coefficient therebetween. A computing-unit of upper and lower limits of a correlation coefficient of a population sets upper and lower limits of a correlation coefficient of a population. First and second correction-gain setting units set first and second correction-gains varying in accordance with running and driving states, respectively. A correlation coefficient computing unit of a population computes a correlation coefficient of a population of this time based on the correlation coefficients computed as above, a correlation coefficient of a population of the previous time, the upper and lower limits, and the first and second correction-gains. A coefficient of friction on road surface estimating unit estimates a coefficient of friction on road surface by comparing the correlation coefficient of the population of this time with a determining threshold value previously set according to the running state.

摘要翻译： 相关系数计算单元从高通滤波器接收前左和右前轮加速度，每个具有从其中去除的驱动器操作分量，并且计算它们之间的相关系数。 人口相关系数的上限和下限的计算单位设定人口相关系数的上限和下限。 第一和第二校正增益设置单元分别根据行驶状态和驾驶状态分别设定第一和第二校正增益。 群体的相关系数计算单元基于如上计算的相关系数，前一时间的群体的相关系数，上限和下限以及第一和第二校正来计算此时间的群体的相关系数 - 力 路面估计单元的摩擦系数通过将该时间的人口的相关系数与根据运行状态预先设定的判定阈值进行比较，来估计路面上的摩擦系数。

公开(公告)号：US06708088B2

公开(公告)日：2004-03-16

申请号：US10132017

申请日：2002-04-22

申请人： Koji Matsuno ,  Katsufumi Ichikawa ,  Masaru Kogure ,  Yutaka Hiwatashi ,  Takayuki Ushijima

发明人： Koji Matsuno ,  Katsufumi Ichikawa ,  Masaru Kogure ,  Yutaka Hiwatashi ,  Takayuki Ushijima

IPC分类号： G06F700

CPC分类号： B60W10/16 ,  B60G2400/0523 ,  B60G2400/104 ,  B60G2400/106 ,  B60G2400/208 ,  B60G2400/30 ,  B60G2400/39 ,  B60G2400/412 ,  B60G2400/61 ,  B60G2400/63 ,  B60G2400/822 ,  B60G2600/044 ,  B60G2800/016 ,  B60G2800/702 ,  B60G2800/704 ,  B60G2800/952 ,  B60G2800/954 ,  B60K23/04 ,  B60T8/172 ,  B60T8/1755 ,  B60T2201/14 ,  B60T2250/02 ,  B60W10/14 ,  B60W30/02 ,  B60W40/064 ,  B60W40/068 ,  B60W40/11 ,  B60W40/112 ,  B60W40/114 ,  B60W40/12 ,  B60W2510/20 ,  B60W2520/105 ,  B60W2520/125 ,  B60W2530/10 ,  B60W2550/148 ,  B60W2710/12 ,  B60W2720/14

摘要： A vehicle behavior control apparatus is divided into three major parts, sensors for detecting engine and vehicle operating conditions, a target yaw rate establishing section for establishing the rate and differential limiting apparatuses for selectively varying distribution ratios of driving force between front and rear wheels and/or between left and right wheels. The target yaw rate establishing section calculates a target yaw rate based on a vehicle mass, a mass distribution ratio between front and rear axles, front and rear axle mass, distances between front and rear axles and a center of gravity, a steering angle of a front wheel, and front and rear wheels equivalent cornering powers. A steady state yaw rate gain is separately calculated for left and right steering, respectively. A reference yaw rate is calculated by correcting a time constant of lag of yaw rate with respect to steering based on estimated road friction coefficient.

