公开(公告)号：US07266436B2

公开(公告)日：2007-09-04

申请号：US11110904

申请日：2005-04-21

Applicant: Ryota Shirato ,  Hiroshi Mouri

Inventor： Ryota Shirato ,  Hiroshi Mouri

IPC: G06F19/00

CPC classification number: B62D1/286 ,  B60T2201/08 ,  B60T2201/087

Abstract: A lane-keep control system includes a traveling condition detector and a controller. The controller includes a steering intention detecting section that detects whether a driver has an intention to steer a vehicle, a first steering torque control section that controls, when the driver has no intention to steer the vehicle, a steering torque according to the traveling condition so that the vehicle keeps a predetermined position between lane markings of a lane, and a second steering torque control section that controls, when the driver has an intention to steer the vehicle, the steering torque according to the traveling condition so that a steering operation of the driver is readily reflected on steering of the vehicle. A lane-keep control method is also provided.

Abstract translation: 车道保持控制系统包括行驶状态检测器和控制器。 控制器包括：转向意图检测部，其检测驾驶员是否具有转向车辆的意图;第一转向转矩控制部，其在驾驶员无意转向车辆时控制根据行驶状况的转向转矩， 车辆在车道的车道标记之间保持预定位置;以及第二转向转矩控制部分，当第二转向转矩控制部分根据行驶状态控制驾驶员有意转向车辆的转向转矩时，转向操作 司机很容易反映在车辆的转向上。 还提供车道保持控制方法。

公开(公告)号：US20070029129A1

公开(公告)日：2007-02-08

申请号：US11492193

申请日：2006-07-25

Applicant: Yuuki Shiozawa ,  Hiroshi Mouri ,  Masahiro Kubota ,  Ryota Shirato ,  Nami Nagae ,  Masayuki Watanabe

Inventor： Yuuki Shiozawa ,  Hiroshi Mouri ,  Masahiro Kubota ,  Ryota Shirato ,  Nami Nagae ,  Masayuki Watanabe

IPC: B62D5/04

CPC classification number: B62D5/0472 ,  B62D6/04

Abstract: A vehicle steering apparatus includes a vehicle steering system and a supplemental steering force applying device. The supplemental steering force applying device is configured and arranged to apply a supplemental steering force to the vehicle steering system to reduce a steering load on the operator. The supplemental steering force applying device includes a steering torque detecting section, a rectilinear driving condition detecting section, a pulling suppression control section. The rectilinear driving condition detecting section is configured and arranged to detect a rectilinear driving condition of the vehicle. The pulling suppression control section is configured and arranged to adjust the supplemental steering force in a direction canceling a pulling force imparted on the vehicle during the rectilinear driving condition by using a pulling suppression force calculated based on historical data of the steering torque detected during the rectilinear driving condition.

Abstract translation: 车辆转向装置包括车辆转向系统和辅助转向力施加装置。 补充转向力施加装置被构造和布置成向车辆转向系统施加补充转向力以减少操作者的转向负载。 辅助转向力施加装置包括转向转矩检测部，直线驱动条件检测部，牵引抑制控制部。 所述直线行驶状态检测部被构造和配置为检测所述车辆的直线行驶状态。 牵引抑制控制部被构造和布置成通过使用基于在直线状态下检测到的转向扭矩的历史数据计算出的拉力抑制力，在取消在直线行驶状态期间赋予车辆的拉力的方向上调整辅助转向力 驾驶条件。

公开(公告)号：US07406373B2

公开(公告)日：2008-07-29

申请号：US10980326

申请日：2004-11-04

Applicant: Masahiro Kubota ,  Hiroshi Mouri ,  Tadashi Tamasho ,  Ryota Shirato ,  Takayuki Sonoda

Inventor： Masahiro Kubota ,  Hiroshi Mouri ,  Tadashi Tamasho ,  Ryota Shirato ,  Takayuki Sonoda

IPC: B62D5/04 ,  G06F17/00

CPC classification number: B62D5/0472 ,  B62D5/0463 ,  B62D6/008

Abstract: An electric power steering system for an automotive vehicle, including a steering torque detecting device which detects a steering torque of a steering shaft. An electric motor is provided to generate an assist torque for assisting a driver's steering effort required for steering the vehicle and a counter-assist torque for increasing the driver's steering effort. The assist torque and the counter-assist torque are applied to a steering mechanism. Additionally, a controller is provided to output a drive command to the electric motor in accordance with the detected steering torque. The drive command is for causing the electric motor to generate the counter-assist torque when the detected steering torque is a transitional torque.

