公开(公告)号：US08688327B2

公开(公告)日：2014-04-01

申请号：US13387589

申请日：2010-08-02

申请人： Theerawat Limpibunterng ,  Takahiro Kojo ,  Hirofumi Nitta ,  Shoji Asai

发明人： Theerawat Limpibunterng ,  Takahiro Kojo ,  Hirofumi Nitta ,  Shoji Asai

IPC分类号： A01B69/00 ,  B62D6/00 ,  B62D11/00 ,  B62D12/00 ,  B63G8/20 ,  B63H25/04 ,  G05D1/00 ,  G06F7/00 ,  G06F17/00

CPC分类号： B62D1/286 ,  B62D5/008 ,  B62D15/025

摘要： A driving support apparatus of a vehicle supports driving of the vehicle, the vehicle includes a rudder angle varying device capable of changing a relative relation between a steering angle and a rudder angle. The driving support apparatus includes a following control device for controlling the rudder angle varying device such that the vehicle follows a target driving route; a steering angle specifying device for specifying the steering angle; and a judging device for judging whether or not overriding performed by a driver takes place on the basis of the specified steering angle and a reference steering angle which is the steering angle in making the vehicle follow the target driving route. The following control device stops the vehicle following for the target driving route if it is judged that the overriding takes place.

摘要翻译： 车辆的驾驶辅助装置支撑车辆的行驶，车辆包括能够改变转向角和方向舵角之间的相对关系的方向舵角度变化装置。 驾驶辅助装置包括用于控制舵角变化装置的后续控制装置，使得车辆遵循目标驾驶路线; 用于指定转向角的转向角指定装置; 以及判断装置，用于基于指定的转向角和作为使车辆跟随目标行驶路线的转向角的基准转向角来判断是否进行驾驶员的超驰。 如果判定出现超限，则下列控制装置停止目标驾驶路线的车辆跟随。

公开(公告)号：US20120123643A1

公开(公告)日：2012-05-17

申请号：US13387589

申请日：2010-08-02

申请人： Theerawat Limpibuntering ,  Takahiro Kojo ,  Hirofumi Nitta ,  Shoji Asai

发明人： Theerawat Limpibuntering ,  Takahiro Kojo ,  Hirofumi Nitta ,  Shoji Asai

IPC分类号： B62D6/00

CPC分类号： B62D1/286 ,  B62D5/008 ,  B62D15/025

摘要： A driving support apparatus of a vehicle supports driving of the vehicle, the vehicle includes a rudder angle varying device capable of changing a relative relation between a steering angle and a rudder angle. The driving support apparatus includes a following control device for controlling the rudder angle varying device such that the vehicle follows a target driving route; a steering angle specifying device for specifying the steering angle; and a judging device for judging whether or not overriding performed by a driver takes place on the basis of the specified steering angle and a reference steering angle which is the steering angle in making the vehicle follow the target driving route. The following control device stops the vehicle following for the target driving route if it is judged that the overriding takes place.

摘要翻译： 车辆的驾驶辅助装置支撑车辆的行驶，车辆包括能够改变转向角和方向舵角之间的相对关系的方向舵角度变化装置。 驾驶辅助装置包括用于控制舵角变化装置的后续控制装置，使得车辆遵循目标驾驶路线; 用于指定转向角的转向角指定装置; 以及判断装置，用于基于指定的转向角和作为使车辆跟随目标行驶路线的转向角的基准转向角来判断是否进行驾驶员的超驰。 如果判定出现超限，则下列控制装置停止目标驾驶路线的车辆跟随。

公开(公告)号：US08229629B2

公开(公告)日：2012-07-24

申请号：US12441433

申请日：2007-09-14

申请人： Theerawat Limpibunterng ,  Takahiro Kojo

发明人： Theerawat Limpibunterng ,  Takahiro Kojo

IPC分类号： A01B69/00

CPC分类号： B62D5/0463 ,  B62D5/0496 ,  Y10T477/6395

摘要： A vehicle steering control system that controls the operation of an electric vehicle steering device, which applies a steering assist force to a steering mechanism via a gear mechanism and includes: a temperature estimating section for estimating the temperature of or around the gear mechanism; and a correcting section for correcting the steering assist force according to the estimated gear temperature.