摘要翻译： 车辆行为控制装置被分为三个主要部分，用于检测发动机和车辆操作条件的传感器，用于建立速率和差速限制装置的目标横摆速度建立部分，用于选择性地改变前后轮之间的驱动力的分配比和/ 或左右轮之间。 目标横摆率建立部基于车辆质量，前后轴的质量分配比，前后轴质量，前后轴的距离和重心来计算目标横摆角速度，转向角 前轮，前轮和后轮相当的转弯力。 分别计算左右转向的稳态偏航率增益。 通过基于估计的道路摩擦系数校正横摆率相对于转向的滞后时间常数来计算参考偏航率。

公开(公告)号：US06984003B2

公开(公告)日：2006-01-10

申请号：US10653142

申请日：2003-09-03

申请人： Masaru Kogure ,  Yutaka Hiwatashi ,  Koji Matsuno

发明人： Masaru Kogure ,  Yutaka Hiwatashi ,  Koji Matsuno

IPC分类号： B60T8/60 ,  B60T8/24

CPC分类号： B60K23/0808 ,  B60G17/0162 ,  B60G17/0164 ,  B60G17/0195 ,  B60G2400/302 ,  B60G2400/33 ,  B60G2400/38 ,  B60G2400/64 ,  B60G2400/822 ,  B60G2401/12 ,  B60G2800/213 ,  B60G2800/214 ,  B60G2800/215 ,  B60G2800/915 ,  B60G2800/922 ,  B60G2800/952 ,  B60G2800/96 ,  B60G2800/97 ,  B60T8/172 ,  B60T8/17552 ,  B60T2230/02 ,  B60T2240/03 ,  B60W10/06 ,  B60W10/12 ,  B60W10/18 ,  B60W30/02 ,  B60W30/045 ,  B60W40/064 ,  B60W40/101 ,  B60W2420/22 ,  B60W2530/20 ,  B60W2550/148 ,  B62D6/04

摘要： To provide a new vehicle control technique, a calculation section calculates a cornering power ka using the detected longitudinal force Fx, lateral force Fy, and vertical force Fz, and the identified friction coefficient μ. This calculation is made based on the correlation between a slip angle β of the wheels and the lateral force Fy. Based on thus calculated cornering power ka and a target cornering power ka′ required for the wheels, a processing section determines a change amount for changing at least one action force out of the longitudinal force Fx, the lateral force Fy, and the vertical force Fz, all acting on the wheels. Based on thus determined change amount, a control section controls at least one action force out of the longitudinal force Fx, the lateral force Fy, and the vertical force Fz, all acting on the wheels.

摘要翻译： 为了提供新的车辆控制技术，计算部分使用检测的纵向力Fx，横向力Fy和垂直力Fz以及所确定的摩擦系数μs来计算转弯功率ka。 该计算基于车轮的滑移角β与横向力Fy之间的相关性进行。 基于这样计算的转弯功率ka和车轮所需的目标转弯功率ka'，处理部分确定用于从纵向力Fx，横向力Fy和垂直力Fz中改变至少一个作用力的变化量 ，都在轮子上行动。 基于如此确定的变化量，控制部分控制作用在车轮上的纵向力Fx，横向力Fy和垂直力Fz的至少一个作用力。

公开(公告)号：US07619649B2

公开(公告)日：2009-11-17

申请号：US09902576

申请日：2001-07-12

申请人： Masaru Kogure ,  Yutaka Hiwatashi

发明人： Masaru Kogure ,  Yutaka Hiwatashi

IPC分类号： H04N7/18

CPC分类号： G06T7/0002 ,  G01S11/12 ,  G06T2207/10012 ,  G06T2207/10021 ,  G06T2207/30168 ,  G06T2207/30252 ,  H04N13/239 ,  H04N13/25 ,  H04N2013/0081

摘要： A vehicle front-view monitoring system determines whether there is a fail occurring on the monitoring system based on luminance data on an image of a front view taken by camera and takes fail-safe measures if the fail is occurring. The luminance data indicates luminance-distribution characteristic values indicating horizontal luminance-distribution on the image. A fail can be determined based on a parameter obtained by normalizing the luminance-distribution characteristic values by a shutter speed for the camera equipment.