Abstract translation: 一种用于机动车辆的电动助力转向系统，包括检测转向轴的转向转矩的转向转矩检测装置。 提供电动机以产生用于辅助驾驶员转向车辆所需的驾驶员转向力的辅助转矩和用于增加驾驶员的转向力的反辅助转矩。 辅助扭矩和反辅助扭矩施加到转向机构。 此外，提供控制器以根据检测到的转向转矩向电动机输出驱动命令。 当检测到的转向转矩是过渡转矩时，驱动命令用于使电动机产生相对辅助转矩。

公开(公告)号：US20050109556A1

公开(公告)日：2005-05-26

申请号：US10980326

申请日：2004-11-04

Applicant: Masahiro Kubota ,  Hiroshi Mouri ,  Tadashi Tamasho ,  Ryota Shirato ,  Takayuki Sonoda

Inventor： Masahiro Kubota ,  Hiroshi Mouri ,  Tadashi Tamasho ,  Ryota Shirato ,  Takayuki Sonoda

IPC: B62D5/04 ,  B62D6/00 ,  B62D101/00 ,  B62D111/00 ,  B62D113/00 ,  B62D117/00 ,  B62D119/00 ,  B62D137/00

CPC classification number: B62D5/0472 ,  B62D5/0463 ,  B62D6/008

Abstract: An electric power steering system for an automotive vehicle, including a steering torque detecting device which detects a steering torque of a steering shaft. An electric motor is provided to generate an assist torque for assisting a driver's steering effort required for steering the vehicle and a counter-assist torque for increasing the driver's steering effort. The assist torque and the counter-assist torque are applied to a steering mechanism. Additionally, a controller is provided to output a drive command to the electric motor in accordance with the detected steering torque. The drive command is for causing the electric motor to generate the counter-assist torque when the detected steering torque is a transitional torque.

Abstract translation: 一种用于机动车辆的电动助力转向系统，包括检测转向轴的转向转矩的转向转矩检测装置。 提供电动机以产生用于辅助驾驶员转向车辆所需的驾驶员转向力的辅助转矩和用于增加驾驶员的转向力的反辅助转矩。 辅助扭矩和反辅助扭矩施加到转向机构。 此外，提供控制器以根据检测到的转向转矩向电动机输出驱动命令。 当检测到的转向转矩是过渡转矩时，驱动命令用于使电动机产生相对辅助转矩。

公开(公告)号：US07753162B2

公开(公告)日：2010-07-13

申请号：US11492193

申请日：2006-07-25

Applicant: Yuuki Shiozawa ,  Hiroshi Mouri ,  Masahiro Kubota ,  Ryota Shirato ,  Nami Nagae ,  Masayuki Watanabe

Inventor： Yuuki Shiozawa ,  Hiroshi Mouri ,  Masahiro Kubota ,  Ryota Shirato ,  Nami Nagae ,  Masayuki Watanabe

IPC: B62D5/04

CPC classification number: B62D5/0472 ,  B62D6/04

Abstract: A vehicle steering apparatus includes a vehicle steering system and a supplemental steering force applying device. The supplemental steering force applying device is configured and arranged to apply a supplemental steering force to the vehicle steering system to reduce a steering load on the operator. The supplemental steering force applying device includes a steering torque detecting section, a rectilinear driving condition detecting section, a pulling suppression control section. The rectilinear driving condition detecting section is configured and arranged to detect a rectilinear driving condition of the vehicle. The pulling suppression control section is configured and arranged to adjust the supplemental steering force in a direction canceling a pulling force imparted on the vehicle during the rectilinear driving condition by using a pulling suppression force calculated based on historical data of the steering torque detected during the rectilinear driving condition.

