公开(公告)号：US06832144B2

公开(公告)日：2004-12-14

申请号：US10617122

申请日：2003-07-11

申请人： Minekazu Momiyama ,  Shinji Takeuchi ,  Toshio Kohno ,  Yuzo Imoto ,  Yoshiyuki Yasui ,  Wataru Tanaka ,  Yuji Muragishi

发明人： Minekazu Momiyama ,  Shinji Takeuchi ,  Toshio Kohno ,  Yuzo Imoto ,  Yoshiyuki Yasui ,  Wataru Tanaka ,  Yuji Muragishi

IPC分类号： B62D1100

CPC分类号： B62D6/002 ,  B62D5/008

摘要： The vehicle operation control apparatus multiplies the variable gain G controlled based on the vehicle velocity V, the steering angle &thgr;h, the steering angle velocity &ohgr;h and the actual steering angle &thgr;T with the steering angle &thgr;h, and controls the actual steering angle &thgr;T of the driven wheels on a result of this multiplication. Consequently, the additional turning time gear ratio Ga1 or the turning-back gear ratio Ga2, set up individually, can be selected depending on the turning direction of the steering wheel. Therefore, the steering feeling both at the time of additional turning and turning-back can be improved.

摘要翻译： 车辆操作控制装置将基于车速V控制的可变增益G，转向角θt，转向角速度ωgah和实际转向角θT与转向角atah相乘，并且控制被驱动的实际转向角θT 轮对这个乘法的结果。 因此，可以根据方向盘的转向方向来选择单独设置的附加转弯时间齿轮比Ga1或回转齿轮比Ga2。 因此，可以提高在追加转弯和回转时的转向感。

公开(公告)号：US06941213B2

公开(公告)日：2005-09-06

申请号：US10682405

申请日：2003-10-10

申请人： Yoshiyuki Yasui ,  Eiichi Ono ,  Yuji Muragishi ,  Shinji Takeuchi ,  Minekazu Momiyama ,  Hiroaki Kato ,  Yuzo Imoto ,  Hiroaki Aizawa

发明人： Yoshiyuki Yasui ,  Eiichi Ono ,  Yuji Muragishi ,  Shinji Takeuchi ,  Minekazu Momiyama ,  Hiroaki Kato ,  Yuzo Imoto ,  Hiroaki Aizawa

IPC分类号： B62D6/00 ,  B60R16/02 ,  B60T7/12 ,  B60T8/00 ,  B60T8/17 ,  B60T8/172 ,  B60T8/175 ,  B60T8/1755 ,  B60T8/1763 ,  B60T8/58 ,  B60W10/18 ,  B60W10/188 ,  B60W10/20 ,  B60W30/00 ,  B60W30/02 ,  B60W30/045 ,  B60W40/06 ,  B60W40/068 ,  B60W40/10 ,  B60W40/101 ,  B60W40/103 ,  B62D6/04 ,  B62D101/00 ,  B62D111/00 ,  B62D137/00 ,  G06F19/00

CPC分类号： B60W40/064 ,  B60T8/172 ,  B60T8/17551 ,  B60T2210/12 ,  B60T2260/02 ,  B60W10/184 ,  B60W10/20 ,  B60W40/101 ,  B60W2530/20 ,  B62D6/04

摘要： The present invention is directed to a road condition estimation apparatus for estimating a road condition for use in a vehicle having steering control unit for actuating a device mechanically independent of a manually operated steering member to steer each wheel. The apparatus includes a reaction torque detection unit for detecting reaction torque for detecting a reaction torque when at least a wheel of the vehicle is steered by the steering control unit, an aligning torque estimation unit for estimating an aligning torque produced on the wheel on the basis of the reaction torque detected by the reaction torque detection unit, a wheel factor providing unit for providing at least one of wheel factors including a side force and a slip angle applied to the wheel, and a grip factor estimation unit for estimating a grip factor of at least a tire of the wheel, in accordance with a relationship between the aligning torque estimated by the aligning torque estimation unit and the wheel factor estimated by the wheel factor providing unit.