公开(公告)号：US07079668B2

公开(公告)日：2006-07-18

申请号：US09902768

申请日：2001-07-12

申请人： Masaru Kogure ,  Yutaka Hiwatashi

发明人： Masaru Kogure ,  Yutaka Hiwatashi

IPC分类号： G06K9/00

CPC分类号： B60Q9/008 ,  G01S11/12

摘要： A vehicle front-view monitoring system takes fail-safe measures when a fail-safe measure-interruption requirement using first parameter are met on a monitored image for a predetermined first period. The functions interrupted by the fail-safe measure is resumed when a fail-safe measure-release requirement using second parameter which is different from the first parameter is met within a predetermined second period after the fail-safe measure-interruption requirement has been met. The first period is variable in accordance with how accurately lane marking on a road in the monitored image is recognized.

摘要翻译： 当在预定的第一时段内在被监视的图像上满足使用第一参数的故障安全测量中断要求时，车辆前视监控系统采取故障安全措施。 在满足故障安全测量中断要求之后的预定的第二周期内，当使用与第一参数不同的第二参数的故障安全测量释放要求被满足时，由故障安全措施中断的功能被恢复。 第一个时间段是根据在被监视图像中道路上的车道标识如何准确识别而变化的。

公开(公告)号：US06650987B2

公开(公告)日：2003-11-18

申请号：US09987408

申请日：2001-11-14

申请人： Masaru Kogure ,  Yutaka Hiwatashi

发明人： Masaru Kogure ,  Yutaka Hiwatashi

IPC分类号： G06F1700

CPC分类号： G01N19/02 ,  B60T8/172 ,  B60T2210/12

摘要： A road friction coefficient estimating apparatus primarily includes an adaptive control road friction coefficient estimating section and an actual value comparison road friction coefficient estimating section. The adaptive control road friction coefficient estimating section inputs signals indicative of a road surface condition with low friction coefficient from a wiper switch, low outside air temperature judging section and the like and estimates an accurate road friction coefficient even under the low friction coefficient road surface condition. When the vehicle travels at high speeds, the actual value comparison road friction coefficient estimating section renders a road friction coefficient estimating value by a yaw rate comparison method gradually close to a road friction coefficient of an asphalted road surface. When a signal IMAGE HALT indicative of a road surface totally covered with snow is inputted, the actual value comparison road friction coefficient estimating section renders the road friction coefficient estimating value gradually close to a low side road friction coefficient produced by the adaptive control road friction coefficient estimating section. Further, when the vehicle travels at high speeds and the signal IMAGE HALT is inputted, the road friction coefficient estimating value is rendered moderately, gradually close to the low side road friction coefficient.

公开(公告)号：US6074020A

公开(公告)日：2000-06-13

申请号：US748410

申请日：1996-11-13

申请人： Akira Takahashi ,  Yutaka Hiwatashi ,  Koji Matsuno ,  Munenori Matsuura

发明人： Akira Takahashi ,  Yutaka Hiwatashi ,  Koji Matsuno ,  Munenori Matsuura

IPC分类号： B60T8/1755 ,  B60T8/06

CPC分类号： B60T8/1755

摘要： A braking force control system and method of a vehicle includes a vehicle speed detecting section, a steering angle detecting section, a yaw rate detecting section, a target yaw rate calculating section, a yaw rate deviation calculating section, turning requirement detecting means for detecting a driver's requirement to turn the vehicle, brake pressure correction coefficient generating section, a target braking force calculating section, a braking force correction section for correcting the braking force according to the driver's requirement to turn the vehicle, a braking wheel determining section for determining an object wheel to apply brakes, an output judging section, a brake signal outputting section and a brake drive apparatus for applying brake pressure to the wheel cylinder of the object wheel. Whereby, the driver can make a sharp turn even when the normal braking force control is operative.

