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公开(公告)号：US10081385B2
公开(公告)日：2018-09-25
申请号：US15376094
申请日：2016-12-12
发明人： Yukihide Kimura , Yoji Kunihiro , Takeshi Goto
CPC分类号： B62D5/0463 , B62D5/04 , B62D5/0409 , B62D5/0421 , B62D5/0457 , B62D5/0466 , B62D5/0472 , B62D5/0481 , B62D5/0493 , B62D6/08 , B62D15/021 , B62D15/025
摘要： A steering assist device includes: a steering torque detector; a steering operation amount acquisition device; an electric power steering device; and a control device configured to calculate a target control current of the electric power steering device, to supply the control current corresponding to the target control current to the electric power steering device, to determine a situation of steering operation of a driver, and to make a current component corresponding to the target inertia compensation assist torque in the target control current smaller when it is determined that the steering operation is turn-back steering with acceleration and deceleration than when it is determined that the steering operation of the driver is not the turn-back steering with acceleration and deceleration.
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公开(公告)号：US10167013B2
公开(公告)日：2019-01-01
申请号：US15262245
申请日：2016-09-12
发明人： Yoji Kunihiro , Yoshio Kudo , Takahiro Kojo , Yoshiaki Suzuki , Masao Ueyama , Takeshi Goto , Yukihide Kimura
摘要： A driving support device may be configured to calculate a target steering angle for allowing a vehicle to travel along a target course; set, as a reference steering angle, a steering angle when a difference between the steering angle and the target steering angle is small; calculate an indication value indicating intention of a driver's steering operation as a sum of a first product of a corrected steering angle and a steering torque, a second product of a derivative of the corrected steering angle and the steering torque, and a third product of the corrected steering angle and a derivative of the steering torque; and correct the target steering angle based on the indication value so that a target driving support torque is corrected in accordance with the intention of the driver's steering operation.
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公开(公告)号：US09387876B2
公开(公告)日：2016-07-12
申请号：US14661192
申请日：2015-03-18
发明人： Takahiro Kojo , Yoshiaki Suzuki , Yoji Kunihiro , Yoshio Kudo , Masao Ueyama , Yukihide Kimura
CPC分类号： B62D5/0463 , B62D6/008
摘要： A steering system includes a steering angle detection unit that detects a steering angle of a steering wheel; a steering torque detection unit that detects a steering torque with respect to the steering wheel; an ECU that calculates a corrected steering angle by nonlinearly correcting the steering angle, a first steering parameter as the product of an angular velocity of the steering angle and the steering torque, a second steering parameter as the product of the corrected steering angle and a time differential value of the steering torque, and a target control amount based on the first steering parameter and the second steering parameter; and a steering support unit that applies a rotation torque to the steering wheel based on the target control amount.
摘要翻译： 转向系统包括检测方向盘的转向角的转向角检测单元; 转向转矩检测单元，其检测相对于所述方向盘的转向转矩; ECU，其通过非线性地校正转向角来计算校正转向角;作为转向角的角速度与转向转矩的乘积的第一转向参数，作为校正转向角与时间的乘积的第二转向参数 转向转矩的差值，以及基于第一转向参数和第二转向参数的目标控制量; 以及转向支撑单元，其基于所述目标控制量向所述方向盘施加旋转扭矩。
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公开(公告)号：US08948951B2
公开(公告)日：2015-02-03
申请号：US14222998
申请日：2014-03-24
发明人： Yukihide Kimura , Etsuo Katsuyama
IPC分类号： B60G7/00 , B60G17/027
CPC分类号： B60W30/00 , B60K7/0007 , B60W10/04 , B60W10/08 , B60W10/184 , B60W10/20 , B60W10/22 , B60W2720/16 , B60W2720/30 , B60W2720/40 , B60W2720/403 , Y02T10/7258
摘要： A vehicle Ve comprises six wheels of front left and right wheels FW1 FW2, middle left and right wheels MW1, MW2, and rear left and right wheels RW1, RW2. Each of in-wheel motors 21-26 is provided/installed in each of the wheels. An electronic control unit 41 calculates a target heave force for controlling a heave behavior, and a target pitching moment My for controlling a pitching behavior, using a state of a movement of a vehicle body Bo obtained from a movement state detecting sensor 43. The unit 41 calculates a driving force and a braking force of the front wheels FW1 FW2 and the rear wheels RW1, RW2, in order to achieve the calculated target heave force and the target pitching moment, and calculates a driving force and a braking force of the middle wheels MW1, MW2 for suppressing a forward-and-backward movement of the vehicle, the movement caused by independently (simultaneously) controlling the behaviors coupling with each other.
