公开(公告)号：US06925371B2

公开(公告)日：2005-08-02

申请号：US10420832

申请日：2003-04-23

申请人： Yoshiyuki Yasui ,  Wataru Tanaka ,  Eiichi Ono ,  Yuji Muragishi ,  Katsuhiro Asano ,  Minekazu Momiyama ,  Hiroaki Kato ,  Kenji Asano ,  Yuzo Imoto

发明人： Yoshiyuki Yasui ,  Wataru Tanaka ,  Eiichi Ono ,  Yuji Muragishi ,  Katsuhiro Asano ,  Minekazu Momiyama ,  Hiroaki Kato ,  Kenji Asano ,  Yuzo Imoto

IPC分类号： B62D6/00 ,  B60R16/02 ,  B60T8/172 ,  B60T8/1755 ,  B60T8/58 ,  B60W10/00 ,  B60W10/04 ,  B60W10/06 ,  B60W10/10 ,  B60W10/18 ,  B60W10/188 ,  B60W10/20 ,  B60W30/00 ,  B60W30/02 ,  B60W40/06 ,  B60W40/10 ,  B62D5/00 ,  B62D5/04 ,  B62D6/04 ,  B62D101/00 ,  B62D111/00 ,  B62D113/00 ,  B62D119/00 ,  B62D137/00 ,  F02D29/02

CPC分类号： B60W10/184 ,  B60T8/17551 ,  B60T2210/12 ,  B60T2260/02 ,  B60W10/20 ,  B60W40/101 ,  B60W2530/20 ,  B60W2550/148 ,  B62D5/008 ,  B62D6/003 ,  B62D6/04

摘要： The present invention is directed to a vehicle motion control apparatus, which includes a steering factor detection unit for detecting at least one of steering factors including a steering torque and steering effort applied to a steering system, an aligning torque estimation unit for estimating an aligning torque produced on at least a wheel of the vehicle on the basis of the steering factor, a vehicle state variable detection unit for detecting a state variable of the vehicle, a wheel factor estimation unit for estimating at least one of wheel factors including a side force and slip angle applied to the wheel on the basis of the vehicle state variable, and a grip factor estimation unit for estimating a grip factor of at least a tire of the wheel, in accordance with the estimated alignment torque and the estimated wheel factor. The apparatus further includes a first control unit for performing a closed loop control on the basis of the grip factor, and a second control unit for performing a closed loop control on the basis of a deviation between a detected actual vehicle behavior and a desired vehicle behavior set on the basis of the vehicle state variable.

摘要翻译： 本发明涉及一种车辆运动控制装置，其包括：转向因子检测单元，用于检测包括转向转矩和转向系统的转向力的转向因素中的至少一个;对准转矩估计单元，用于估计对准转矩 基于转向系数在车辆的至少一个车轮上产生的车辆状态变量检测单元，用于检测车辆的状态变量的车辆状态变量检测单元，用于估计包括侧力和 基于车辆状态变量施加到车轮的滑移角，以及用于根据估计的对准扭矩和估计的车轮因数估计车轮的至少轮胎的抓地系数的抓地系数估计单元。 该装置还包括：第一控制单元，用于基于夹紧系数执行闭环控制;以及第二控制单元，用于基于检测到的实际车辆行为和期望的车辆行为之间的偏差执行闭环控制 根据车辆状态变量设定。

公开(公告)号：US06895317B2

公开(公告)日：2005-05-17

申请号：US10420826

申请日：2003-04-23

申请人： Yoshiyuki Yasui ,  Wataru Tanaka ,  Eiichi Ono ,  Yuji Muragishi ,  Katsuhiro Asano ,  Minekazu Momiyama ,  Syoji Ogawa ,  Kenji Asano ,  Yuzo Imoto ,  Hiroaki Kato

发明人： Yoshiyuki Yasui ,  Wataru Tanaka ,  Eiichi Ono ,  Yuji Muragishi ,  Katsuhiro Asano ,  Minekazu Momiyama ,  Syoji Ogawa ,  Kenji Asano ,  Yuzo Imoto ,  Hiroaki Kato