摘要翻译： 车辆的制动力控制系统和方法包括车速检测部，转向角检测部，横摆率检测部，目标横摆率计算部，横摆率偏差计算部，转弯要求检测单元， 驾驶员要求转动车辆，制动压力校正系数产生部分，目标制动力计算部分，用于根据驾驶员要求转动车辆来校正制动力的制动力校正部分，用于确定物体的制动轮确定部分 用于施加制动的车轮，输出判断部分，制动信号输出部分和用于对车轮的轮缸施加制动压力的制动驱动装置。 由此，即使正常的制动力控制可操作，驾驶员也可以急转弯。

公开(公告)号：US5915800A

公开(公告)日：1999-06-29

申请号：US664009

申请日：1996-06-14

申请人： Yutaka Hiwatashi ,  Akira Takahashi ,  Koji Matsuno ,  Munenori Matsuura

发明人： Yutaka Hiwatashi ,  Akira Takahashi ,  Koji Matsuno ,  Munenori Matsuura

IPC分类号： B60T8/1755 ,  B60T8/58

CPC分类号： B60T8/1755

摘要： A braking force control system comprises a yaw rate sensor for detecting an actual yaw rate of a vehicle, a target yaw rate calculating section for detecting a vehicle speed and a steering angle to calculate a target yaw rate, a yaw-rate difference calculating section for calculating a difference in yaw rate by subtracting the target yaw rate from the actual yaw rate, and a braked-wheel discriminating section for selecting a rear-inside wheel as a braked wheel when the sign of the actual yaw rate is different from that of the difference in yaw rate, and for selecting a front-outside wheel as the braked wheel when the sign of the actual yaw rate is the same as that of the difference in yaw rate. Therefore, when the vehicle is in an under-steering tendency, the rear-inside wheel is selected, and when it is in an over-steering tendency, the front-outside wheel is selected. In addition, the system may further comprise an output discriminating section for comparing the difference in yaw rate with a discriminating threshold to discriminate as to whether the difference in yaw rate is within a control region. A first threshold is set as the discriminating threshold. After the under-steering tendency is changed to the over-steering tendency, a set period of time and a second threshold, the absolute value of which is smaller than that of the first threshold, are set. With this construction, it is possible to smoothly perform the control without giving uncomfortable feeling to a driver, and it is also possible to restrain the control by a rear wheel.

摘要翻译： 一种制动力控制系统，包括用于检测车辆的实际横摆角速度的偏航率传感器，用于检测车速的目标横摆率计算部和用于计算目标横摆率的转向角;偏航率差计算部， 通过从实际横摆率减去目标横摆角速度来计算偏航率的差异;以及制动轮识别部，用于当实际横摆率的符号与实际横摆率的符号不同时，选择作为制动轮的后内轮 偏航率的差异，以及当实际横摆率的符号与横摆率的差异相同时，用于选择作为制动轮的前外轮。 因此，当车辆处于转向不足的倾向时，选择后内侧轮，并且当处于过度转向倾向时，选择前外轮。 此外，该系统还可以包括输出鉴别部分，用于将偏航率的差异与识别阈值进行比较，以区分横摆率的差异是否在控制区域内。 将第一阈值设置为鉴别阈值。 在转向不足的倾向变为过度转向倾向之后，设定其绝对值小于第一阈值的设定时间段和第二阈值。 利用这种结构，可以平稳地执行控制而不会给驾驶员带来不舒适的感觉，并且还可以抑制后轮的控制。

