公开(公告)号：US08135524B2

公开(公告)日：2012-03-13

申请号：US12010422

申请日：2008-01-24

申请人： Takeshi Yoneda ,  Keisuke Hosokawa ,  Koichi Inoue ,  Hirowatari Yosuke ,  Tomohiro Yamada ,  Koji Matsuno ,  Masaru Kogure ,  Satoru Akiyama ,  Masato Igarashi ,  Yosuke Morokuma

发明人： Takeshi Yoneda ,  Keisuke Hosokawa ,  Koichi Inoue ,  Hirowatari Yosuke ,  Tomohiro Yamada ,  Koji Matsuno ,  Masaru Kogure ,  Satoru Akiyama ,  Masato Igarashi ,  Yosuke Morokuma

IPC分类号： B60K28/16

CPC分类号： B60W30/18172 ,  B60K23/0808 ,  B60W10/06 ,  B60W10/14 ,  B60W40/064 ,  B60W2510/0604 ,  B60W2510/0638 ,  B60W2510/1005 ,  B60W2510/20 ,  B60W2520/125 ,  B60W2520/14 ,  B60W2520/28 ,  B60W2540/10 ,  B60W2550/148 ,  B60W2710/0666 ,  B60W2720/30

摘要： A driving force control device includes an individual-wheel friction-circle limit-value calculating portion that calculates friction-circle limit-values of individual wheels, an individual-wheel requested-resultant-tire-force calculating portion that calculates requested resultant tire forces of the individual wheels, an individual-wheel resultant-tire-force calculating portion that calculates resultant tire forces of the individual wheels, an individual-wheel requested-excessive-tire-force calculating portion that calculates requested excessive tire forces of the individual wheels, an individual-wheel excessive-tire-force calculating portion that calculates excessive tire forces of the individual wheels, an excessive-tire-force calculating portion that calculates an excessive tire force, an over-torque calculating portion that calculates an over-torque, and a control-amount calculating portion that calculates a control amount that is output to an engine control unit.

摘要翻译： 驱动力控制装置包括计算各个车轮的摩擦圆极限值的单轮摩擦圆限制值计算部，计算要求的轮胎的所需轮胎力的单轮请求结果轮胎力计算部 单个车轮，计算各车轮的合成轮胎力的单轮车轮产生轮胎力计算部，计算出各车轮所要求的过度轮胎力的单轮要求过量轮胎力计算部， 计算各个车轮的过大轮胎力的单轮过轮胎力计算部，计算过大轮胎力的过度轮胎力计算部，计算过转矩的过转矩运算部，以及 控制量计算部，其计算输出到发动机控制单元的控制量。

公开(公告)号：US20080201051A1

公开(公告)日：2008-08-21

申请号：US12010422

申请日：2008-01-24

申请人： Takeshi Yoneda ,  Keisuke Hosokawa ,  Koichi Inoue ,  Hirowatari Yosuke ,  Tomohiro Yamada ,  Koji Matsuno ,  Masaru Kogure ,  Satoru Akiyama ,  Masato Igarashi ,  Yosuke Morokuma

发明人： Takeshi Yoneda ,  Keisuke Hosokawa ,  Koichi Inoue ,  Hirowatari Yosuke ,  Tomohiro Yamada ,  Koji Matsuno ,  Masaru Kogure ,  Satoru Akiyama ,  Masato Igarashi ,  Yosuke Morokuma

IPC分类号： G05D13/66 ,  G01L5/13

CPC分类号： B60W30/18172 ,  B60K23/0808 ,  B60W10/06 ,  B60W10/14 ,  B60W40/064 ,  B60W2510/0604 ,  B60W2510/0638 ,  B60W2510/1005 ,  B60W2510/20 ,  B60W2520/125 ,  B60W2520/14 ,  B60W2520/28 ,  B60W2540/10 ,  B60W2550/148 ,  B60W2710/0666 ,  B60W2720/30

