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公开(公告)号：US20130226410A1
公开(公告)日：2013-08-29
申请号：US13882018
申请日：2010-11-04
IPC分类号： B60W30/18 , B60W10/20 , B60W10/184
CPC分类号： B60W30/18109 , B60T8/1764 , B60T2260/022 , B60T2260/024 , B60W10/18 , B60W10/184 , B60W10/20 , B60W2550/148 , B60W2600/00 , B62D6/003 , B62D7/159
摘要： A braking control apparatus is mounted on a vehicle provided with: a wheel angle varying device capable of changing a wheel angle of at least one of front wheels and rear wheels, independently of steering by a driver for facilitating a change in the wheel angle; a braking force varying device capable of changing a left-right braking force difference of at least one of the front wheels and the rear wheels; and a controlling device for controlling each of the wheel angle varying device and the braking force varying device. The braking control apparatus is provided with: a limiting device for changing a limit of the left-right braking force difference of the at least one of the front wheels and the rear wheels in accordance with whether or not the wheel angle varying device can operate.
摘要翻译： 一种制动控制装置安装在车辆上，该车辆设置有：能够改变前轮和后轮中的至少一个的车轮角度的车轮角度变化装置，与驾驶员的转向无关，以便于车轮角度的变化; 能够改变前轮和后轮中的至少一个的左右制动力差的制动力变更装置; 以及用于控制车轮角度可变装置和制动力变化装置中的每一个的控制装置。 制动控制装置设置有：根据轮角变化装置是否能够操作来改变前轮和后轮中的至少一个的左右制动力差的极限的限制装置。
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公开(公告)号：US20130261898A1
公开(公告)日：2013-10-03
申请号：US13814269
申请日：2010-12-20
IPC分类号： B62D6/00
摘要： A vehicle steering control apparatus is provided with: a first setting device for setting a first target steering angle of rear wheels according to a steering wheel operation of a driver; a second setting device for setting a second target steering angle of the rear wheels which does not work with the steering wheel operation by the driver and which is associated with automatic steering; a controlling device for controlling a steering angle of the rear wheels on the basis of the set first and second target steering angles; and a limiting device for limiting an influence of the first target steering angle on the steering angle of the rear wheels in accordance with a driving condition of the vehicle if the set first and second target steering angles have a mutually anti-phase relation, the limiting device limiting an influence of the second target steering angle on the steering angle of the rear wheels in accordance with the driving condition of the vehicle in preference to the first target steering angle if the automatic steering associated with the setting of the second target steering angle suppresses a change in the vehicle state quantity produced in a process of controlling a state controlled variable which is different front the steering angle of the rear wheels.
摘要翻译： 车辆转向控制装置具有：第一设定装置，其根据驾驶员的方向盘操作来设定后轮的第一目标转向角; 第二设定装置，其用于设定不与驾驶员进行的方向盘操作并且与自动转向相关联的后轮的第二目标转向角; 控制装置，用于根据设定的第一和第二目标转向角度控制后轮的转向角; 以及如果设定的第一和第二目标转向角具有相互反相位关系，则限制装置根据车辆的驾驶状况来限制第一目标转向角对后轮的转向角的影响，限制 如果与第二目标转向角的设定相关联的自动转向抑制第一目标转向角，则根据车辆的驾驶状况来限制第二目标转向角对后轮的转向角的影响的装置 在控制后轮的转向角前方的状态控制变量的控制过程中产生的车辆状态量的变化。
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公开(公告)号：US09079607B2
公开(公告)日：2015-07-14
申请号：US13990958
申请日：2010-12-01
CPC分类号： B62D5/0466 , B62D5/046 , B62D5/0481 , B62D5/049 , B62D15/0245
摘要： A vehicle steering control apparatus in a vehicle including an apparatus changing a tire steer angle independently of steering wheel operation; a detecting device detecting a tire steer angle equivalent value corresponding to the tire steer angle; and a controller is provided. The controller is configured to learn a steering wheel angle neutral point; determine if the detecting device is in an abnormal state; disregard the learned steering wheel angle neutral point if the detecting device is in the abnormal state; control the apparatus such that the tire steer angle is returned to a tire steer angle neutral point if the detecting device is in the abnormal state; initialize the detecting device after the tire steer angle is returned to the tire steer angle neutral point; and restart the learning of the steering wheel angle after the detecting device is initialized.