摘要翻译： 一种控制电动车辆转向装置的操作的车辆转向控制系统，该电动车辆转向装置通过齿轮机构向转向机构施加转向辅助力，并且包括：温度估计部，用于估计齿轮机构的温度或周围; 以及校正部，用于根据估计的齿轮温度来校正转向辅助力。

公开(公告)号：US09321480B2

公开(公告)日：2016-04-26

申请号：US13811697

申请日：2011-06-01

申请人： Yoshiaki Suzuki ,  Theerawat Limpibunterng ,  Toru Takashima ,  Takahiro Kojo ,  Taro Hirose ,  Yoshiaki Tsuchiya ,  Masahiro Miyata ,  Susumu Fujii

发明人： Yoshiaki Suzuki ,  Theerawat Limpibunterng ,  Toru Takashima ,  Takahiro Kojo ,  Taro Hirose ,  Yoshiaki Tsuchiya ,  Masahiro Miyata ,  Susumu Fujii

IPC分类号： B62D6/00 ,  B62D5/00 ,  B62D5/04 ,  B62D7/15

CPC分类号： B62D6/00 ,  B62D5/008 ,  B62D5/0481 ,  B62D7/159

摘要： A vehicle steering control apparatus (100) in a vehicle (10), which is provided with: a steering system including at least a rudder angle varying device (400, 700) capable of changing a relation between a steering angle, which is a rotation angle of a steering wheel (12), and a rudder angle of steered wheels and a steering torque assisting device (500) capable of assisting a driver steering torque; and a power supply source (800) for supplying electric power to the steering system, is provided with: a limiting device for limiting electric current consumption of the steering torque assisting device if a consumption current value of the steering system is greater than a maximum allowable current value in a case where supply capacity of supplying an electric current in the power supply source is reduced with respect to a reference; and a controlling device for matching a neutral position of the steering wheel with a neutral position of the steered wheels in a situation in which the electric current consumption of the steering torque assisting device is limited.

摘要翻译： 一种车辆（10）中的车辆转向控制装置（100），其设置有：至少包括舵角变化装置（400,700）的转向系统，其能够改变作为旋转的转向角 方向盘（12）的角度以及转向轮的方向舵角度和能够辅助驾驶员转向转矩的转向转矩辅助装置（500）; 以及用于向转向系统供电的供电源（800）设置有限制装置，用于限制转向系统的消耗电流值大于最大允许值的转向助力装置的电流消耗 在供电源供给电力相对于基准的情况下减小电流值的电流值; 以及用于在转向转矩辅助装置的电流消耗受到限制的情况下将方向盘的空档位置与转向轮的空档位置相匹配的控制装置。

公开(公告)号：US07743875B2

公开(公告)日：2010-06-29

申请号：US12179638

申请日：2008-07-25

申请人： Kenichirou Hidaka ,  Junko Hidaka, legal representative ,  Nobuhiko Makino ,  Takahiro Kojo ,  Theerawat Limpibunterng

发明人： Kenichirou Hidaka ,  Nobuhiko Makino ,  Takahiro Kojo ,  Theerawat Limpibunterng

IPC分类号： B62D5/04

CPC分类号： B62D5/049 ,  B62D5/008

摘要： A power steering apparatus has a steering power assisting system coupled to tire wheels and a variable gear transfer system coupled to a steering wheel. The steering power assisting system includes a torsion bar rotation sensor and a first actuator rotation sensor to calculate a first pinion angle and a second pinion angle based on the detected rotation angles, respectively. The variable gear transfer system includes a steering sensor and a second actuator rotation sensor to calculate a third pinion angle based on the detected rotation angles. Sensor failure is detected by comparing the calculated first, second and third pinion angles.

摘要翻译： 动力转向装置具有耦合到轮胎车轮的转向助力系统和耦合到方向盘的可变齿轮传动系统。 转向助力系统包括扭杆旋转传感器和第一致动器旋转传感器，以分别基于检测到的旋转角度来计算第一小齿轮角度和第二小齿轮角度。 可变齿轮传动系统包括转向传感器和第二致动器旋转传感器，用于基于检测到的旋转角度来计算第三小齿轮角度。 通过比较计算的第一，第二和第三小齿轮角度来检测传感器故障。

公开(公告)号：US20090276121A1

公开(公告)日：2009-11-05

申请号：US12441433

申请日：2007-09-14

申请人： Theerawat Limpibunterng ,  Takahiro Kojo

发明人： Theerawat Limpibunterng ,  Takahiro Kojo

IPC分类号： B62D6/00

CPC分类号： B62D5/0463 ,  B62D5/0496 ,  Y10T477/6395

摘要： A vehicle steering control system that controls the operation of an electric vehicle steering device, which applies a steering assist force to a steering mechanism via a gear mechanism and includes: a temperature estimating section for estimating the temperature of or around the gear mechanism; and a correcting section for correcting the steering assist force according to the estimated gear temperature.