公开(公告)号：US5850616A

公开(公告)日：1998-12-15

申请号：US709042

申请日：1996-09-06

申请人： Koji Matsuno ,  Yutaka Hiwatashi ,  Akira Takahashi ,  Munenori Matsuura

发明人： Koji Matsuno ,  Yutaka Hiwatashi ,  Akira Takahashi ,  Munenori Matsuura

IPC分类号： B60T8/175 ,  B60T8/1755 ,  B60T8/1769 ,  B60W10/04 ,  B60W10/18 ,  B60K17/348

CPC分类号： B60T8/1769 ,  B60T8/175 ,  B60T2270/202

摘要： A traction control system and method of a four-wheel drive vehicle comprises an engine control apparatus, a brake drive apparatus for automatically and independently applying brake to each of four wheels, wheel speed detecting means, vehicle speed detecting means, steering angle detecting means, yaw rate detecting means, target yaw rate calculating means, yaw rate deviation calculating means, slip amount calculating means for calculating an actual slip amount, reference slip amount storing means for memorizing a reference slip amount, target slip amount determining means for determining a target slip amount based on the reference slip amount, traction control judging means for outputting a traction control signal when a traction control is needed, target braking force calculating means, target engine torque calculating means. When a traction control is needed, the target slip amount determining means determine a target slip amount of a wheel needing the traction control. The target braking force calculating means produce a braking force according to the difference between the target slip amount and the actual slip amount and brake is automatically applied to a wheel requiring the traction control through the brake drive apparatus. At the same time, the target engine torque calculating means produce a signal to the engine control apparatus so as to reduce engine torque.

摘要翻译： 四轮驱动车辆的牵引力控制系统和方法包括发动机控制装置，用于自动且独立地对四个车轮施加制动的制动驱动装置，车轮速度检测装置，车速检测装置，转向角检测装置， 横摆率检测装置，目标横摆率计算装置，横摆率偏差计算装置，用于计算实际滑移量的滑移量计算装置，用于存储基准滑移量的基准滑移量存储装置，用于确定目标滑差的目标滑移量确定装置 牵引控制判断装置，用于在需要牵引力控制时输出牵引控制信号，目标制动力计算装置，目标发动机扭矩计算装置。 当需要牵引力控制时，目标滑移量确定装置确定需要牵引力控制的车轮的目标滑移量。 目标制动力计算装置根据目标滑移量和实际滑移量之间的差产生制动力，并且制动被自动施加到通过制动驱动装置进行牵引力控制的车轮。 同时，目标发动机扭矩计算装置向发动机控制装置产生一个信号，以便减小发动机转矩。

公开(公告)号：US5816669A

公开(公告)日：1998-10-06

申请号：US733582

申请日：1996-10-18

申请人： Yutaka Hiwatashi ,  Koji Matsuno ,  Akira Takahashi ,  Munenori Matsuura

发明人： Yutaka Hiwatashi ,  Koji Matsuno ,  Akira Takahashi ,  Munenori Matsuura

IPC分类号： B62D6/00 ,  B60T8/172 ,  B60T8/1755 ,  B60T8/1764 ,  B62D7/14 ,  B62D7/15 ,  B60T8/32

CPC分类号： B62D7/159 ,  B60T8/1755 ,  B60T2260/022

摘要： In a vehicle motion control system, a target rear-wheel steering-angle calculating section calculates a target rear-wheel steering angle, a rear-wheel steering-quantity setting section sets a rear-wheel steering quantity, and a rear-wheel steering signal output section outputs a rear-wheel steering quantity to a motor driving section to perform a steering angle control. In addition, a front-and-rear wheel steering response-parameter calculating section calculates a response parameter, and a front-and-rear wheel steering target yaw-rate calculating section calculates a target yaw rate. A yaw-rate difference calculating section calculates a yaw-rate difference, a target braking-force calculating section calculates a target braking force, and a braked-wheel discriminating section selects a wheel to be braked. When an output discriminating section determines that there is within a controllable region, a braking signal output section outputs a signal to a brake driving section so as to add the target braking force to the selected wheel.

摘要翻译： 在车辆运动控制系统中，目标后轮转向角计算部计算目标后轮转向角，后轮转向量设定部设定后轮转向量和后轮转向信号 输出部将后轮转向量输出到电动机驱动部，进行转向角控制。 此外，前后转向转向响应参数运算部分计算响应参数，前轮和后轮转向目标横摆率计算部分计算目标横摆率。 偏航率差分计算部分计算偏航率差异，目标制动力计算部分计算目标制动力，并且制动轮识别部分选择要制动的车轮。 当输出识别部分确定存在可控区域内时，制动信号输出部分向制动器驱动部分输出信号，以将目标制动力加到所选择的车轮上。