摘要： A driving force control device includes an individual-wheel friction-circle limit-value calculating portion that calculates friction-circle limit-values of individual wheels, an individual-wheel requested-resultant-tire-force calculating portion that calculates requested resultant tire forces of the individual wheels, an individual-wheel resultant-tire-force calculating portion that calculates resultant tire forces of the individual wheels, an individual-wheel requested-excessive-tire-force calculating portion that calculates requested excessive tire forces of the individual wheels, an individual-wheel excessive-tire-force calculating portion that calculates excessive tire forces of the individual wheels, an excessive-tire-force calculating portion that calculates an excessive tire force, an over-torque calculating portion that calculates an over-torque, and a control-amount calculating portion that calculates a control amount that is output to an engine control unit.

摘要翻译： 驱动力控制装置包括计算各个车轮的摩擦圆极限值的单轮摩擦圆限制值计算部，计算要求的轮胎的所需轮胎力的单轮请求结果轮胎力计算部 单个车轮，计算各车轮的合成轮胎力的单轮车轮产生轮胎力计算部，计算出各车轮所要求的过度轮胎力的单轮要求过量轮胎力计算部， 计算各个车轮的过大轮胎力的单轮过轮胎力计算部，计算过大轮胎力的过度轮胎力计算部，计算过转矩的过转矩运算部，以及 控制量计算部，其计算输出到发动机控制单元的控制量。

公开(公告)号：US07761208B2

公开(公告)日：2010-07-20

申请号：US11593629

申请日：2006-11-07

申请人： Koji Matsuno ,  Keisuke Hosokawa ,  Koichi Inoue ,  Shigeo Usui ,  Yuji Kubota ,  Eiji Shibata ,  Hiroyuki Sekiguchi ,  Masaru Kogure

发明人： Koji Matsuno ,  Keisuke Hosokawa ,  Koichi Inoue ,  Shigeo Usui ,  Yuji Kubota ,  Eiji Shibata ,  Hiroyuki Sekiguchi ,  Masaru Kogure

IPC分类号： B60T8/1755 ,  G06F19/00

CPC分类号： B60W10/119 ,  B60T2201/14 ,  B60W10/184 ,  B60W50/038 ,  B60W2520/10 ,  B60W2520/125 ,  B60W2520/14 ,  B60W2720/14

摘要： An adjustment unit identifies a front-rear driving force distribution control unit and a braking force control unit, and calculates based on the current vehicle state, a target yaw moment required for each of the front-rear driving force distribution control unit and braking force control unit. Then, based on the current operating state of each of the control units, a control correction value for each unit is calculated in consideration of the maximum value, and outputted.

摘要翻译： 调整单元识别前后驱动力分配控制单元和制动力控制单元，并且基于当前车辆状态来计算前后驱动力分配控制单元和制动力控制中的每一个所需的目标横摆力矩 单元。 然后，基于各控制单元的当前运行状态，考虑最大值来计算各单位的控制修正值，并输出。

公开(公告)号：US20070112499A1

公开(公告)日：2007-05-17

申请号：US11593629

申请日：2006-11-07

申请人： Koji Matsuno ,  Keisuke Hosokawa ,  Koichi Inoue ,  Shigeo Usui ,  Yuji Kubota ,  Eiji Shibata ,  Hiroyuki Sekiguchi ,  Masaru Kogure

发明人： Koji Matsuno ,  Keisuke Hosokawa ,  Koichi Inoue ,  Shigeo Usui ,  Yuji Kubota ,  Eiji Shibata ,  Hiroyuki Sekiguchi ,  Masaru Kogure

IPC分类号： B60T7/12

CPC分类号： B60W10/119 ,  B60T2201/14 ,  B60W10/184 ,  B60W50/038 ,  B60W2520/10 ,  B60W2520/125 ,  B60W2520/14 ,  B60W2720/14

摘要： An adjustment unit identifies a front-rear driving force distribution control unit and a braking force control unit, and calculates based on the current vehicle state, a target yaw moment required for each of the front-rear driving force distribution control unit and braking force control unit. Then, based on the current operating state of each of the control units, a control correction value for each unit is calculated in consideration of the maximum value, and outputted.