Abstract translation: 车辆转向装置包括车辆转向系统和辅助转向力施加装置。 补充转向力施加装置被构造和布置成向车辆转向系统施加补充转向力以减少操作者的转向负载。 辅助转向力施加装置包括转向转矩检测部，直线驱动条件检测部，牵引抑制控制部。 所述直线行驶状态检测部被构造和配置为检测所述车辆的直线行驶状态。 牵引抑制控制部被构造和布置成通过使用基于在直线状态下检测到的转向扭矩的历史数据计算出的拉力抑制力，在取消在直线行驶状态期间赋予车辆的拉力的方向上调整辅助转向力 驾驶条件。

公开(公告)号：US07551996B2

公开(公告)日：2009-06-23

申请号：US11178406

申请日：2005-07-12

Applicant: Ryota Shirato ,  Hiroshi Mouri

Inventor： Ryota Shirato ,  Hiroshi Mouri

IPC: B60G23/00 ,  B60T8/24

CPC classification number: B62D1/28

Abstract: A vehicle motion control device is configured to determine whether the lane in which the vehicle is traveling is straight or curved. If the road is curved, a target yaw rate is set such that the yaw rate of the vehicle to the target position is averaged. If the road is straight, the target yaw rate is set such that the response delay does not exceed a target value. Therefore, wavering of the vehicle with respect to the lane is suppressed, and the vehicle is controlled to move smoothly when the road is curved and briskly when the road is straight. When the road switches between a curved road and a straight road, the target yaw rate is gradually changed between a target yaw rate calculated for a curved road and a target yaw rate calculated for a straight road.

Abstract translation: 车辆运动控制装置被配置为确定车辆行驶的车道是直线还是弯曲。 如果道路弯曲，则设定目标横摆率，使得车辆对目标位置的偏航率平均。 如果道路是直的，则设定目标横摆率使得响应延迟不超过目标值。 因此，能够抑制车辆相对于车道的摇摆，并且当道路平直时道路弯曲且轻快时，车辆被控制成平稳移动。 当道路在弯曲道路和直线道路之间切换时，目标横摆率在针对弯曲​​道路计算的目标横摆角速度和针对直路计算的目标横摆角速度之间逐渐变化。

公开(公告)号：US07004280B2

公开(公告)日：2006-02-28

申请号：US10717709

申请日：2003-11-21

Applicant: Ryota Shirato ,  Hiroshi Mouri ,  Tadashi Tamasho ,  Masahiro Kubota ,  Takayuki Sonoda ,  Kiyotaka Shitamitsu

Inventor： Ryota Shirato ,  Hiroshi Mouri ,  Tadashi Tamasho ,  Masahiro Kubota ,  Takayuki Sonoda ,  Kiyotaka Shitamitsu

IPC: B62D5/04

CPC classification number: B62D5/001 ,  B62D5/003 ,  B62D5/0487

Abstract: In a multiplex power steering device for a wheeled vehicle, there is provided a control unit which includes a feedback computing part. The feedback computing part comprises an operating force estimating section that, by analyzing an output from a controlled system of actuators of a steering mechanism, estimates an output of the actuators, a disturbance estimating section that, by comparing a control signal actually fed to the actuators and the estimated output of the actuators, estimates a disturbance applied to the controlled system from the exterior, and a disturbance compensating section that adjusts the control signal in a manner to remove the estimated disturbance therefrom. The control unit calculates the control signal on the assumption that the actuators constitute a single actuator.