摘要翻译： 本发明涉及一种道路状态估计装置，用于估计具有转向控制单元的车辆中使用的道路状况，所述转向控制单元用于致动机械地独立于手动操作的转向构件的装置以转向每个车轮。 该装置包括：反作用转矩检测单元，用于当通过转向控制单元转向车辆的至少一个车轮时检测用于检测反作用转矩的反作用转矩;对准扭矩估计单元，用于基于在车轮上产生的对准扭矩 由所述反作用转矩检测单元检测到的所述反作用转矩的车轮因子提供单元，用于提供包括施加到所述车轮的侧力和滑移角的车轮因数中的至少一个，以及用于估计所述车轮因素 根据由对准转矩估计单元估计出的对准转矩和由车轮系数提供单元估计的车轮系数之间的关系，至少轮胎轮胎。

公开(公告)号：US06925371B2

公开(公告)日：2005-08-02

申请号：US10420832

申请日：2003-04-23

申请人： Yoshiyuki Yasui ,  Wataru Tanaka ,  Eiichi Ono ,  Yuji Muragishi ,  Katsuhiro Asano ,  Minekazu Momiyama ,  Hiroaki Kato ,  Kenji Asano ,  Yuzo Imoto

发明人： Yoshiyuki Yasui ,  Wataru Tanaka ,  Eiichi Ono ,  Yuji Muragishi ,  Katsuhiro Asano ,  Minekazu Momiyama ,  Hiroaki Kato ,  Kenji Asano ,  Yuzo Imoto

IPC分类号： B62D6/00 ,  B60R16/02 ,  B60T8/172 ,  B60T8/1755 ,  B60T8/58 ,  B60W10/00 ,  B60W10/04 ,  B60W10/06 ,  B60W10/10 ,  B60W10/18 ,  B60W10/188 ,  B60W10/20 ,  B60W30/00 ,  B60W30/02 ,  B60W40/06 ,  B60W40/10 ,  B62D5/00 ,  B62D5/04 ,  B62D6/04 ,  B62D101/00 ,  B62D111/00 ,  B62D113/00 ,  B62D119/00 ,  B62D137/00 ,  F02D29/02

CPC分类号： B60W10/184 ,  B60T8/17551 ,  B60T2210/12 ,  B60T2260/02 ,  B60W10/20 ,  B60W40/101 ,  B60W2530/20 ,  B60W2550/148 ,  B62D5/008 ,  B62D6/003 ,  B62D6/04

摘要： The present invention is directed to a vehicle motion control apparatus, which includes a steering factor detection unit for detecting at least one of steering factors including a steering torque and steering effort applied to a steering system, an aligning torque estimation unit for estimating an aligning torque produced on at least a wheel of the vehicle on the basis of the steering factor, a vehicle state variable detection unit for detecting a state variable of the vehicle, a wheel factor estimation unit for estimating at least one of wheel factors including a side force and slip angle applied to the wheel on the basis of the vehicle state variable, and a grip factor estimation unit for estimating a grip factor of at least a tire of the wheel, in accordance with the estimated alignment torque and the estimated wheel factor. The apparatus further includes a first control unit for performing a closed loop control on the basis of the grip factor, and a second control unit for performing a closed loop control on the basis of a deviation between a detected actual vehicle behavior and a desired vehicle behavior set on the basis of the vehicle state variable.

摘要翻译： 本发明涉及一种车辆运动控制装置，其包括：转向因子检测单元，用于检测包括转向转矩和转向系统的转向力的转向因素中的至少一个;对准转矩估计单元，用于估计对准转矩 基于转向系数在车辆的至少一个车轮上产生的车辆状态变量检测单元，用于检测车辆的状态变量的车辆状态变量检测单元，用于估计包括侧力和 基于车辆状态变量施加到车轮的滑移角，以及用于根据估计的对准扭矩和估计的车轮因数估计车轮的至少轮胎的抓地系数的抓地系数估计单元。 该装置还包括：第一控制单元，用于基于夹紧系数执行闭环控制;以及第二控制单元，用于基于检测到的实际车辆行为和期望的车辆行为之间的偏差执行闭环控制 根据车辆状态变量设定。

公开(公告)号：US06895317B2

公开(公告)日：2005-05-17

申请号：US10420826

申请日：2003-04-23

申请人： Yoshiyuki Yasui ,  Wataru Tanaka ,  Eiichi Ono ,  Yuji Muragishi ,  Katsuhiro Asano ,  Minekazu Momiyama ,  Syoji Ogawa ,  Kenji Asano ,  Yuzo Imoto ,  Hiroaki Kato

发明人： Yoshiyuki Yasui ,  Wataru Tanaka ,  Eiichi Ono ,  Yuji Muragishi ,  Katsuhiro Asano ,  Minekazu Momiyama ,  Syoji Ogawa ,  Kenji Asano ,  Yuzo Imoto ,  Hiroaki Kato