摘要翻译： 调整单元识别前后驱动力分配控制单元和制动力控制单元，并且基于当前车辆状态来计算前后驱动力分配控制单元和制动力控制中的每一个所需的目标横摆力矩 单元。 然后，基于各控制单元的当前运行状态，考虑最大值来计算各单位的控制修正值，并输出。

公开(公告)号：US08234044B2

公开(公告)日：2012-07-31

申请号：US13052503

申请日：2011-03-21

申请人： Koji Matsuno ,  Satoru Akiyama ,  Shinji Matsushita ,  Shiro Ezoe ,  Masaru Kogure ,  Hajime Oyama

发明人： Koji Matsuno ,  Satoru Akiyama ,  Shinji Matsushita ,  Shiro Ezoe ,  Masaru Kogure ,  Hajime Oyama

IPC分类号： B62D6/00

CPC分类号： B62D6/003 ,  B62D5/008

摘要： A steering control section has a first steering angle correction amount calculating section, a second steering angle correction amount calculating section, and a motor rotational angle calculating section. The first correction amount calculating section calculates a first correction amount based on a vehicle speed and an actual steering wheel angle. The second correction amount calculating section calculates a second correction amount through multiplying a control gain corresponding to the vehicle speed with a value calculated by low-pass filtering a differential value of steering wheel angle. The motor rotational angle calculating section calculates a motor rotational angle corresponding to the value adding the first and second steering angle correction amount, and outputs it to a motor driving section so as to drive an electric motor for correcting the steering angle. Thereby, an unstable vehicle behavior due to a resonance of a yaw motion caused in the steering operation can be suppressed.

摘要翻译： 转向控制部具有第一转向角修正量计算部，第二转向角修正量计算部和电动机转动角计算部。 第一校正量计算部基于车速和实际方向盘角度来计算第一校正量。 第二校正量计算部分通过将与车速相对应的控制增益乘以通过对方向盘角度的差分值进行低通滤波而计算的值来计算第二校正量。 马达旋转角度计算部分计算与增加第一和第二转向角校正量的值相对应的马达旋转角度，并将其输出到马达驱动部分，以驱动用于校正转向角的电动马达。 由此，可以抑制由于在转向操作中引起的偏航运动的共振引起的不稳定的车辆行为。

公开(公告)号：US20070039775A1

公开(公告)日：2007-02-22

申请号：US11477347

申请日：2006-06-30

申请人： Koji Matsuno ,  Satoru Akiyama ,  Shinji Matsushita ,  Shiro Ezoe ,  Masaru Kogure ,  Hajime Oyama

发明人： Koji Matsuno ,  Satoru Akiyama ,  Shinji Matsushita ,  Shiro Ezoe ,  Masaru Kogure ,  Hajime Oyama

IPC分类号： B62D5/04

CPC分类号： B62D6/003 ,  B62D5/008

摘要： A steering control section has a first steering angle correction amount calculating section, a second steering angle correction amount calculating section, and a motor rotational angle calculating section. The first correction amount calculating section calculates a first correction amount based on a vehicle speed and an actual steering wheel angle. The second correction amount calculating section calculates a second correction amount through multiplying a control gain corresponding to the vehicle speed with a value calculated by low-pass filtering a differential value of steering wheel angle. The motor rotational angle calculating section calculates a motor rotational angle corresponding to the value adding the first and second steering angle correction amount, and outputs it to a motor driving section so as to drive an electric motor for correcting the steering angle. Thereby, an unstable vehicle behavior due to a resonance of a yaw motion caused in the steering operation can be suppressed.