摘要翻译： 车辆Ve包括前左右轮FW1 FW2，中左和右车轮MW1，MW2以及后左右轮RW1，RW2的六轮。 每个车轮电动机21-26设置/安装在每个车轮中。 电子控制单元41使用从移动状态检测传感器43获得的车体Bo的移动状态来计算用于控制起伏行为的目标升高力和用于控制俯仰行为的目标俯仰力矩My。单元 41计算前轮FW1 FW2和后轮RW1，RW2的驱动力和制动力，以实现计算出的目标升高力和目标俯仰力矩，并计算中间部分的驱动力和制动力 用于抑制车辆前后移动的轮MW1，MW2，由独立（同时）控制彼此联动的行为引起的移动。
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公开(公告)号：US10464601B2
公开(公告)日：2019-11-05
申请号：US15899401
申请日：2018-02-20
摘要： Automatic tilting vehicle is provided that includes left and right front wheels supported by knuckles, a rear wheel steered by a steering actuator, a vehicle tilting device, and a control unit. The control unit calculates a target tilt angle of the vehicle and a target steered angle of the rear wheel based on a steering angle and a vehicle speed, controls the vehicle tilting device so that a tilt angle of the vehicle becomes the target tilt angle, and controls the steering actuator so that a steered angle of the rear wheel becomes the target steered angle. When the vehicle is turning and decelerating, a steered angle of the rear wheel is controlled not to be the target steered angle but to zero, and a tilt angle of the vehicle is reduced by a gyro moment of the rear wheel.
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公开(公告)号：US09669866B2
公开(公告)日：2017-06-06
申请号：US14662633
申请日：2015-03-19
发明人： Yoji Kunihiro , Takahiro Kojo , Yoshiaki Suzuki , Yoshio Kudo , Masao Ueyama , Takeshi Goto , Yukihide Kimura
CPC分类号： B62D5/0463 , B62D5/0466 , B62D5/0481 , B62D6/04
摘要： A steering intention determination device includes a calculation unit that calculates a value based on the product of a steering angular velocity and a steering torque and the product of a steering angle and the time differential value of the steering torque, and a determination unit that determines that the driver has a turn-and-steer steering intention in a case where the value is equal to or greater than a predetermined value, determine that the driver has a steering holding intention in a case where the value is less than the predetermined value and the absolute value of the steering angular velocity is less than a predetermined angular velocity, and determine that the driver has a switchback steering intention in a case where the value is less than the predetermined value and the absolute value of the steering angular velocity is equal to or greater than the predetermined angular velocity.
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公开(公告)号：US09545944B2
公开(公告)日：2017-01-17
申请号：US14916232
申请日：2014-09-03
发明人： Yukihide Kimura , Takeshi Goto , Yoji Kunihiro
IPC分类号： B62D5/04
CPC分类号： B62D5/0463 , B62D5/0472
摘要： A controller of a steering apparatus includes a calculating unit that calculates a correction assistance quantity based on a steering angular velocity coefficient and a torque coefficient, a steering angular velocity coefficient setting unit that sets the steering angular velocity coefficient depending on a steering angular velocity and that sets the steering angular velocity coefficient to become larger as a feedback quantity of a negative feedback unit becomes larger, and a torque coefficient setting unit that sets the torque coefficient depending on a steering torque and that sets the torque coefficient to become larger as the feedback quantity of the negative feedback unit becomes larger. The feedback quantity of the torque coefficient setting unit when the steering torque is in a predetermined high-frequency range is larger than the feedback quantity of the steering angular velocity coefficient setting unit when the steering angular velocity is in a predetermined high-frequency range.