IPC分类号： B60G17/0195 ,  B60T8/172 ,  B60W30/02 ,  B60W40/06 ,  B60T8/58 ,  B60C19/00

CPC分类号： B60W30/02 ,  B60G17/0195 ,  B60G2400/0523 ,  B60G2400/106 ,  B60G2400/822 ,  B60G2800/24 ,  B60G2800/702 ,  B60G2800/95 ,  B60T8/172 ,  B60T2210/12 ,  B60W40/064 ,  B60W40/101 ,  B60W2050/0028 ,  B60W2510/20 ,  B60W2510/22 ,  B60W2520/125 ,  B60W2520/14 ,  B60W2520/20 ,  B60W2530/20 ,  B60W2550/148 ,  B60W2900/00

摘要： The present invention is directed to a wheel grip factor estimation apparatus, which includes a steering factor detection unit for detecting at least one of steering factors including a steering torque and steering effort applied to a steering system extending from a steering wheel to a suspension of a vehicle, an aligning torque estimation unit for estimating an aligning torque produced on at least a wheel of the vehicle on the basis of the steering factor detected by the steering factor detection unit, and a vehicle state variable detection unit for detecting a state variable of the vehicle. The apparatus further includes a wheel factor estimation unit for estimating at least one of wheel factors including a side force and slip angle applied to the wheel on the basis of the vehicle state variable, and a grip factor estimation unit for estimating a grip factor of at least a tire of the wheel, in accordance with a relationship between the estimated alignment torque and the estimated wheel factor.

摘要翻译： 本发明涉及一种车轮牵引因子估计装置，其包括转向因子检测单元，用于检测转向因素中的至少一个，所述转向因素包括转向转矩和施加到从方向盘延伸到转向系统 车辆，用于基于由转向因子检测单元检测到的转向因子来估计在车辆的至少车轮上产生的对准转矩的对准转矩估计单元，以及用于检测车辆状态变量检测单元 车辆。 该装置还包括车轮因素估计单元，用于基于车辆状态变量估计包括施加到车轮的侧力和滑移角的车轮因数中的至少一个，以及用于估计车辆状态变量的抓地系数的抓地系数估计单元 根据估计的对准转矩和估计的车轮因子之间的关系，至少轮胎轮胎。

公开(公告)号：US07699137B2

公开(公告)日：2010-04-20

申请号：US11889761

申请日：2007-08-16

申请人： Yoshiyuki Yasui ,  Wataru Tanaka ,  Yuji Muragishi ,  Eiichi Ono ,  Katsuhiro Asano ,  Minekazu Momiyama ,  Hiroaki Kato ,  Kenji Asano

发明人： Yoshiyuki Yasui ,  Wataru Tanaka ,  Yuji Muragishi ,  Eiichi Ono ,  Katsuhiro Asano ,  Minekazu Momiyama ,  Hiroaki Kato ,  Kenji Asano

IPC分类号： B62D5/04

CPC分类号： B62D5/0472 ,  B60T8/1755 ,  B60T8/1764 ,  B60T2220/03 ,  B60T2260/024 ,  B60W10/184 ,  B60W10/20 ,  B60W2520/10 ,  B60W2520/30 ,  B60W2720/14 ,  B62D5/046 ,  B62D6/003

摘要： A motor-driven steering controller for controlling a steering wheel of a vehicle. The controller includes a steering torque controlling unit, a braking force estimating unit, a right and left braking force difference estimating unit and an assist steering torque providing unit. The steering torque controlling unit controls a steering torque on the steering wheel depending on a steering operation. The braking force estimating unit estimates braking forces to be imposed on wheels of the vehicle. The right and left braking force difference estimating unit estimates difference between the braking forces to be imposed on the right and left wheels each estimated by the braking forces estimating unit. The assist steering torque providing unit provides an assist steering torque for the steering torque controlling unit on the basis of the difference in braking force between right and left wheels estimated by the right and left braking force difference estimating unit.

