公开(公告)号：US5588721A

公开(公告)日：1996-12-31

申请号：US519965

申请日：1995-08-28

申请人： Katsuhiro Asano ,  Masaru Sugai ,  Hiroyuki Yamaguchi ,  Takaji Umeno

发明人： Katsuhiro Asano ,  Masaru Sugai ,  Hiroyuki Yamaguchi ,  Takaji Umeno

IPC分类号： B60T8/173 ,  B60T8/1763 ,  B60T8/32 ,  B60T8/64 ,  F16D65/14 ,  B60T8/66

CPC分类号： B60T8/173 ,  B60T8/17636 ,  B60T8/3295 ,  F16D2129/12

摘要： A braking force acting on the wheel is actuated by a very small amount at a resonant frequency of a vibrating system comprised of a vehicle body, a wheel, and road surface, and the amplitude of the resonant-frequency component of the wheel speed is detected. A gain in the amplitude of the resonant-frequency component of the wheel speed with respect to the amplitude of the very small actuation of the braking force is determined. A mean braking force is controlled to decrease when the gain is smaller than a reference value, and to increase when the gain is greater than the reference value.

摘要翻译： 作用在车轮上的制动力以由车体，车轮和路面组成的振动系统的共振频率的非常小的量被致动，并且检测到车轮速度的共振频率分量的振幅 。 确定车轮速度的共振频率分量的振幅相对于制动力非常小的致动的振幅的增益。 当增益小于参考值时，平均制动力被控制为减小，并且当增益大于参考值时增加。

公开(公告)号：US5412584A

公开(公告)日：1995-05-02

申请号：US159196

申请日：1993-11-30

申请人： Takaji Umeno ,  Katsuhiro Asano ,  Norio Iwama

发明人： Takaji Umeno ,  Katsuhiro Asano ,  Norio Iwama

IPC分类号： B60C23/06 ,  G01L17/00 ,  G01M17/04 ,  G01M99/00 ,  G06F15/20

CPC分类号： G01M99/00 ,  G01L17/00 ,  G01M17/04

摘要： A diagnosing apparatus for diagnosing a dynamic system by detecting a fault of the dynamic system. The diagnosing apparatus comprises: disturbance estimating means for estimating an integrated disturbance vector, which is the sum of external and internal disturbance vectors of the dynamic system, based on an internal state vector of the dynamic system; correlation calculating means for calculating a cross-correlation between the estimated integrated disturbance vector and the internal state vector and for separating from the integrated disturbance a component relating to the internal disturbance; and diagnosing means for specifying a corresponding fault portion of the dynamic system from the separated component relating to the internal disturbance.

摘要翻译： 一种用于通过检测动态系统的故障来诊断动态系统的诊断装置。 诊断装置包括：干扰估计装置，用于基于动态系统的内部状态向量来估计作为动态系统的外部和内部干扰矢量的总和的积分干扰矢量; 相关计算装置，用于计算估计的积分干扰矢量和内部状态矢量之间的互相关，并且与积分干扰分离与内部干扰有关的分量; 以及用于从与内部干扰相关的分离的分量中指定动态系统的相应故障部分的诊断装置。

公开(公告)号：US06324461B1

公开(公告)日：2001-11-27

申请号：US09106342

申请日：1998-06-29

申请人： Hiroyuki Yamaguchi ,  Katsuhiro Asano ,  Eiichi Ono ,  Takaji Umeno ,  Masaru Sugai

发明人： Hiroyuki Yamaguchi ,  Katsuhiro Asano ,  Eiichi Ono ,  Takaji Umeno ,  Masaru Sugai

IPC分类号： B60T800

CPC分类号： B60T8/172 ,  B60T2210/12

摘要： Disclosed is a road surface condition estimating apparatus including: a converting portion having a table showing a relation among a vehicle speed, a braking force and a resonance gain for each road surface condition and converting a detected value of the input vehicle speed and braking force into a resonance gain on the basis of the table, a subtracting device for computing each of differences between the resonance gain for each road surface condition converted by each of the converting portions and the detected value of the input resonance gain, and a minimum value selecting portion selecting the minimum value among the computed values in the subtracting device and outputting an information of the road surface condition corresponding to the converting portion giving the minimum value.

