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    Vehicle co-operative control system
    2.
    发明授权
    Vehicle co-operative control system 有权
    车辆合作控制系统

    公开(公告)号：US06597975B1

    公开(公告)日：2003-07-22

    申请号：US09521623

    申请日：2000-03-08

    申请人： Tomoyuki Shinmura ,  Hiromi Inagaki ,  Masakatsu Hori ,  Tatsuhiro Tomari ,  Shinji Ohkuma ,  Akihiro Iwazaki ,  Yasuji Shibahata

    发明人： Tomoyuki Shinmura ,  Hiromi Inagaki ,  Masakatsu Hori ,  Tatsuhiro Tomari ,  Shinji Ohkuma ,  Akihiro Iwazaki ,  Yasuji Shibahata

    IPC分类号： B62D600

    CPC分类号： B62D9/002 ,  B62D5/0472

    摘要： A vehicle co-operative control system is provided which suppresses the torque steer phenomenon by co-operatively controlling a driving force and/or braking force distribution device and an electric power steering device without changing the control device of the electric power steering device for a vehicle having a specification in which the co-operative control is not carried out or with the introduction of only a minimal change. The control device can also be applied to a vehicle having a specification in which the co-operative control is carried out. In order to achieve this, the steering torque detected by the steering torque detecting device is input into a corrected steering torque calculating device of a first electronic control unit for controlling the driving force and/or braking force distribution device and a corrected steering torque which has been calculated in the corrected steering torque calculating device is input into the second electronic control unit for controlling the electric power steering device. The second electronic control unit controls the electric power steering device based on the corrected steering torque and thus the torque steer phenomenon caused by the driving force and/or braking force distribution device is suppressed.

    摘要翻译： 提供了一种车辆协同控制系统，其通过在不改变车辆用电动力转向装置的控制装置的情况下协同控制驱动力和/或制动力分配装置和电动助力转向装置来抑制扭矩转向现象 具有不执行合作控制或只引入最小变化的规格。 控制装置也可以应用于执行合作控制的规格的车辆。 为了实现这一点，将由转向转矩检测装置检测出的转向转矩输入到用于控制驱动力和/或制动力分配装置的第一电子控制单元的修正转向转矩计算装置和具有 在修正后的转向转矩计算装置中计算出的电力被输入到用于控制电动助力转向装置的第二电子控制单元。 第二电子控制单元基于修正的转向转矩来控制电动助力转向装置，从而抑制由驱动力和/或制动力分配装置引起的转矩转向现象。

    Yaw moment control process and apparatus for a vehicle
    3.
    发明授权
    Yaw moment control process and apparatus for a vehicle 失效
    用于车辆的偏转力矩控制过程和装置

    公开(公告)号：US06059067A

    公开(公告)日：2000-05-09

    申请号：US857563

    申请日：1997-05-16

    申请人： Yasuji Shibahata ,  Atsushi Mori ,  Katsuhiro Kitamura ,  Kenji Honda ,  Nobuharu Kuriki ,  Shinji Ohkuma

    发明人： Yasuji Shibahata ,  Atsushi Mori ,  Katsuhiro Kitamura ,  Kenji Honda ,  Nobuharu Kuriki ,  Shinji Ohkuma

    IPC分类号： B60K23/04 ,  B60T8/1755 ,  B62D37/00 ,  F16D48/12 ,  B60K17/00

    CPC分类号： B60T8/17555 ,  B60K23/04 ,  B60W40/11 ,  B60W40/112 ,  B60W40/114 ,  B62D37/00 ,  B60W2520/125 ,  B60W2520/14

    摘要： A feed-forward control section controls, in a feed-forward manner, left and right hydraulic clutches C.sub.L and C.sub.R of a driving force distributing device by presuming such a driving force distribution amount .DELTA.T that a yaw rate corresponding to a turning state of a vehicle is obtained, based on an engine torque, an engine revolution-number, a vehicle speed, a steering angle and a lateral acceleration. On the other hand, a feedback control section calculates a deviation between a reference yaw rate calculated from the vehicle speed and the lateral acceleration and an actual yaw rate detected by a yaw rate sensor, and corrects the driving force distribution amount .DELTA.T calculating in the driving force distributing device in order to converge the deviation into zero. Therefore, even if the driving force distribution amount becomes excessive due to the feed-forward control to produce an over-steering tendency in the vehicle, this over-steering tendency can be eliminated by the feedback control to stabilize the behavior of the vehicle.