摘要翻译： 一种用于控制车辆的方向盘的电动转向控制器。 控制器包括转向转矩控制单元，制动力估计单元，左右制动力差推定单元和辅助转向转矩提供单元。 转向转矩控制单元根据转向操作来控制方向盘上的转向转矩。 制动力估计单元估计要施加在车辆的车轮上的制动力。 左右制动力差推定部判定由制动力推定部估计出的施加在左右车轮上的制动力之差。 辅助转向转矩提供单元基于由右和左制动力差估计单元估计的左右车轮之间的制动力的差异，为转向转矩控制单元提供辅助转向转矩。

公开(公告)号：US08997919B2

公开(公告)日：2015-04-07

申请号：US12718545

申请日：2010-03-05

申请人： Yoshiyuki Yasui ,  Wataru Tanaka ,  Yuji Muragishi ,  Eiichi Ono ,  Katsuhiro Asano ,  Minekazu Momiyama ,  Hiroaki Kato ,  Kenji Asano

发明人： Yoshiyuki Yasui ,  Wataru Tanaka ,  Yuji Muragishi ,  Eiichi Ono ,  Katsuhiro Asano ,  Minekazu Momiyama ,  Hiroaki Kato ,  Kenji Asano

IPC分类号： B62D5/04 ,  B60T8/1755 ,  B60T8/1764 ,  B60W10/184 ,  B60W10/20 ,  B62D6/00

CPC分类号： B62D5/0472 ,  B60T8/1755 ,  B60T8/1764 ,  B60T2220/03 ,  B60T2260/024 ,  B60W10/184 ,  B60W10/20 ,  B60W2520/10 ,  B60W2520/30 ,  B60W2720/14 ,  B62D5/046 ,  B62D6/003

摘要： A motor-driven steering controller for controlling a steering wheel of a vehicle. The controller includes a steering torque controlling unit, a braking force estimating unit, a right and left braking force difference estimating unit and an assist steering torque providing unit. The steering torque controlling unit controls a steering torque on the steering wheel depending on a steering operation. The braking force estimating unit estimates braking forces to be imposed on wheels of the vehicle. The right and left braking force difference estimating unit estimates difference between the braking forces to be imposed on the right and left wheels each estimated by the braking forces estimating unit. The assist steering torque providing unit provides an assist steering torque for the steering torque controlling unit on the basis of the difference in braking force between right and left wheels estimated by the right and left braking force difference estimating unit.

公开(公告)号：US20100161180A1

公开(公告)日：2010-06-24

申请号：US12718545

申请日：2010-03-05

申请人： Yoshiyuki Yasui ,  Wataru Tanaka ,  Yuji Muragishi ,  Eiichi Ono ,  Katsuhiro Asano ,  Minekazu Momiyama ,  Hiroaki Kato ,  Kenji Asano

发明人： Yoshiyuki Yasui ,  Wataru Tanaka ,  Yuji Muragishi ,  Eiichi Ono ,  Katsuhiro Asano ,  Minekazu Momiyama ,  Hiroaki Kato ,  Kenji Asano

IPC分类号： G06F19/00

CPC分类号： B62D5/0472 ,  B60T8/1755 ,  B60T8/1764 ,  B60T2220/03 ,  B60T2260/024 ,  B60W10/184 ,  B60W10/20 ,  B60W2520/10 ,  B60W2520/30 ,  B60W2720/14 ,  B62D5/046 ,  B62D6/003

摘要： A motor-driven steering controller for controlling a steering wheel of a vehicle. The controller includes a steering torque controlling unit, a braking force estimating unit, a right and left braking force difference estimating unit and an assist steering torque providing unit. The steering torque controlling unit controls a steering torque on the steering wheel depending on a steering operation. The braking force estimating unit estimates braking forces to be imposed on wheels of the vehicle. The right and left braking force difference estimating unit estimates difference between the braking forces to be imposed on the right and left wheels each estimated by the braking forces estimating unit. The assist steering torque providing unit provides an assist steering torque for the steering torque controlling unit on the basis of the difference in braking force between right and left wheels estimated by the right and left braking force difference estimating unit.

摘要翻译： 一种用于控制车辆的方向盘的电动转向控制器。 控制器包括转向转矩控制单元，制动力估计单元，左右制动力差推定单元和辅助转向转矩提供单元。 转向转矩控制单元根据转向操作来控制方向盘上的转向转矩。 制动力估计单元估计要施加在车辆的车轮上的制动力。 左右制动力差推定部判定由制动力推定部估计出的施加在左右车轮上的制动力之差。 辅助转向转矩提供单元基于由右和左制动力差估计单元估计的左右车轮之间的制动力的差异，为转向转矩控制单元提供辅助转向转矩。