摘要翻译： 一种控制电动车辆转向装置的操作的车辆转向控制系统，该电动车辆转向装置通过齿轮机构向转向机构施加转向辅助力，并且包括：温度估计部，用于估计齿轮机构的温度或周围; 以及校正部，用于根据估计的齿轮温度来校正转向辅助力。

公开(公告)号：US08565976B2

公开(公告)日：2013-10-22

申请号：US12738092

申请日：2008-11-19

申请人： Takahiro Kojo ,  Theerawat Limpibunterng

发明人： Takahiro Kojo ,  Theerawat Limpibunterng

IPC分类号： B62D6/00

CPC分类号： B60T8/1755 ,  B60W10/18 ,  B60W10/20 ,  B60W30/045 ,  B60W40/11 ,  B60W40/112 ,  B60W40/114 ,  B60W50/12 ,  B62D5/0481 ,  B62D6/003

摘要： An object of the present invention is to cover a drop in turning responsiveness of a vehicle to a driver's steering operation caused by a limit on the operating speed of a steerable wheel turning unit by a turn assist yaw moment independent of turn lateral forces of steerable wheels to thereby prevent the drop in turning responsiveness of the vehicle when the operating speed of the steerable wheel turning unit is limited. A vehicle travel control device comprises a steerable wheel turning unit capable of turning steerable wheels to steer independently of steering of a driver and a braking unit as a turn assist yaw moment generating means capable of generating a turn assist yaw moment independently of turn lateral forces of the steerable wheels. When a predetermined controlled variable limiting condition is established and the controlled variable of the steerable wheel turning unit is limited, the influence of limiting the controlled variable of the steerable wheel turning unit on the turn yaw moment of the vehicle can be reduced by changing braking forces of individual wheels and generating a yaw moment by differences in braking force between left and right wheels.

摘要翻译： 本发明的目的是通过转向辅助横摆力矩来限制车辆对驾驶员的转向操作的转向响应的下降，这是由于转向辅助横摆力矩的限制而导致的，而转向辅助横摆力矩与转向轮的转向横向力无关 从而能够防止在转向车轮转向单元的运转速度受限时车辆的转向响应性下降。 车辆行驶控制装置包括可转向的车轮转向单元，其能够转向可转向的车轮以独立于驾驶员和制动单元的转向而转向，作为转向辅助横摆力矩产生装置，其能够独立于产生转向辅助横摆力矩， 可转向的轮子。 当建立了预定的受控变量限制条件并且限制可转向车轮转向单元的控制变量时，可以通过改变制动力来减小限制可转向车轮转向单元的受控变量对车辆的转弯横摆力矩的影响 并且通过左右轮之间的制动力的差异产生偏航力矩。

公开(公告)号：US20130177211A1

公开(公告)日：2013-07-11

申请号：US13820030

申请日：2011-09-26

申请人： Akihiro Watanabe ,  Takahiro Kojo ,  Theerawat Limpibunterng ,  Yoshiaki Tsuchiya

发明人： Akihiro Watanabe ,  Takahiro Kojo ,  Theerawat Limpibunterng ,  Yoshiaki Tsuchiya

IPC分类号： G06K9/32

CPC分类号： G06K9/3241 ,  G06K9/00798 ,  G06T7/73 ,  G06T7/77 ,  G06T2207/10016 ,  G06T2207/30244 ,  G06T2207/30256

摘要： A characteristic point extraction section acquires an image captured by an image capture device and extracts characteristic points from the captured image, a vehicle lane boundary point selection section selects vehicle lane boundary points that indicate vehicle lanes from the extracted characteristic points, a distribution determination section determines the distribution of the vehicle lane boundary points, a system noise setting section sets each system noise based on the distribution of vehicle lane boundary points, and a travel path parameter estimation section stably predicts travel path parameters based on the vehicle lane boundary points, past estimation results, and the system noise that has been set.