    摘要翻译： 前馈控制部通过将这样的驱动力分配量DELTA T设定为对应于转向状态的横摆率，以前馈方式控制驱动力分配装置的左右液压离合器CL和CR 基于发动机扭矩，发动机转数，车速，转向角和横向加速度获得车辆。 另一方面，反馈控制部分计算从车速计算的参考横摆角速度与横向加速度之间的偏差和由横摆率传感器检测到的实际横摆角速度之间的偏差，并且校正驱动力分布量DELTA T 驱动力分配装置，以将偏差收敛到零。 因此，即使驱动力分配量由于前馈控制而变得过大，从而在车辆中产生过度转向倾向，也可以通过反馈控制来消除车辆的过度转向倾向，以稳定车辆的行为。

    Front and rear road wheel drive apparatus for motor vehicle
    4.
    发明授权
    Front and rear road wheel drive apparatus for motor vehicle 失效
    机动车前后轮驱动装置

    公开(公告)号：US5279384A

    公开(公告)日：1994-01-18

    申请号：US913989

    申请日：1992-07-17

    申请人： Yasuji Shibahata ,  Shinji Ohkuma

    发明人： Yasuji Shibahata ,  Shinji Ohkuma

    IPC分类号： B60K17/348 ,  B60K23/08 ,  B60K17/344

    CPC分类号： B60K17/348 ,  B60K17/35 ,  B60K23/0808 ,  B60K2023/043 ,  B60K2023/0866 ,  Y02T10/84 ,  Y10T74/19074

    摘要： A motor vehicle has a pair of main drive road wheels, a pair of auxiliary drive road wheels, and a differential disposed between the auxiliary drive road wheels, the main and auxiliary drive road wheels serving as the front and rear road wheels of the motor vehicle. An apparatus for driving the front and rear road wheels includes a speed increasing device disposed in a power transmission path leading to the differential between the auxiliary drive road wheels, detecting means for detecting a speed of travel of the motor vehicle and a steering variable, and control member for enabling the speed increasing device by predicting a turn of the motor vehicle based on the detected speed and the detected steering variable.

    摘要翻译： 机动车辆具有一对主驱动车轮，一对辅助驱动车轮和配置在辅助驱动车轮之间的差速器，作为机动车辆的前后车轮的主驱动路车 。 用于驱动前轮和后轮的装置包括：增速装置，其设置在通向辅助驱动车轮之间的差动的动力传递路径中，用于检测机动车辆的行驶速度的检测装置和转向变量;以及 控制构件，用于通过基于检测到的速度和检测到的转向变量预测机动车辆的转弯来实现增速装置。

    Drive force control method for four-wheel drive vehicle
    5.
    发明申请
    Drive force control method for four-wheel drive vehicle 有权
    四轮驱动车辆的驱动力控制方法

    公开(公告)号：US20050217921A1

    公开(公告)日：2005-10-06

    申请号：US11093151

    申请日：2005-03-30

    申请人： Atsushi Mori ,  Yasuji Shibahata

    发明人： Atsushi Mori ,  Yasuji Shibahata

    IPC分类号： B60K17/348 ,  B60K17/35 ,  B60K23/08 ,  F16H59/00

    CPC分类号： B60K17/35 ,  B60K23/0808 ,  B60W2520/125 ,  B60W2520/14 ,  B60W2710/105

    摘要： A drive force control method for a four-wheel drive vehicle including a torque distributing mechanism capable of changing a drive force distribution ratio between front and rear wheels and a drive force distribution ratio between right and left front wheels or between right and left rear wheels. This method includes the steps of increasing the drive force distribution ratio of the rear wheels to the front wheels according to an increase in absolute value of a lateral G signal, and increasing the drive force distribution ratio of a turning outer wheel as one of the right and left front wheels or one of the right and left rear wheels to a turning inner wheel as the other. A lateral G sensor signal is corrected by an estimated lateral G signal calculated according to a steering angle and a vehicle speed to obtain a control lateral G signal, which is used as the lateral G signal.

    摘要翻译： 一种用于四轮驱动车辆的驱动力控制方法，其包括能够改变前轮和后轮之间的驱动力分配比的扭矩分配机构和左右前轮之间或左右后轮之间的驱动力分配比。 该方法包括根据横向G信号的绝对值的增加来增加后轮与前轮的驱动力分配比率的步骤，并且将转向外轮的驱动力分配比提高为右侧 并且将前轮或左右后轮中的一个左右彼此分离成转向内轮。 横向G传感器信号通过根据转向角和车速计算出的估计横向G信号来校正，以获得用作横向G信号的控制横向G信号。

    Method and system for computing a vehicle body slip angle in a vehicle movement control
    6.
    发明授权
    Method and system for computing a vehicle body slip angle in a vehicle movement control 失效
    用于在车辆运动控制中计算车身滑移角的方法和系统

    公开(公告)号：US06233513B1

    公开(公告)日：2001-05-15

    申请号：US09192894

    申请日：1998-11-17

    申请人： Yoshimi Furukawa ,  Yasuji Shibahata ,  Masato Abe

    发明人： Yoshimi Furukawa ,  Yasuji Shibahata ,  Masato Abe

    IPC分类号： G06F700

    CPC分类号： B62D6/04 ,  B60T2230/02

    摘要： Provided are a method and system for computing a vehicle body slip angle in the vehicle movement control so as to allow the vehicle movement to be controlled with an adequate response and stability for practical purposes even without directly detecting or accurately estimating the frictional coefficient between the road surface and the tire. A tire slip angle is computed from a yaw rate, a vehicle speed, a vehicle body slip angle and a road wheel steering angle; a cornering force is computed from a dynamic model of the tire by taking into account at least the tire slip angle; and a hypothetical vehicle body slip angle is computed from the cornering force, the vehicle speed and the yaw rate; the tire slip angle being computed by feeding back the hypothetical vehicle body slip angle in a recursive manner.