摘要翻译： 公开了一种路面状态估计装置，包括：转换部，具有表示车辆速度，制动力和各路面状况的共振增益之间的关系的表，并将输入车速和制动力的检测值转换为 基于该表的共振增益，用于计算由每个转换部分转换的每个路面条件的共振增益与输入谐振增益的检测值之间的每个差异的减法装置，以及最小值选择部分 选择减法装置中的计算值中的最小值，并输出与给出最小值的转换部分相对应的路面条件的信息。

公开(公告)号：US06264292B1

公开(公告)日：2001-07-24

申请号：US09118016

申请日：1998-07-17

申请人： Takaji Umeno ,  Katsuhiro Asano ,  Eiichi Ono ,  Hiroyuki Yamaguchi ,  Masaru Sugai

发明人： Takaji Umeno ,  Katsuhiro Asano ,  Eiichi Ono ,  Hiroyuki Yamaguchi ,  Masaru Sugai

IPC分类号： B60T832

CPC分类号： B60T8/172 ,  B60T2210/12

摘要： In a wheel condition estimating apparatus for estimating a wheel condition in a wheel resonance system including a frictional characteristic between a tire and a road surface, a transfer characteristic of the wheel resonance system from the vibration input to the output response is expressed by a transfer function including, as an unknown component of a wheel condition, a physical quantity relating to ease of a slipping between the tire and the road surface, an output response with respect to the vibration input to the wheel resonance system is detected and the unknown component which substantially satisfies the detected output response is estimated on the basis of the transfer function.

摘要翻译： 在包括轮胎和路面之间的摩擦特性的车轮共振系统中估计车轮状态的车轮状态估计装置中，从振动输入到输出响应的车轮共振系统的传递特性由传递函数 作为车轮状态的未知分量，涉及与轮胎和路面之间的滑动容易性相关的物理量，检测输入到车轮共振系统的振动的输出响应，并且将未知分量基本上 基于传递函数估计满足检测到的输出响应。

公开(公告)号：US6142026A

公开(公告)日：2000-11-07

申请号：US458099

申请日：1995-06-01

申请人： Hideki Ohashi ,  Hiroyuki Kawai ,  Hiroyoshi Kojima ,  Takaji Umeno ,  Katsuhiro Asano ,  Toshiharu Naito ,  Nobuyoshi Onogi

发明人： Hideki Ohashi ,  Hiroyuki Kawai ,  Hiroyoshi Kojima ,  Takaji Umeno ,  Katsuhiro Asano ,  Toshiharu Naito ,  Nobuyoshi Onogi

IPC分类号： B60C23/06 ,  G01M15/00 ,  B60C23/00 ,  G01L17/00

CPC分类号： B60C23/062 ,  B60C23/061

摘要： A wheel information estimating apparatus, which includes: a detecting device for detecting a wheel motion state relating to a movement of a tired wheel of a motor vehicle; an estimating device for estimating wheel information relating to the tired wheel, on the basis of the wheel motion state detected by the detecting device; and a modifying device for modifying an element relating to estimation of the wheel information, so as to improve an accuracy of estimating the wheel information. The element to be modified is selected from a movement of a center of rotation of the tired wheel as viewed in a plane in which the wheel is rotated, a signal applied from the detecting device to the estimating device, and an internal parameter used by the estimating means for estimating the wheel information.

摘要翻译： 一种车轮信息估计装置，包括：检测装置，用于检测与机动车辆的轮胎的运动有关的车轮运动状态; 基于由所述检测装置检测到的车轮运动状态来估计与所述轮胎相关的车轮信息的估计装置; 以及用于修改与车轮信息的估计有关的元件的修改装置，以便提高车轮信息的估计精度。 要修改的元件选自在车轮旋转的平面中观察到的轮胎的旋转中心的运动，从检测装置施加到估计装置的信号，以及由 用于估计车轮信息的估计装置。

公开(公告)号：US6122585A

公开(公告)日：2000-09-19

申请号：US910898

申请日：1997-08-13

申请人： Eiichi Ono ,  Katsuhiro Asano ,  Takaji Umeno ,  Hiroyuki Yamaguchi ,  Masaru Sugai

发明人： Eiichi Ono ,  Katsuhiro Asano ,  Takaji Umeno ,  Hiroyuki Yamaguchi ,  Masaru Sugai

IPC分类号： B60T8/172 ,  B60T8/1763 ,  B60T8/44 ,  B60T8/48 ,  G06F7/00 ,  G06F17/00

CPC分类号： B60T8/172 ,  B60T8/17636 ,  B60T8/445 ,  B60T8/4845 ,  B60T2210/12

摘要： An anti-lock braking system includes a friction torque gradient estimating unit for estimating, from a small number of parameters, the gradient of friction torque with respect to a slip speed, and controls a braking force acting on wheels on the basis of the friction torque gradient estimated by the friction torque gradient estimating unit. The friction torque gradient estimating unit may employ several types of estimating methods; e.g., a method of estimating the gradient of friction torque from only time-series data concerning a wheel speed; a method of estimating the friction torque gradient from time-series data concerning wheel deceleration as well as from braking torque or time-series data concerning physical quantities associated with the braking torque; or a method of estimating the friction torque gradient from micro-gains which are obtained when brake pressure is excited in a very small amount at the resonance frequency of a vibration system comprising a vehicle, wheels, and a road surface and which represent the characteristics of the vibration system. Further, there is also disclosed a method of determining, from the thus-estimated friction torque gradient, the limit of the characteristics of friction torque developed between the wheels and the road surface.