IPC分类号： B60G17/0195 ,  B60T8/172 ,  B60W30/02 ,  B60W40/06 ,  B60T8/58 ,  B60C19/00

CPC分类号： B60W30/02 ,  B60G17/0195 ,  B60G2400/0523 ,  B60G2400/106 ,  B60G2400/822 ,  B60G2800/24 ,  B60G2800/702 ,  B60G2800/95 ,  B60T8/172 ,  B60T2210/12 ,  B60W40/064 ,  B60W40/101 ,  B60W2050/0028 ,  B60W2510/20 ,  B60W2510/22 ,  B60W2520/125 ,  B60W2520/14 ,  B60W2520/20 ,  B60W2530/20 ,  B60W2550/148 ,  B60W2900/00

摘要： The present invention is directed to a wheel grip factor estimation apparatus, which includes a steering factor detection unit for detecting at least one of steering factors including a steering torque and steering effort applied to a steering system extending from a steering wheel to a suspension of a vehicle, an aligning torque estimation unit for estimating an aligning torque produced on at least a wheel of the vehicle on the basis of the steering factor detected by the steering factor detection unit, and a vehicle state variable detection unit for detecting a state variable of the vehicle. The apparatus further includes a wheel factor estimation unit for estimating at least one of wheel factors including a side force and slip angle applied to the wheel on the basis of the vehicle state variable, and a grip factor estimation unit for estimating a grip factor of at least a tire of the wheel, in accordance with a relationship between the estimated alignment torque and the estimated wheel factor.

摘要翻译： 本发明涉及一种车轮牵引因子估计装置，其包括转向因子检测单元，用于检测转向因素中的至少一个，所述转向因素包括转向转矩和施加到从方向盘延伸到转向系统 车辆，用于基于由转向因子检测单元检测到的转向因子来估计在车辆的至少车轮上产生的对准转矩的对准转矩估计单元，以及用于检测车辆状态变量检测单元 车辆。 该装置还包括车轮因素估计单元，用于基于车辆状态变量估计包括施加到车轮的侧力和滑移角的车轮因数中的至少一个，以及用于估计车辆状态变量的抓地系数的抓地系数估计单元 根据估计的对准转矩和估计的车轮因子之间的关系，至少轮胎轮胎。

公开(公告)号：US20050071061A1

公开(公告)日：2005-03-31

申请号：US10932114

申请日：2004-09-02

申请人： Hiroaki Kato ,  Minekazu Momiyama ,  Takayuki Ohta ,  Yoshiyuki Yasui ,  Yuzo Imoto ,  Hiroaki Aizawa ,  Eiichi Ono ,  Yuji Muragishi

发明人： Hiroaki Kato ,  Minekazu Momiyama ,  Takayuki Ohta ,  Yoshiyuki Yasui ,  Yuzo Imoto ,  Hiroaki Aizawa ,  Eiichi Ono ,  Yuji Muragishi

IPC分类号： B60T8/172 ,  B62D5/00 ,  B62D6/00 ,  B62D101/00 ,  B62D103/00 ,  B62D111/00 ,  B62D113/00 ,  B62D119/00 ,  B62D137/00 ,  B62D5/04

CPC分类号： B62D5/008 ,  B60T8/172 ,  B60T2210/12 ,  B60T2220/03 ,  B62D6/003 ,  B62D6/006

摘要： A first ECU 30 detects a steering torque applied to a steering system, estimates a self-aligning torque generated in a front wheel on the basis of the steering torque, and estimates a side force for the front wheel on the basis of lateral acceleration and a yaw rate. The first ECU 30 estimates a grip factor ε for the front wheel on the basis of a change of the self-aligning torque to the side force. The first ECU 30 judges whether the grip factor is below a second OS (oversteer) start threshold value. A second ECU 40 controls the transfer ratio according to the vehicle state when the grip factor is less than the second OS start threshold value.

