公开(公告)号：US5887268A

公开(公告)日：1999-03-23

申请号：US739524

申请日：1996-10-29

Applicant: Yoshimi Furukawa

Inventor： Yoshimi Furukawa

IPC: G05D1/02 ,  G06F7/70

CPC classification number: G05D1/0272 ,  G05D1/0257 ,  G05D1/0261 ,  G05D1/028 ,  G05D2201/0213

Abstract: An automatically driven motor vehicle automatically runs on a running path having path markers while detecting the path markers with a marker sensor. A present position of the motor vehicle on the running path is recognized, and a speed plan which governs a position and a speed of the motor vehicle on the running path is generated. A planned position to be reached by the motor vehicle after a predetermined time and a planned speed of the motor vehicle at the planned position are determined from the present position of the motor vehicle based on the speed plan. A predicted position to be reached by the motor vehicle after the predetermined time and a predicted speed of the motor vehicle at the planned position are determined from the present position, speed, and acceleration of the motor vehicle. A distance deviation between the predicted position and the predicted position and a speed deviation between the planned speed and the predicted speed are determined. Acceleration/deceleration correcting data for the motor vehicle are determined based on the distance deviation and the speed deviation. Acceleration/deceleration of the motor vehicle are controlled based on the acceleration/deceleration correcting data.

Abstract translation: 自动驾驶的机动车辆在具有路径标记的运行路径上自动运行，同时用标记传感器检测路径标记。 识别出机动车辆在行驶路径上的当前位置，并且生成控制机动车辆在行驶路径上的位置和速度的速度计划。 基于速度计划，从机动车辆的当前位置确定预定时间之后的机动车辆到达规划位置的计划位置和机动车辆的计划速度。 从机动车辆的当前位置，速度和加速度确定在预定时间之后由机动车辆达到的预测位置和机动车辆在预定位置处的预测速度。 确定预测位置与预测位置之间的距离偏差和计划速度与预测速度之间的速度偏差。 基于距离偏差和速度偏差确定机动车辆的加速/减速校正数据。 基于加减速校正数据控制机动车辆的加速/减速。

公开(公告)号：US4964481A

公开(公告)日：1990-10-23

申请号：US690167

申请日：1985-01-10

Applicant: Shoichi Sano ,  Yoshimi Furukawa ,  Tetsuro Hamada

Inventor： Shoichi Sano ,  Yoshimi Furukawa ,  Tetsuro Hamada

IPC: B62D7/15

CPC classification number: B62D7/159

Abstract: A steering system for a vehicle with a steerable front wheel (5) and a rear wheel (11) controlled to be steered in accordance with a travelling state representative quantity (.delta..sub.f, V, .alpha..sub.a), wherein the rear wheel is steered taking into account at least a ratio of a cornering power (Kr) thereof to a vertical load on the tire thereof, besides the travelling state representative quantity.

Abstract translation: 一种具有可转向前轮（5）和后轮（11）的车辆的转向系统，其被控制为根据行驶状态代表量（Δf，V，αa）进行转向，其中后轮被转向 除了行驶状态代表量之外，至少考虑到其转弯功率（Kr）与其轮胎上的垂直载荷的比率。

公开(公告)号：US4767129A

公开(公告)日：1988-08-30

申请号：US821998

申请日：1986-01-24

Applicant: Yoshimichi Kawamoto ,  Yoshimi Furukawa ,  Tetsuro Hamada ,  Mitsuya Serizawa

Inventor： Yoshimichi Kawamoto ,  Yoshimi Furukawa ,  Tetsuro Hamada ,  Mitsuya Serizawa

IPC: B62D7/15 ,  B62D9/00

CPC classification number: B62D7/1545

Abstract: Disclosed is an actuator for steering the rear wheels in front and rear wheel steering device for vehicle in which the external forces, such as the self aligning torque of the rear wheels and irregularities of the road surface, which may be applied to the rear wheels are prevented from being transmitted to the actuator for controlling the steering angle of the rear wheels. Thereby, the steering angle of the rear wheels are determined solely by the control action of the front and rear wheel steering device and the motion of the vehicle is not affected by external forces. As a result, the vehicle motion is stabilized. When the force for steering the front wheels is transmitted to the rear wheels to steer them, elimination of the reaction from the road to the actuator prevents undesirable variation in the force required to steer the vehicle or the force required to hold a steering angle. Elimination of reaction to the actuator can be accomplished by worm gears, screw threads and so on in which the lead angle is smaller than the friction angle.