摘要翻译： 防抱死制动系统包括：摩擦转矩梯度估计单元，用于从少数参数估计相对于滑移速度的摩擦转矩的梯度，并且基于摩擦转矩来控制作用在车轮上的制动力 由摩擦转矩梯度估计单元估计出的梯度。 摩擦转矩梯度估计单元可以采用几种估计方法; 例如，仅从关于车轮速度的时间序列数据估计摩擦转矩的梯度的方法; 从关于车轮减速度的时间序列数据以及关于与制动转矩相关联的物理量的制动转矩或时间序列数据估计摩擦转矩梯度的方法; 或从在包括车辆，车轮和路面的振动系统的共振频率下以非常小的量激励制动压力时获得的微增益估计摩擦转矩梯度的方法，并且其代表 振动系统。 此外，还公开了一种根据这样估计的摩擦转矩梯度来确定在车轮和路面之间产生的摩擦转矩的特性的极限的方法。

公开(公告)号：US06879938B2

公开(公告)日：2005-04-12

申请号：US10380108

申请日：2001-10-12

申请人： Katsuhiro Asano ,  Eiichi Ono ,  Takaji Umeno ,  Hideki Ohashi ,  {umlaut over (K)}azuhiro Kamiya ,  Yukio Mori ,  Toshiharu Naito

发明人： Katsuhiro Asano ,  Eiichi Ono ,  Takaji Umeno ,  Hideki Ohashi ,  {umlaut over (K)}azuhiro Kamiya ,  Yukio Mori ,  Toshiharu Naito

IPC分类号： B60C23/00 ,  B60C23/06 ,  G06F19/00

CPC分类号： B60C23/061 ,  B60C23/062

摘要： A tire burst predicting device which can predict occurrence of bursting of a tire and gives an alarm properly is provided. A break point frequency is estimated on the basis of time series data of wheel speed detected at a wheel speed sensor from frequency response of a first order model to which a transmission characteristic from a road surface disturbance to a wheel speed is approximated. A braking force gradient corresponding to the estimated break point frequency is estimated, on the basis of a map, which is prestored, representing a relationship between break point frequencies and braking force gradients. Extra high frequency components are eliminated from the estimated braking force gradient by a low pass filter to reduce estimation dispersion. Differentiators detect changing speed of the braking force gradient. An alarm is given when there is a possibility of bursting of tire when the detected changing speed reaches or exceeds a predetermined threshold value.

摘要翻译： 提供一种可以预测轮胎爆裂发生并发生报警的轮胎爆破预测装置。 基于从车轮速度传感器检测到的车轮速度的时间序列数据，根据从路面干扰到车轮速度的传输特性近似的第一阶模型的频率响应来估计断点频率。 基于预先存储的表示断点频率和制动力梯度之间的关系的映射来估计对应于估计的断点频率的制动力梯度。 通过低通滤波器从估计的制动力梯度中消除超高频分量，以减少估计分散。 微分器检测制动力梯度的变化速度。 当检测到的变化速度达到或超过预定阈值时，当存在轮胎爆裂的可能性时，发出报警。

公开(公告)号：US06447076B1

公开(公告)日：2002-09-10

申请号：US09407894

申请日：1999-09-29

申请人： Shoji Ito ,  Eiichi Ono ,  Masaru Sugai ,  Takaji Umeno ,  Katsuhiro Asano ,  Hiroyuki Yamaguchi ,  Satoru Onozawa

发明人： Shoji Ito ,  Eiichi Ono ,  Masaru Sugai ,  Takaji Umeno ,  Katsuhiro Asano ,  Hiroyuki Yamaguchi ,  Satoru Onozawa

IPC分类号： B60T860

CPC分类号： B60T8/172

摘要： A wheel velocity signal for each wheel detected by a wheel velocity sensor is input to a bandpass filter. Signals from frequency bands unrelated to the unsprung resonance are then removed from the wheel velocity signal and only signals from frequency bands related to the unsprung resonance are output. A road surface &mgr; gradient estimation device uses an online identification method to identify an damping ratio of a second order resonance model similar to a suspension—tire resonance model from the signal output from the bandpass filter. The road surface &mgr; gradient is then estimated from the identified damping ratio. The damping ratio of the second order resonance model corresponds to the road surface &mgr; gradient in the following manner: when the damping ratio is identified as being small, the road surface &mgr; gradient is estimated as being large; and when the road surface &mgr; gradient is identified as being large, the damping ratio is estimated as being small.