摘要翻译： 特征点提取部获取由图像拍摄装置拍摄的图像，并从拍摄图像中提取特征点，车道边界点选择部从所提取的特征点中选择表示车道的车道边界点，分配确定部确定 车道边界点的分布，系统噪声设定部根据车道边界点的分布设定各个系统噪声，行驶路径参数推定部基于车道边界点来稳定地预测行驶路径参数，过去的估计 结果，以及已经设置的系统噪声。

公开(公告)号：US20130124045A1

公开(公告)日：2013-05-16

申请号：US13811697

申请日：2011-06-01

申请人： Yoshiaki Suzuki ,  Theerawat Limpibunterng ,  Toru Takashima ,  Takahiro Kojo ,  Taro Hirose ,  Yoshiaki Tsuchiya ,  Masahiro Miyata ,  Susumu Fujii

发明人： Yoshiaki Suzuki ,  Theerawat Limpibunterng ,  Toru Takashima ,  Takahiro Kojo ,  Taro Hirose ,  Yoshiaki Tsuchiya ,  Masahiro Miyata ,  Susumu Fujii

IPC分类号： B62D6/00

CPC分类号： B62D6/00 ,  B62D5/008 ,  B62D5/0481 ,  B62D7/159

摘要： A vehicle steering control apparatus (100) in a vehicle (10), which is provided with: a steering system including at least a rudder angle varying device (400, 700) capable of changing a relation between a steering angle, which is a rotation angle of a steering wheel (12), and a rudder angle of steered wheels and a steering torque assisting device (500) capable of assisting a driver steering torque; and a power supply source (800) for supplying electric power to the steering system, is provided with: a limiting device for limiting electric current consumption of the steering torque assisting device if a consumption current value of the steering system is greater than a maximum allowable current value in a case where supply capacity of supplying an electric current in the power supply source is reduced with respect to a reference; and a controlling device for matching a neutral position of the steering wheel with a neutral position of the steered wheels in a situation in which the electric current consumption of the steering torque assisting device is limited.

摘要翻译： 一种车辆（10）中的车辆转向控制装置（100），其设置有：至少包括舵角变化装置（400,700）的转向系统，其能够改变作为旋转的转向角 方向盘（12）的角度以及转向轮的方向舵角度和能够辅助驾驶员转向转矩的转向转矩辅助装置（500）; 以及用于向转向系统供电的供电源（800）设置有限制装置，用于限制转向系统的消耗电流值大于最大允许值的转向助力装置的电流消耗 在供电源供给电力相对于基准的情况下减小电流值的电流值; 以及用于在转向转矩辅助装置的电流消耗受到限制的情况下将方向盘的空档位置与转向轮的空档位置相匹配的控制装置。

公开(公告)号：US20090026004A1

公开(公告)日：2009-01-29

申请号：US12179638

申请日：2008-07-25

申请人： Kenichirou Hidaka ,  Nobuhiko Makino ,  Takahiro Kojo ,  Theerawat Limpibunterng ,  Junko Hidaka

发明人： Kenichirou Hidaka ,  Nobuhiko Makino ,  Takahiro Kojo ,  Theerawat Limpibunterng ,  Junko Hidaka

IPC分类号： B62D5/04

CPC分类号： B62D5/049 ,  B62D5/008

摘要： A power steering apparatus has a steering power assisting system coupled to tire wheels and a variable gear transfer system coupled to a steering wheel. The steering power assisting system includes a torsion bar rotation sensor and a first actuator rotation sensor to calculate a first pinion angle and a second pinion angle based on the detected rotation angles, respectively. The variable gear transfer system includes a steering sensor and a second actuator rotation sensor to calculate a third pinion angle based on the detected rotation angles. Sensor failure is detected by comparing the calculated first, second and third pinion angles.

摘要翻译： 动力转向装置具有耦合到轮胎车轮的转向助力系统和耦合到方向盘的可变齿轮传动系统。 转向助力系统包括扭杆旋转传感器和第一致动器旋转传感器，以分别基于检测到的旋转角度来计算第一小齿轮角度和第二小齿轮角度。 可变齿轮传动系统包括转向传感器和第二致动器旋转传感器，用于基于检测到的旋转角度来计算第三小齿轮角度。 通过比较计算的第一，第二和第三小齿轮角度来检测传感器故障。