摘要翻译： 一种车辆中的车辆转向控制装置，其包括独立于方向盘操作而改变轮胎转向角的装置; 检测装置，其检测与所述轮胎转向角对应的轮胎转向角度当量值; 并提供控制器。 控制器配置为学习方向盘角度中性点; 确定检测装置是否处于异常状态; 如果检测装置处于异常状态，则忽略学习的方向盘角度中性点; 控制装置使得如果检测装置处于异常状态，轮胎转向角度返回到轮胎转向角中性点; 在轮胎转向角度返回到轮胎转向角中性点之后初始化检测装置; 并且在检测装置被初始化之后重新启动方向盘角度的学习。
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公开(公告)号：US08892309B2
公开(公告)日：2014-11-18
申请号：US13814269
申请日：2010-12-20
摘要： A vehicle steering control apparatus is provided with: a first setting device for setting a first target steering angle of rear wheels according to a steering wheel operation of a driver; a second setting device for setting a second target steering angle of the rear wheels which does not work with the steering wheel operation by the driver and which is associated with automatic steering; a controlling device for controlling a steering angle of the rear wheels on the basis of the set first and second target steering angles; and a limiting device for limiting an influence of the first target steering angle on the steering angle of the rear wheels in accordance with a driving condition of the vehicle if the set first and second target steering angles have a mutually anti-phase relation, the limiting device limiting an influence of the second target steering angle on the steering angle of the rear wheels in accordance with the driving condition of the vehicle in preference to the first target steering angle if the automatic steering associated with the setting of the second target steering angle suppresses a change in the vehicle state quantity produced in a process of controlling a state controlled variable which is different front the steering angle of the rear wheels.
摘要翻译： 车辆转向控制装置具有：第一设定装置，其根据驾驶员的方向盘操作来设定后轮的第一目标转向角; 第二设定装置，其用于设定不与驾驶员进行的方向盘操作并且与自动转向相关联的后轮的第二目标转向角; 控制装置，用于根据设定的第一和第二目标转向角度控制后轮的转向角; 以及如果设定的第一和第二目标转向角具有相互反相位关系，则限制装置根据车辆的驾驶状况来限制第一目标转向角对后轮的转向角的影响，限制 如果与第二目标转向角的设定相关联的自动转向抑制第一目标转向角，则根据车辆的驾驶状况来限制第二目标转向角对后轮的转向角的影响的装置 在控制后轮的转向角前方的状态控制变量的控制过程中产生的车辆状态量的变化。
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公开(公告)号：US20130311045A1
公开(公告)日：2013-11-21
申请号：US13990958
申请日：2010-12-01
IPC分类号： B62D5/04
CPC分类号： B62D5/0466 , B62D5/046 , B62D5/0481 , B62D5/049 , B62D15/0245
摘要： A vehicle steering control apparatus in a vehicle, which is provided with: a tire steer angle varying apparatus which is configured to change a tire steer angle independently of steering wheel operation; and a tire steer angle equivalent value detecting device which is configured to detect a tire steer angle equivalent value corresponding to the tire steer angle, is provided with: a learning device which is configured to learn a steering wheel angle neutral point; an abnormality determining device which is configured to determine whether or not the tire steer angle equivalent value detecting device is in an abnormal state; a disregarding device which is configured to disregard the learned steering wheel angle neutral point if it is determined that the tire steer angle equivalent value detecting device is in the abnormal state; a controlling device which is configured to control the tire steer angle varying apparatus such that the tire steer angle is returned to a tire steer angle neutral point if it is determined that the tire steer angle equivalent value detecting device is in the abnormal state; and an initializing device which is configured to initialize the tire steer angle equivalent value detecting device after the tire steer angle is returned to the tire steer angle neutral point, wherein the leaning device restarts the learning of the steering wheel angle after the tire steer angle equivalent value detecting device is initialized.