摘要翻译： 转向装置的控制器包括：计算单元，其基于转向角速度系数和转矩系数来计算校正辅助量;转向角速度系数设定单元，其根据转向角速度设定转向角速度系数， 将所述转向角速度系数设定为随着负反馈单元的反馈量变大而变大的扭矩系数设定单元，其根据转向转矩设定所述转矩系数，并且将所述转矩系数设定为较大的转矩系数设定单元作为所述反馈量 的负反馈单元变大。 当转向转矩处于预定的高频范围时，转矩系数设定单元的反馈量大于转向角速度系数设定单元在转向角速度处于规定的高频范围时的反馈量。
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公开(公告)号：US10336366B2
公开(公告)日：2019-07-02
申请号：US15655343
申请日：2017-07-20
发明人： Yoji Kunihiro , Yoshio Kudo , Takahiro Kojo , Yoshiaki Suzuki , Masao Ueyama , Takeshi Goto , Yukihide Kimura , Masateru Amano
IPC分类号： B62D6/00 , B62D7/15 , B62D15/02 , B60W40/068 , B60W40/072
摘要： A driving support apparatus for a vehicle comprising a steering device that steers steerable wheels, and a control unit configured to execute a running control in which a steered angle of the steerable wheels is changed by controlling the steering device, the control unit being configured to calculate a deviation between an index value of a target running state of the vehicle and an index value of an actual running state, to calculate a target change amount of the steered angle based on the index value deviation, to control the steering device so that a change amount of the steered angle conforms to the target change amount, and to limit a magnitude of a time change rate of the steered angle changed by the running control when one of a magnitude of the index value deviation and a magnitude of the target change amount exceeds a reference value.
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公开(公告)号：US09598101B2
公开(公告)日：2017-03-21
申请号：US14918065
申请日：2015-10-20
发明人： Yukihide Kimura , Yoji Kunihiro , Takeshi Goto
IPC分类号： B62D5/04
CPC分类号： B62D5/0463
摘要： Provided is a steering assist apparatus (10) for a vehicle, including a transmission device (22) configured to transmit a force and a displacement relating to steering between a steering wheel (18) and steered wheels (20L, 20R), a power steering device (12) configured to apply an assist torque to the transmission device, and a control device (50). When assuming the steering wheel, the transmission device, the power steering device, and the steered wheels as a steering system, the control device is configured to calculate, based on a product of a steering angular velocity and a derivative of the steering angular velocity, a product of the steering angular velocity and a steering torque, and a product of a steering angle and a derivative of the steering torque, a change rate (dDE) of an energy of the steering system, and control the assist torque based on the change rate of the energy of the steering system.
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公开(公告)号：US20140265432A1
公开(公告)日：2014-09-18
申请号：US14351376
申请日：2012-10-11
发明人： Yukihide Kimura
摘要： A boundary layer control system includes a boundary layer separating portion that separates a boundary layer of an airflow at an underside of a body of a moving object from a main flow of the airflow, and an ejecting portion that ejects fluid in a state different from that of the boundary layer and the main flow, between the boundary layer and the main flow that have been separated by the boundary layer separating portion. This boundary layer control system is characterized in that boundary layer and the main flow are reliably separated by the fluid in a state different from that of the boundary layer and the main flow, so the percentage of the main flow that is slowed down (i.e., reduced in velocity) by the boundary layer is reduced.
摘要翻译： 边界层控制系统包括边界层分离部分，其将运动物体的下侧的气流的边界层与气流的主流分离，并且喷射部分以与该气流不同的状态喷射流体 在边界层和主流之间，边界层和主流之间被边界层分离部分隔开。 该边界层控制系统的特征在于，边界层和主流体以与边界层和主流不同的状态被流体可靠地分离，因此主流的比例减慢（即， 减少边界层的速度降低）。
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