    摘要翻译： 提供了一种用于在车辆运动控制中计算车体滑动角度的方法和系统，以便即使在不直接检测或精确地估计道路之间的摩擦系数的情况下，也可以以适当的响应和稳定性来控制车辆运动 表面和轮胎。 从偏航率，车速，车体滑移角和车轮转向角计算轮胎滑移角; 通过考虑至少轮胎滑移角度，从轮胎的动态模型计算出转弯力; 并且从转弯力，车速和横摆率计算出假想的车体滑移角; 通过以递归的方式反馈假想车身滑移角来计算轮胎滑移角。

    Suspension system for steered wheels in vehicle
    7.
    发明授权
    Suspension system for steered wheels in vehicle 失效
    车辆转向轮悬架系统

    公开(公告)号：US5896941A

    公开(公告)日：1999-04-27

    申请号：US747089

    申请日：1996-11-13

    申请人： Hajime Kajiwara ,  Yasuji Shibahata

    发明人： Hajime Kajiwara ,  Yasuji Shibahata

    IPC分类号： B60G3/18 ,  B60G3/20 ,  B60K17/16

    CPC分类号： B60G3/20

    摘要： A suspension system for the steered wheels of a vehicle include knuckles, the lower portions of which are pivotally supported at tip ends of a lower arm and a radius rod through two ball joints. Each of the steered wheels is steered about a phantom king pin axis passing through an intersection a of extensions of the lower arm and the radius rod so that, during clockwise turning of the vehicle, the point a of an outer wheel during turning of the vehicle is little moved, but the point a of an inner wheel during turning of the vehicle is moved inwards of a vehicle body through a distance .alpha..sub.R whereby a distance between a ground point of the inner wheel and the phantom king pin axis is larger than a distance between a ground point of the outer wheel and the phantom king pin axis and, hence, left and right steering moments generated by driving forces of the left and right steered wheels are countervailed with each other, whereby the generation of unnecessary steering moments is prevented as a whole.

    摘要翻译： 用于车辆转向轮的悬挂系统包括转向节，转向节通过两个球形接头枢转地支撑在下臂的前端和半径杆上。 每个转向轮围绕幻影主销轴线转向，通过下臂和半径杆的延伸部分的相交处，使得在车辆的顺时针转动期间，在车辆转动期间外轮的点a 但是在车辆转动期间内轮的点a从车身向内移动距离αR，从而内轮的接地点和幻影主销轴之间的距离大于 外轮的地面点与幻影主销轴线之间的距离以及左右转向轮的驱动力产生的左右转向力矩相互抵消，从而防止产生不必要的转向力矩 作为一个整体。

    Drive force distribution control system for four-wheel drive motor vehicle
    10.
    发明授权
    Drive force distribution control system for four-wheel drive motor vehicle 失效
    四轮驱动汽车驱动力分配控制系统

    公开(公告)号：US4889204A

    公开(公告)日：1989-12-26

    申请号：US259680

    申请日：1988-10-19

    申请人： Kunitaka Furuya ,  Yasuji Shibahata

    发明人： Kunitaka Furuya ,  Yasuji Shibahata

    IPC分类号： B60K17/348 ,  B60K23/08

    CPC分类号： B60K23/0808

    摘要： A drive force distribution control system in a four-wheel drive motor vehicle for distributing drive forces from an engine of the motor vehicle to first and second wheels of the motor vehicle includes drive force distributing means for distributing and transmitting the drive forces to the first and second wheels, first speed detecting means for detecting a rotational speed (Nf) of the first wheel, second speed detecting means for detecting a rotational speed (Nr) of the second wheel, torque detecting means for detecting a torque (Tr) transmitted to the second wheel, and control means for controlling the drive force distributing means. The control means for calculating a slip ratio (S) of the second wheel to a road on which the motor vehicle is running based on the rotational speeds of the first and second wheels, calculating a ratio (Tr/S) between the torque (Tr) and the slip ratio (S), determining a distribution ratio between the drive forces to be distributed to the first and second wheels based on the ratio between the torque and the slip ratio, and controlling the drive force distributing means to distribute and transmit the drive forces to the first and second wheels according to the distribution ratio.