摘要翻译： 一种车辆中的车辆转向控制装置，其具备：轮胎转向角变化装置，其被配置为独立于方向盘操作而改变轮胎转向角度; 以及轮胎转向角度等效值检测装置，其被配置为检测与轮胎转向角相对应的轮胎转向角度当量值，所述轮胎转向角度等效值检测装置具有：学习装置，被配置为学习方向盘角度中性点; 异常判定装置，其被配置为确定轮胎转向角等效值检测装置是否处于异常状态; 如果确定轮胎转向角等效值检测装置处于异常状态，则忽视装置被配置为忽略所学习的方向盘角度中性点; 如果确定轮胎转向角等效值检测装置处于异常状态，则被配置为控制轮胎转向角变化装置使得轮胎转向角度返回到轮胎转向中性点的控制装置; 以及初始化装置，其被配置为在轮胎转向角度返回到轮胎转向中立点之后初始化轮胎转向角等效值检测装置，其中，在轮胎转向角等效之后，倾斜装置重新开始学习方向盘角度 初始化值检测装置。
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6.发明授权公开(公告)号：US07885741B2
公开(公告)日：2011-02-08
申请号：US11665330
申请日：2005-10-18
CPC分类号： B62D5/0469 , B60T8/1755 , B60T2260/02 , B60W10/184 , B60W10/20 , B60W30/02 , B60W30/045 , B62D5/008 , B62D6/003
摘要： In a vehicle equipped with a power steering device for assisting the steering of the steered wheels by the steering wheel, when the steering angle of the steered wheels reaches the maximum steering angle, a steering control device restricts a target steering angle for operating the power steering device so that the steering angle or a reaction force acting against the power steering device does not exceed a value determined therefor, so to maintain the steering condition of the steered wheels stably without applying an excessive load on the power steering device. The target steering angle may be calculated as a value based upon rotational angle of the steering wheel and turning behavior control of the vehicle.
摘要翻译： 在配备有用于辅助方向盘对转向轮的转向的动力转向装置的车辆中，当转向轮的转向角达到最大转向角时，转向控制装置限制用于操作动力转向器的目标转向角 使得作用在动力转向装置上的转向角度或反作用力不超过由此确定的值，从而在不对动力转向装置施加过大负载的情况下稳定地保持转向轮的转向状态。 可以将目标转向角计算为基于方向盘的旋转角度和车辆的转弯行为控制的值。
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公开(公告)号：US20070299583A1
公开(公告)日：2007-12-27
申请号：US11665330
申请日：2005-10-18
IPC分类号： B62D6/00
CPC分类号： B62D5/0469 , B60T8/1755 , B60T2260/02 , B60W10/184 , B60W10/20 , B60W30/02 , B60W30/045 , B62D5/008 , B62D6/003
摘要： In a vehicle equipped with a power steering device for assisting the steering of the steered wheels by the steering wheel, when the steering angle of the steered wheels reaches the maximum steering angle, a steering control device restricts a target steering angle for operating the power steering device so that the steering angle or a reaction force acting against the power steering device does not exceed a value determined therefor, so to maintain the steering condition of the steered wheels stably without applying an excessive load on the power steering device. The target steering angle may be calculated as a value based upon rotational angle of the steering wheel and turning behavior control of the vehicle.
摘要翻译： 在配备有用于辅助方向盘对转向轮的转向的动力转向装置的车辆中，当转向轮的转向角达到最大转向角时，转向控制装置限制用于操作动力转向器的目标转向角 使得作用在动力转向装置上的转向角度或反作用力不超过由此确定的值，从而在不对动力转向装置施加过大负载的情况下稳定地保持转向轮的转向状态。 可以将目标转向角计算为基于方向盘的旋转角度和车辆的转弯行为控制的值。
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公开(公告)号：US08843276B2
公开(公告)日：2014-09-23
申请号：US13510347
申请日：2010-11-18
CPC分类号： B62D5/008 , B62D5/0469
摘要： A device for controlling a steering transmission ratio variable device, which is provided with: a motor, which is able to apply a driving force that promotes relative rotation between a steering output shaft coupled to wheels to be turned and a steering input shaft that applies a steering input to the steering output shaft to one of either the steering output shaft or the steering input shaft; a motor driving device that drives the motor; and a locking device that is able to restrict the relative rotation, has a setting device that prescribes a drive voltage the motor and sets a damping gain, which acts in a direction that reduces a rotating speed of the motor, to a value that is larger than a reference value corresponding to an unlocked state during a locking control period in which a state of the steering transmission ratio variable device switches from an unlocked state in which the relative rotation is not restricted to a locked state in which the relative rotation is restricted.