Abstract translation: 公开了一种用于车辆前轮转向装置和后轮转向装置中用于转向后轮的致动器，其中可以施加到后轮的后轮的自对准扭矩和路面的不规则性等外力是 防止被传递到用于控制后轮的转向角的致动器。 因此，后轮的转向角仅由前轮和后轮转向装置的控制动作确定，车辆的运动不受外力的影响。 结果，车辆运动稳定。 当用于转向前轮的力被传递到后轮以转向时，消除从道路到致动器的反作用力可防止转向车辆所需的力或保持转向角所需的力的不期望的变化。 消除对致动器的反应可以通过蜗杆，螺纹等实现，其中导程角小于摩擦角。

公开(公告)号：US4705135A

公开(公告)日：1987-11-10

申请号：US822293

申请日：1986-01-24

Applicant: Yoshimichi Kawamoto ,  Yoshimi Furukawa ,  Tetsuro Hamada ,  Mitsuya Serizawa

Inventor： Yoshimichi Kawamoto ,  Yoshimi Furukawa ,  Tetsuro Hamada ,  Mitsuya Serizawa

IPC: B62D7/15 ,  B60K17/358

CPC classification number: B62D7/1545

Abstract: The front and rear wheel steering device of the present invention not only has a means for allowing the manual selection of a mathematical function which determines the steering angle ratio of the rear wheels relative to the front wheels from a plurality of mathematical functions but also has a means for limiting such a manual selection depending on the condition of the vehicle. Since manual selection of a mathematical function for the steering angle ratio may not be appropriate under certain vehicle conditions, the device of the present invention limits such a manual selection when the vehicle speed, the vehicle acceleration, the shift position of the transmission, the steering speed or the steering acceleration is greater than a certain value. Thereby, the convenience of the manual selection of the steering angle ratio is preserved yet any undesirable vehicle response from improper manual selection of the steering angle ratio is prevented.

Abstract translation: 本发明的前轮和后轮转向装置不仅具有允许手动选择从多个数学函数确定后轮相对于前轮的转向角比的数学函数的装置，而且还具有 用于根据车辆的状况限制这种手动选择的装置。 由于在某些车辆状态下手动选择转向角比的数学函数可能不合适，所以本发明的装置在车速，车辆加速度，变速器的换档位置，转向 转速或转向加速度大于一定值。 因此，保持手动选择转向角比的便利性，防止了由于不正确的手动选择转向角比而导致的不期望的车辆响应。

公开(公告)号：US4647057A

公开(公告)日：1987-03-03

申请号：US658479

申请日：1984-10-09

Applicant: Yoshimi Furukawa ,  Shoichi Sano

Inventor： Yoshimi Furukawa ,  Shoichi Sano

IPC: B62D7/15 ,  B62D5/10

CPC classification number: B62D7/1545

Abstract: A steering system for vehicles in which the steered angle ratio of a rear wheel to a front wheel is controllable in accordance with the vehicle speed. The steering system is provided with a manual switch device for selecting to set an arbitrary one of a plurality of predetermined steered angle ratios. The steering system may be further provided with a switch lock device for locking the switch state of the manual switch device. The switch lock device may be actuated when the vehicle speed is higher than a predetermined reference vehicle speed. Further, the switch lock device may be actuated when a reduction gear is shifted to a shift position having a relatively low reduction ratio. The switch lock device may also be actuated when the steered angle of the front wheel is larger than a predetermined value.

Abstract translation: 一种用于车辆的转向系统，其中后轮与前轮的转向角度根据车速可控。 转向系统设置有手动开关装置，用于选择设定多个预定转向角比的任意一个。 转向系统还可以设置有用于锁定手动开关装置的开关状态的开关锁定装置。 当车速高于预定的参考车速时，可以启动开关锁定装置。 此外，当减速齿轮移动到具有相对低的减速比的换档位置时，开关锁定装置可以被致动。 当前轮的转向角度大于预定值时，也可以启动开关锁定装置。

公开(公告)号：US4566711A

公开(公告)日：1986-01-28

申请号：US661680

申请日：1984-10-17

Applicant: Yusuke Koizumi ,  Yoshimi Furukawa ,  Shoichi Sano

Inventor： Yusuke Koizumi ,  Yoshimi Furukawa ,  Shoichi Sano

IPC: B62D6/02 ,  B62D7/14 ,  B62D7/15 ,  B62D7/00

CPC classification number: B62D7/1545

Abstract: A steering system for vehicles including a signal providing mechanism (34) for providing an information signal (Su) in relation to the vehicle speed, in which the steered angle ratio of a rear wheel (20) to a front wheel (7) is controlled to be variable in accordance with the information signal.The signal providing mechanism comprises a sensor (34) adapted to detect the shift position of a speed change gear (33) of the vehicle.In the steering system, the steered angle ratio of the rear wheel (20) to the front wheel (7) may be controlled to be variable in accordance with the vehicle speed, wherein the vehicle speed is detected by a cooperative combination of a sensor (34) for detecting the shift position of a speed change gear (33) of the vehicle and a sensor (43) for detecting the number of revolutions per minute of an engine (42) of the vehicle.