公开(公告)号：US20050055149A1

公开(公告)日：2005-03-10

申请号：US10931982

申请日：2004-09-02

申请人： Hiroaki Kato ,  Minekazu Momiyama ,  Yoshiyuki Yasui ,  Yuji Muragishi ,  Yuzo Imoto ,  Hiroaki Aizawa

发明人： Hiroaki Kato ,  Minekazu Momiyama ,  Yoshiyuki Yasui ,  Yuji Muragishi ,  Yuzo Imoto ,  Hiroaki Aizawa

IPC分类号： B60R16/02 ,  B60T8/172 ,  B60T8/1755 ,  B60T8/1763 ,  B60W40/068 ,  B60W40/101 ,  B60W40/103 ,  B62D6/00 ,  G06F7/00

CPC分类号： B60T8/172 ,  B60T8/17551 ,  B60T2210/12 ,  B60T2230/02 ,  B60T2260/02 ,  B60W40/068 ,  B60W2510/202 ,  B62D6/006

摘要： A grip factor estimating apparatus includes a steering torque detecting unit M1, and an assist torque detecting unit M2. When a self-aligning torque estimating unit M6 estimates self-aligning torque generated in front wheels on the basis of detection result of the detecting unit, the quantity of influence of longitudinal force on self-aligning torque is removed on the basis of longitudinal force acting on the front wheels and estimated by a longitudinal force estimating unit M15 and a front wheel slip angle estimated by a front wheel slip angle estimating unit M9y. A grip factor estimating unit M12 estimates the grip factor of the front wheels on the basis of change in self-aligning torque in accordance with the side force.

摘要翻译： 夹紧因子估计装置包括转向转矩检测单元M1和辅助转矩检测单元M2。 基于检测单元的检测结果，当自对准转矩估计单元M6估计在前轮产生的自对准转矩时，根据作用力的纵向力来去除纵向力对自动对准转矩的影响量 并且由纵向力估计单元M15和由前轮滑移角估计单元M9y估计的前轮滑移角估计。 抓地系数估计单元M12基于根据侧向力的自对准扭矩的变化来估计前轮的抓地系数。

公开(公告)号：US07398145B2

公开(公告)日：2008-07-08

申请号：US10931982

申请日：2004-09-02

申请人： Hiroaki Kato ,  Minekazu Momiyama ,  Yoshiyuki Yasui ,  Yuji Muragishi ,  Yuzo Imoto ,  Hiroaki Aizawa

发明人： Hiroaki Kato ,  Minekazu Momiyama ,  Yoshiyuki Yasui ,  Yuji Muragishi ,  Yuzo Imoto ,  Hiroaki Aizawa

IPC分类号： G06F7/00

CPC分类号： B60T8/172 ,  B60T8/17551 ,  B60T2210/12 ,  B60T2230/02 ,  B60T2260/02 ,  B60W40/068 ,  B60W2510/202 ,  B62D6/006

摘要： A grip factor estimating apparatus includes a steering torque detecting unit M1, and an assist torque detecting unit M2. When a self-aligning torque estimating unit M6 estimates self-aligning torque generated in front wheels on the basis of detection result of the detecting unit, the quantity of influence of longitudinal force on self-aligning torque is removed on the basis of longitudinal force acting on the front wheels and estimated by a longitudinal force estimating unit M15 and a front wheel slip angle estimated by a front wheel slip angle estimating unit M9y. A grip factor estimating unit M12 estimates the grip factor of the front wheels on the basis of change in self-aligning torque in accordance with the side force.

摘要翻译： 夹紧因子估计装置包括转向转矩检测单元M 1和辅助转矩检测单元M 2。 当自对准转矩估计单元M 6基于检测单元的检测结果估计在前轮产生的自动调心扭矩时，基于纵向力消除纵向力对自对准转矩的影响量 作用在前轮上并由纵向力估计单元M15估算出的前轮滑移角由前轮滑移角估计单元M 9 y估计。 抓地系数估计单元M 12基于根据侧向力的自对准扭矩的变化来估计前轮的抓地系数。

公开(公告)号：US06931313B2

公开(公告)日：2005-08-16

申请号：US10932114

申请日：2004-09-02

申请人： Hiroaki Kato ,  Minekazu Momiyama ,  Takayuki Ohta ,  Yoshiyuki Yasui ,  Yuzo Imoto ,  Hiroaki Aizawa ,  Eiichi Ono ,  Yuji Muragishi

发明人： Hiroaki Kato ,  Minekazu Momiyama ,  Takayuki Ohta ,  Yoshiyuki Yasui ,  Yuzo Imoto ,  Hiroaki Aizawa ,  Eiichi Ono ,  Yuji Muragishi