Abstract translation: 在用于轮式车辆的复用动力转向装置中，提供了一个包括反馈计算部件的控制单元。 反馈计算部包括：操作力估计部，其通过分析来自转向机构的致动器的受控系统的输出来估计所述致动器的输出;干扰估计部，其通过将实际馈送到所述致动器的控制信号 并且执行器的估计输出估计从外部施加到受控系统的干扰;以及干扰补偿部，其以以从其中去除估计的干扰的方式调整控制信号。 假定执行器构成单个致动器，控制单元计算控制信号。

公开(公告)号：US20060041356A1

公开(公告)日：2006-02-23

申请号：US11178406

申请日：2005-07-12

Applicant: Ryota Shirato ,  Hiroshi Mouri

Inventor： Ryota Shirato ,  Hiroshi Mouri

IPC: B62D6/00

CPC classification number: B62D1/28

Abstract: A vehicle motion control device is configured to determine whether the lane in which the vehicle is traveling is straight or curved. If the road is curved, a target yaw rate is set such that the yaw rate of the vehicle to the target position is averaged. If the road is straight, the target yaw rate is set such that the response delay does not exceed a target value. Therefore, wavering of the vehicle with respect to the lane is suppressed, and the vehicle is controlled to move smoothly when the road is curved and briskly when the road is straight. When the road switches between a curved road and a straight road, the target yaw rate is gradually changed between a target yaw rate calculated for a curved road and a target yaw rate calculated for a straight road.

公开(公告)号：US20050240328A1

公开(公告)日：2005-10-27

申请号：US11110904

申请日：2005-04-21

Applicant: Ryota Shirato ,  Hiroshi Mouri

Inventor： Ryota Shirato ,  Hiroshi Mouri

IPC: B62D6/00 ,  B62D1/28 ,  B62D5/04 ,  B62D101/00 ,  B62D113/00 ,  B62D119/00 ,  B62D137/00 ,  G06F17/00

CPC classification number: B62D1/286 ,  B60T2201/08 ,  B60T2201/087

Abstract: A lane-keep control system includes a traveling condition detector and a controller. The controller includes a steering intention detecting section that detects whether a driver has an intention to steer a vehicle, a first steering torque control section that controls, when the driver has an intention to steer the vehicle, a steering torque according to the traveling condition so that the vehicle keeps a predetermined position between lane markings of a lane, and a second steering torque control section that controls, when the driver has no intention to steer the vehicle, the steering torque according to the traveling condition so that a steering operation of the driver is readily reflected on steering of the vehicle. A lane-keep control method is also provided.

Abstract translation: 车道保持控制系统包括行驶状态检测器和控制器。 控制器包括：转向意图检测部，其检测驾驶员是否具有转向车辆的意图;第一转向转矩控制部，其在驾驶员具有转向车辆的意图时控制根据行驶状况的转向转矩， 车辆在车道的车道标记之间保持预定位置;以及第二转向转矩控制部，其在驾驶者无意转向车辆时，根据行驶状况来控制转向转矩，使得转向操作 司机很容易反映在车辆的转向上。 还提供车道保持控制方法。

公开(公告)号：US06823241B2

公开(公告)日：2004-11-23

申请号：US09951499

申请日：2001-09-14

Applicant: Ryota Shirato ,  Hiroshi Mouri

Inventor： Ryota Shirato ,  Hiroshi Mouri

IPC: G06G778

CPC classification number: G06K9/4609 ,  B60T2201/08 ,  B60T2201/089 ,  G06K9/00798 ,  G06K9/4604

Abstract: A lane recognition apparatus for a vehicle is comprised of an image picking-up section which picks up a road image in front of the vehicle, a lane-marker candidate-point detecting section which detects coordinate values of a plurality of lane marker candidate points from the road image, and a road model parameter calculating section which estimates a road model parameter representative of a road shape in front of the vehicle and a vehicle state quantity of the vehicle using an extended Kalman filter, on the basis of the coordinate values of the lane marker candidate points.

Abstract translation: 一种用于车辆的车道识别装置包括：拾取车辆前面的道路图像的图像拾取部分;车道标记候选点检测部分，其检测多个车道标记候选点的坐标值; 道路图像，以及道路模型参数计算部，其基于所述车辆的坐标值来估计表示车辆前方的道路形状的道路模型参数和使用扩展卡尔曼滤波器的车辆的车辆状态量 车道标记候选点。