摘要翻译： 转向控制部具有第一转向角修正量计算部，第二转向角修正量计算部和电动机转动角计算部。 第一校正量计算部基于车速和实际方向盘角度来计算第一校正量。 第二校正量计算部分通过将与车速相对应的控制增益乘以通过对方向盘角度的差分值进行低通滤波而计算的值来计算第二校正量。 马达旋转角度计算部分计算与增加第一和第二转向角校正量的值相对应的马达旋转角度，并将其输出到马达驱动部分，以驱动用于校正转向角的电动马达。 由此，可以抑制由于在转向操作中引起的偏航运动的共振引起的不稳定的车辆行为。

公开(公告)号：US07931113B2

公开(公告)日：2011-04-26

申请号：US11477347

申请日：2006-06-30

申请人： Koji Matsuno ,  Satoru Akiyama ,  Shinji Matsushita ,  Shiro Ezoe ,  Masaru Kogure ,  Hajime Oyama

发明人： Koji Matsuno ,  Satoru Akiyama ,  Shinji Matsushita ,  Shiro Ezoe ,  Masaru Kogure ,  Hajime Oyama

IPC分类号： B62D5/04

CPC分类号： B62D6/003 ,  B62D5/008

摘要： A steering control section has a first steering angle correction amount calculating section, a second steering angle correction amount calculating section, and a motor rotational angle calculating section. The first correction amount calculating section calculates a first correction amount based on a vehicle speed and an actual steering wheel angle. The second correction amount calculating section calculates a second correction amount through multiplying a control gain corresponding to the vehicle speed with a value calculated by low-pass filtering a differential value of steering wheel angle. The motor rotational angle calculating section calculates a motor rotational angle corresponding to the value adding the first and second steering angle correction amount, and outputs it to a motor driving section so as to drive an electric motor for correcting the steering angle. Thereby, an unstable vehicle behavior due to a resonance of a yaw motion caused in the steering operation can be suppressed.

摘要翻译： 转向控制部具有第一转向角修正量计算部，第二转向角修正量计算部和电动机转动角计算部。 第一校正量计算部基于车速和实际方向盘角度来计算第一校正量。 第二校正量计算部分通过将与车速相对应的控制增益乘以通过对方向盘角度的差分值进行低通滤波而计算的值来计算第二校正量。 马达旋转角度计算部分计算与增加第一和第二转向角校正量的值相对应的马达旋转角度，并将其输出到马达驱动部分，以驱动用于校正转向角的电动马达。 由此，可以抑制由于在转向操作中引起的偏航运动的共振引起的不稳定的车辆行为。

公开(公告)号：US08244432B2

公开(公告)日：2012-08-14

申请号：US12081245

申请日：2008-04-11

申请人： Masaru Kogure ,  Koji Matsuno ,  Takeshi Yoneda

发明人： Masaru Kogure ,  Koji Matsuno ,  Takeshi Yoneda

IPC分类号： B62D6/00

CPC分类号： B60W40/068 ,  B60W2510/202

摘要： A road-surface friction-coefficient estimating device compares a rack-thrust-force deviation value with a preliminarily set maximum-value-determination threshold value. If the rack-thrust-force deviation value is above the maximum-value-determination threshold value, the device determines that tires are slipping, and sets a front-wheel friction-circle utilization rate in that state as a road-surface friction coefficient. If the rack-thrust-force deviation value is below the maximum-value-determination threshold value, the device refers to a preliminarily set map to determine a restoring speed at which the road-surface friction coefficient is to be restored to 1.0 based on a vehicle speed and a front-wheel slip angle. While restoring the road-surface friction coefficient at the restoring speed, the device calculates and outputs the road-surface friction coefficient.