Abstract translation: 一种用于车辆的转向系统，包括信号提供机构（34），用于提供相对于车速的信息信号（Su），其中控制后轮（20）与前轮（7）的转向角比 根据信息信号变化。 信号提供机构包括适于检测车辆的变速齿轮（33）的换档位置的传感器（34）。 在转向系统中，后轮（20）与前轮（7）的转向角度比可以根据车速来控制，其中车速通过传感器（ 34），用于检测车辆的变速齿轮（33）的换档位置，以及用于检测车辆的发动机（42）的转数的传感器（43）。

公开(公告)号：US4558877A

公开(公告)日：1985-12-17

申请号：US558151

申请日：1983-12-05

Applicant: Yoshimi Furukawa ,  Shoichi Sano ,  Hiroshi Takamatsu

Inventor： Yoshimi Furukawa ,  Shoichi Sano ,  Hiroshi Takamatsu

IPC: B62D7/14 ,  B62D7/15 ,  B62D7/00

CPC classification number: B62D7/1527

Abstract: A steering system for a vehicle including a front wheel and a rear wheel.The steering system comprises a steering wheel, a front wheel steering sub-system for steering the front wheel in accordance with the steering angle of the steering wheel, and a rear wheel steering sub-system for steering the rear wheel in accordance with the steering angle of the steering wheel. The rear wheel steering sub-system has a reaction mechanism for keeping substantially constant the steering torque necessary for turning the rear wheel.

Abstract translation: 一种用于车辆的转向系统，包括前轮和后轮。 转向系统包括方向盘，用于根据方向盘的转向角来转向前轮的前轮转向子系统和用于根据转向角转向后轮的后轮转向子系统 的方向盘。 后轮转向子系统具有使转向后轮所需的转向转矩保持大致恒定的反作用机构。

公开(公告)号：US4295657A

公开(公告)日：1981-10-20

申请号：US107718

申请日：1979-12-28

Applicant: Shoichi Sano ,  Yoshimi Furukawa

Inventor： Shoichi Sano ,  Yoshimi Furukawa

IPC: B62D6/00 ,  B62D7/14 ,  B62D7/15 ,  B62D7/00

CPC classification number: B62D7/1527

Abstract: A steering apparatus for a four-wheeled vehicle including a pair of pivotable knuckle arms connected to a pair of respective front wheels and actuatable through a steering gear by rotational movement of a steering wheel. One of the knuckle arms is pivotally connected to one end of a connector rod extending longitudinally of the vehicle, the other end of the connector rod being connected to a cam plate slidable in a housing. The cam plate has an inverted S-shaped cam groove or alternatively an S-shaped cam groove within which is slidably received a pin mounted on a tie rod pivotally connected between a pair of pivotable support arms supporting a pair of rear wheels, respectively. Due to the shape of the cam groove, the rear wheels are turned in the same direction as the front wheels when the steering wheel is rotated through a relatively small angle, and the rear and front wheels are turned in opposite directions when the steering wheel is rotated through a relatively large angle.

Abstract translation: 一种用于四轮车辆的转向装置，包括一对可枢转的转向节臂，连接到一对相应的前轮，并且可通过方向盘的旋转运动通过舵机致动。 转向节臂中的一个枢转地连接到沿着车辆纵向延伸的连接杆的一端，连接杆的另一端连接到可在壳体中滑动的凸轮板。 凸轮板具有倒置的S形凸轮槽或可选地S形的凸轮槽，其内部可滑动地容纳安装在连杆上的销，该销可枢转地连接在支撑一对后轮的一对可枢转支撑臂之间。 由于凸轮槽的形状，当方向盘以相对较小的角度旋转时，后轮沿与前轮相同的方向转动，并且当方向盘为方向盘时，后轮和前轮相反方向转动 旋转相对较大的角度。

公开(公告)号：US06574560B2

公开(公告)日：2003-06-03

申请号：US09985635

申请日：2001-11-05

Applicant: Masato Abe ,  Yoshimi Furukawa

Inventor： Masato Abe ,  Yoshimi Furukawa

IPC: B60T800

CPC classification number: G01C21/26 ,  B60W2550/10 ,  B60W2550/143 ,  B60W2550/402 ,  G01S13/931 ,  G01S2013/9342 ,  G01S2013/9353 ,  G01S2013/936 ,  G01S2013/9375

Abstract: In a vehicle operation assist control system for assisting a vehicle operator to operate a vehicle, a distance to the obstacle and a width of the obstacle are detected by a radar or the like, and, when an obstacle is detected, the system determines an evasion path and accordingly modifies the map information available to the system. Therefore, the system, being aware of the situation, would not interfere with the vehicle operator taking an evasive action. The evasive path may be defined as a curvature which changes as a sinusoidal mathematical function of the position of the vehicle along the path. The control system may be based on a yaw rate control or a vehicle side slip angle control.

公开(公告)号：US06233513B1

公开(公告)日：2001-05-15

申请号：US09192894

申请日：1998-11-17

Applicant: Yoshimi Furukawa ,  Yasuji Shibahata ,  Masato Abe

Inventor： Yoshimi Furukawa ,  Yasuji Shibahata ,  Masato Abe

IPC: G06F700

CPC classification number: B62D6/04 ,  B60T2230/02

Abstract: 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.

Abstract translation: 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。