IPC分类号： B60T8/172 ,  B62D5/00 ,  B62D6/00 ,  B62D101/00 ,  B62D103/00 ,  B62D111/00 ,  B62D113/00 ,  B62D119/00 ,  B62D137/00 ,  G06F7/00

CPC分类号： B62D5/008 ,  B60T8/172 ,  B60T2210/12 ,  B60T2220/03 ,  B62D6/003 ,  B62D6/006

摘要： A first ECU 30 detects a steering torque applied to a steering system, estimates a self-aligning torque generated in a front wheel on the basis of the steering torque, and estimates a side force for the front wheel on the basis of lateral acceleration and a yaw rate. The first ECU 30 estimates a grip factor ε for the front wheel on the basis of a change of the self-aligning torque to the side force. The first ECU 30 judges whether the grip factor is below a second OS (oversteer) start threshold value. A second ECU 40 controls the transfer ratio according to the vehicle state when the grip factor is less than the second OS start threshold value.

摘要翻译： 第一ECU30检测施加于转向系统的转向转矩，基于转向转矩来估计在前轮中产生的自对准转矩，并且基于横向加速度估计前轮的侧向力，并且 横摆率。 第一ECU30基于自对准转矩与侧向力的变化来估计前轮的抓地系数ε。 第一ECU30判断握持系数是否低于第二OS（过度转向）开始阈值。 当夹紧系数小于第二OS起始阈值时，第二ECU40根据车辆状态控制传送比。

公开(公告)号：US06952635B2

公开(公告)日：2005-10-04

申请号：US10682406

申请日：2003-10-10

申请人： Yoshiyuki Yasui ,  Eiichi Ono ,  Yuji Muragishi ,  Shinji Takeuchi ,  Minekazu Momiyama ,  Hiroaki Kato ,  Kenji Asano

发明人： Yoshiyuki Yasui ,  Eiichi Ono ,  Yuji Muragishi ,  Shinji Takeuchi ,  Minekazu Momiyama ,  Hiroaki Kato ,  Kenji Asano

IPC分类号： B62D6/00 ,  B60R16/02 ,  B60T8/172 ,  B60T8/1755 ,  B60T8/1763 ,  B60T8/58 ,  B60W10/18 ,  B60W10/188 ,  B60W10/20 ,  B60W30/00 ,  B60W30/02 ,  B60W30/045 ,  B60W40/068 ,  B62D6/04 ,  B62D101/00 ,  B62D111/00 ,  B62D113/00 ,  B62D137/00 ,  G06F19/00 ,  B60K17/344 ,  B60T8/32

CPC分类号： B60W40/064 ,  B60T8/172 ,  B60T8/1755 ,  B60T2210/12 ,  B60T2230/02 ,  B60T2260/02 ,  B60W30/02 ,  B60W40/101 ,  B60W2530/20 ,  B62D6/006

摘要： The present invention is directed to a road condition estimation apparatus for estimating a road condition for use in a vehicle having a steering control unit for actuating a device mechanically independent of a manually operated steering member to steer at least a wheel of front and rear wheels. The apparatus includes an actuating signal detection unit for detecting an actuating signal for actuating the device of the steering control unit, an aligning torque estimation unit for estimating an aligning torque produced on the wheel on the basis of the actuating signal detected by the actuating signal detection unit, and a vehicle state variable detection unit for detecting a state variable of the vehicle. The apparatus further includes a wheel factor estimation unit for estimating at least one of wheel factors including a side force and a slip angle applied to the wheel on the basis of the vehicle state variable, and a grip factor estimation unit for estimating a grip factor of at least a tire of the wheel, in accordance with a relationship between the estimated aligning torque and the estimated wheel factor.

摘要翻译： 本发明涉及一种道路状态估计装置，用于估计具有转向控制单元的车辆中使用的道路状况，所述转向控制单元用于致动机械地独立于手动操作的转向构件的装置，以引导至少前轮和后轮的车轮。 该装置包括用于检测用于致动转向控制单元的装置的致动信号的致动信号检测单元;对准扭矩估计单元，用于基于由致动信号检测器检测到的致动信号来估计在车轮上产生的对准扭矩 单元，以及用于检测车辆的状态变量的车辆状态变量检测单元。 该装置还包括：车轮因子估计单元，用于基于车辆状态变量估计包括侧力和施加到车轮的滑移角的车轮因数中的至少一个;以及用于估计车辆因素估计单元 至少轮胎的轮胎，根据估计的对准扭矩与估计的车轮因数之间的关系。

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。