摘要翻译： 路面摩擦系数估计装置将机架推力偏差值与预先设定的最大值判定阈值进行比较。 如果齿条推力偏差值超过最大值判定阈值，则判断为轮胎滑动，并将该轮胎摩擦圆利用率设定为路面摩擦系数。 如果齿条推力偏差值低于最大值判定阈值，则该装置参照预先设定的地图，以基于以下方式确定路面摩擦系数为1.0的恢复速度 车速和前轮滑移角。 在恢复速度下恢复路面摩擦系数的同时，该装置计算并输出路面摩擦系数。

公开(公告)号：US20080262692A1

公开(公告)日：2008-10-23

申请号：US12081245

申请日：2008-04-11

申请人： Masaru Kogure ,  Koji Matsuno ,  Takeshi Yoneda

发明人： Masaru Kogure ,  Koji Matsuno ,  Takeshi Yoneda

IPC分类号： G06F7/00

CPC分类号： B60W40/068 ,  B60W2510/202

摘要： A road-surface friction-coefficient estimating device compares a rack-thrust-force deviation value with a preliminarily set maximum-value-determination threshold value. If the rack-thrust-force deviation value is above the maximum-value-determination threshold value, the device determines that tires are slipping, and sets a front-wheel friction-circle utilization rate in that state as a road-surface friction coefficient. If the rack-thrust-force deviation value is below the maximum-value-determination threshold value, the device refers to a preliminarily set map to determine a restoring speed at which the road-surface friction coefficient is to be restored to 1.0 based on a vehicle speed and a front-wheel slip angle. While restoring the road-surface friction coefficient at the restoring speed, the device calculates and outputs the road-surface friction coefficient.

摘要翻译： 路面摩擦系数估计装置将机架推力偏差值与预先设定的最大值判定阈值进行比较。 如果齿条推力偏差值超过最大值判定阈值，则判断为轮胎滑动，并将该轮胎摩擦圆利用率设定为路面摩擦系数。 如果齿条推力偏差值低于最大值判定阈值，则该装置参照预先设定的地图，以基于以下方式确定路面摩擦系数为1.0的恢复速度 车速和前轮滑移角。 在恢复速度下恢复路面摩擦系数的同时，该装置计算并输出路面摩擦系数。

公开(公告)号：US07373236B2

公开(公告)日：2008-05-13

申请号：US10864820

申请日：2004-06-10

申请人： Koji Matsuno ,  Masaru Kogure

发明人： Koji Matsuno ,  Masaru Kogure

IPC分类号： G05D1/00

CPC分类号： B60W40/09 ,  B60T8/1755 ,  B60T2260/06 ,  B60W30/045 ,  B60W2040/1307

摘要： Steering stability of a vehicle under a traveling state such as cornering is enhanced by controlling a state of the vehicle based on cornering powers of right and left wheels. A detecting unit 1 detects action force containing longitudinal force Fx, lateral force Fy and vertical force Fz which act on each wheel. A specifying unit 2 specifies a friction coefficient between the wheels and road surface. An estimating unit 6 estimates cornering power ka of each wheel based on the action force and the friction coefficient. A processing unit 7 determines control values so that the representative value ka_ave of the cornering powers concerning the right and left wheels is larger than the present value of the representative value ka_ave of the cornering powers concerning the right and left wheels. Controlling units 8 to 10 control the state of the vehicle based on the control values thus determined.

摘要翻译： 基于左右车轮的转弯力控制车辆的状态来提高车辆在转弯等行驶状态下的转向稳定性。 检测单元1检测作用在每个车轮上的作用力，该作用力包含纵向力Fx，横向力Fy和垂直力Fz。 指定单元2指定车轮和路面之间的摩擦系数。 估计单元6基于作用力和摩擦系数来估计每个车轮的转弯功率ka。 处理单元7确定控制值，使得关于左右车轮的转弯力的代表值ka_ave大于关于左右车轮的转弯力的代表值ka_ave的当前值。 控制单元8至10基于由此确定的控制值来控制车辆的状态。