摘要翻译： 由车轮速度传感器检测到的每个车轮的车轮速度信号被输入到带通滤波器。 然后从不同于簧下共振的频带发出的信号从车轮速度信号中除去，并且仅输出与非簧下共振相关的频带的信号。 路面mu梯度估计装置使用在线识别方法从与带通滤波器输出的信号相似的悬挂轮胎共振模型中识别类似于二次谐振模型的阻尼比。 然后根据所识别的阻尼比估计路面μm梯度。 二次谐振模型的阻尼比以下列方式对应于路面μ0的梯度：当阻尼比被识别为小时，路面μ0的梯度被估计为较大; 并且当路面μm梯度被识别为大时，阻尼比被估计为小。

公开(公告)号：US06591670B1

公开(公告)日：2003-07-15

申请号：US09666137

申请日：2000-09-20

申请人： Takaji Umeno ,  Katsuhiro Asano

发明人： Takaji Umeno ,  Katsuhiro Asano

IPC分类号： G01M1702

CPC分类号： B60C23/061 ,  B60C23/062

摘要： A wheel speed is detected by a wheel speed detecting device, and a wheel speed signal is outputted to a reference value setting device. At the reference value setting device, the wheel speed signal is corrected such that a center of an amplitude of the wheel speed signal becomes a zero reference, and the wheel speed signal is amplified by carrying out a predetermined processing. Further, a selecting device selects, of the wheel speed signals during a predetermined period of time, wheel speed signals whose S/N ratios are poor, which are not to be used. A frequency detecting device judges a tire air pressure state by an air pressure state judging device from a number of times an amplified wheel speed signal crosses the zero reference (a number of times a sign changes).

摘要翻译： 通过车轮速度检测装置检测车轮速度，将车轮速度信号输出到基准值设定装置。 在基准值设定装置中，对车轮速度信号进行校正，使得车轮速度信号的振幅的中心成为零基准，并且通过执行预定的处理来放大车轮速度信号。 此外，选择装置在预定时间段内选择不使用S / N比较差的车轮速度信号的车轮速度信号。 频率检测装置通过空气压力状态判断装置从放大的车轮速度信号越过零参考的次数（符号改变的次数）来判断轮胎空气压力状态。

公开(公告)号：US06522968B1

公开(公告)日：2003-02-18

申请号：US09694681

申请日：2000-10-24

申请人： Shoji Ito ,  Masaki Yamamoto ,  Takaji Umeno ,  Katsuhiro Asano ,  Yasushi Amano ,  Satoru Onozawa ,  Shusaku Fujimoto

发明人： Shoji Ito ,  Masaki Yamamoto ,  Takaji Umeno ,  Katsuhiro Asano ,  Yasushi Amano ,  Satoru Onozawa ,  Shusaku Fujimoto

IPC分类号： B60T800

CPC分类号： B60T8/172 ,  B60T2210/12

摘要： A device for estimating a road friction state in which a friction state of a wheel with respect to a road surface can be estimated accurately. A bandpass filter extracts, from a wheel speed signal detected by a wheel speed detecting unit, a portion of the wheel speed signal in a predetermined range which includes a torsion resonance point at which a frequency is greater than a low frequency regions. A vibration level computing unit computes a vibration level of the wheel speed signal. A road friction state estimating unit estimates the friction state of the wheel with respect to the road surface on the basis of a vibration level computed by the vibration level computing unit and an estimated value of a road &mgr; slope computed by a &mgr; slope computing unit, and on the basis of a relationship between the two determined for each road surface state.

摘要翻译： 能够准确地估计车轮相对于路面的摩擦状态的道路摩擦状态估计装置。 带通滤波器从由车轮速度检测单元检测的车轮速度信号中提取车轮速度信号的一部分在包括频率大于低频区域的扭转共振点的预定范围内。 振动级计算单元计算车轮速度信号的振动水平。 道路摩擦状态估计单元基于由振动级计算单元计算的振动水平和由μ坡度计算单元计算出的道路μa斜率的估计值来估计车轮相对于路面的摩擦状态， 并且基于对于每个路面状态确定的两者之间的关系。