摘要翻译： 一种用于控制转向传动比可变装置的装置，其具有：电动机，其能够施加驱动力，所述驱动力促进联接到待转动的车轮的转向输出轴和施加转向的转向输入轴之间的相对旋转; 将转向输出轴的转向输入转向转向输出轴或转向输入轴之一; 驱动马达的马达驱动装置; 以及能够限制相对旋转的锁定装置，具有规定电动机的驱动电压并将减小电动机的转速的方向作用的阻尼增益设定为更大的值的设定装置 比在转向传动比可变装置的状态从相对旋转不限于相对旋转受限制的锁定状态的解锁状态切换到的锁定控制期间对应于解锁状态的基准值。
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9.发明授权Control device of electric power steering device for vehicles in which steered wheels are driven 有权用于驱动转向轮的车辆的电动助力转向装置的控制装置公开(公告)号：US08352123B2
公开(公告)日：2013-01-08
申请号：US11664697
申请日：2005-10-11
申请人： Yoshiaki Tsuchiya
发明人： Yoshiaki Tsuchiya
IPC分类号： B62D6/00
CPC分类号： B62D5/0463 , B62D5/0466 , B62D5/0472
摘要： When the steered wheels are driven, there is a problem of the torque steering that the steering is disturbed by the difference in the driving forces between a pair of left and right steered wheels. Before such a problem, there is a problem that, since the vehicle is apt to run straight ahead more strongly as the driving force increases even when a uniform driving torque is given to a pair of steered wheels, a larger force is required to steer the vehicle leftward or rightward by overcoming such a tendency of running straight ahead. In view of the above, the steering assist force is increased according to an increase of the driving torque of the steered wheels in a manner of harmonizing the steering assist force to the magnitude of the steering resistance due to the driving torque of the steered wheels, so as to improve the steering feeling.
摘要翻译： 当转向轮被驱动时，存在扭矩转向的问题，转向被一对左右转向轮之间的驱动力的差异所扰乱。 在这样的问题之前，存在这样的问题：由于即使在对一对转向轮施加均匀的驱动转矩时，由于驱动力增大，车辆也容易向前挺直，所以需要较大的力来转向 车辆向左或向右通过克服这种向前跑的倾向。 鉴于上述，根据转向轮的驱动转矩的增加，转向辅助力以与转向轮的驱动转矩相应的转向辅助力与转向阻力的大小相协调的方式增加， 以提高转向感。
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公开(公告)号：US20120197496A1
公开(公告)日：2012-08-02
申请号：US13500025
申请日：2010-10-05
IPC分类号： B62D6/00
CPC分类号： B62D15/025 , B62D1/286 , B62D6/04
摘要： A vehicle control apparatus that controls a vehicle provided with a steering force applying device capable of applying steering force to induce a change in a steering angle of a steered wheel to the steered wheel, includes a difference detecting device that detects a positional difference that determines a relative positional relationship between a target running path to be maintained and the vehicle; a determining device that determines a control amount of the steering force applying device based on the detected positional difference; a controller that maintains a running path of the vehicle on the target running path by controlling the steering force applying device according to the determined control amount; a steering input detecting device that detects a steering input to a steering input device by a driver; and a correcting device that corrects a determining reference of the control amount of the steering force applying device such that, when a steering input is detected while the running path is maintained on the target running path, this steering input is reflected.
摘要翻译： 一种车辆控制装置，其控制具备能够施加转向力以引导转向轮到转向轮的转向角的转向力的转向力施加装置的车辆，包括差异检测装置，其检测位置差异， 要保持的目标行驶路径与车辆之间的相对位置关系; 确定装置，其基于检测到的位置差确定转向力施加装置的控制量; 控制器，其通过根据所确定的控制量控制所述转向力施加装置来将所述车辆的行进路径保持在所述目标行驶路径上; 转向输入检测装置，其检测驾驶员对转向输入装置的转向输入; 以及校正装置，其校正转向力施加装置的控制量的确定基准，使得当在行驶路径保持在目标行驶路径上时检测到转向输入时，该转向输入被反映。
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