公开(公告)号：US07374014B2

公开(公告)日：2008-05-20

申请号：US10408356

申请日：2003-04-08

申请人： Yoshiyuki Yasui ,  Wataru Tanaka ,  Yuji Muragishi ,  Eiichi Ono ,  Katsuhiro Asano ,  Minekazu Momiyama ,  Hiroaki Kato ,  Kenji Asano

发明人： Yoshiyuki Yasui ,  Wataru Tanaka ,  Yuji Muragishi ,  Eiichi Ono ,  Katsuhiro Asano ,  Minekazu Momiyama ,  Hiroaki Kato ,  Kenji Asano

IPC分类号： B62D5/04

CPC分类号： B62D5/0472 ,  B60T8/1755 ,  B60T8/1764 ,  B60T2220/03 ,  B60T2260/024 ,  B60W10/184 ,  B60W10/20 ,  B60W2520/10 ,  B60W2520/30 ,  B60W2720/14 ,  B62D5/046 ,  B62D6/003

摘要： A motor-driven steering controller for controlling a steering wheel of a vehicle. The controller includes a steering torque controlling unit, a braking force estimating unit, a right and left braking force difference estimating unit and an assist steering torque providing unit. The steering torque controlling unit controls a steering torque on the steering wheel depending on a steering operation. The braking force estimating unit estimates braking forces to be imposed on wheels of the vehicle. The right and left braking force difference estimating unit estimates difference between the braking forces to be imposed on the right and left wheels each estimated by the braking forces estimating unit. The assist steering torque providing unit provides an assist steering torque for the steering torque controlling unit on the basis of the difference in braking force between right and left wheels estimated by the right and left braking force difference estimating unit.

摘要翻译： 一种用于控制车辆的方向盘的电动转向控制器。 控制器包括转向转矩控制单元，制动力估计单元，左右制动力差推定单元和辅助转向转矩提供单元。 转向转矩控制单元根据转向操作来控制方向盘上的转向转矩。 制动力估计单元估计要施加在车辆的车轮上的制动力。 左右制动力差推定部判定由制动力推定部估计出的施加在左右车轮上的制动力之差。 辅助转向转矩提供单元基于由右和左制动力差估计单元估计的左右车轮之间的制动力的差异，为转向转矩控制单元提供辅助转向转矩。

公开(公告)号：US20070294011A1

公开(公告)日：2007-12-20

申请号：US11889761

申请日：2007-08-16

申请人： Yoshiyuki Yasui ,  Wataru Tanaka ,  Yuji Muragishi ,  Eiichi Ono ,  Katsuhiro Asano ,  Minekazu Momiyama ,  Hiroaki Kato ,  Kenji Asano

发明人： Yoshiyuki Yasui ,  Wataru Tanaka ,  Yuji Muragishi ,  Eiichi Ono ,  Katsuhiro Asano ,  Minekazu Momiyama ,  Hiroaki Kato ,  Kenji Asano

IPC分类号： B62D6/04 ,  B60T8/1764 ,  B60T8/62

CPC分类号： B62D5/0472 ,  B60T8/1755 ,  B60T8/1764 ,  B60T2220/03 ,  B60T2260/024 ,  B60W10/184 ,  B60W10/20 ,  B60W2520/10 ,  B60W2520/30 ,  B60W2720/14 ,  B62D5/046 ,  B62D6/003

摘要： A motor-driven steering controller for controlling a steering wheel of a vehicle. The controller includes a steering torque controlling unit, a braking force estimating unit, a right and left braking force difference estimating unit and an assist steering torque providing unit. The steering torque controlling unit controls a steering torque on the steering wheel depending on a steering operation. The braking force estimating unit estimates braking forces to be imposed on wheels of the vehicle. The right and left braking force difference estimating unit estimates difference between the braking forces to be imposed on the right and left wheels each estimated by the braking forces estimating unit. The assist steering torque providing unit provides an assist steering torque for the steering torque controlling unit on the basis of the difference in braking force between right and left wheels estimated by the right and left braking force difference estimating unit.

摘要翻译： 一种用于控制车辆的方向盘的电动转向控制器。 控制器包括转向转矩控制单元，制动力估计单元，左右制动力差推定单元和辅助转向转矩提供单元。 转向转矩控制单元根据转向操作来控制方向盘上的转向转矩。 制动力估计单元估计要施加在车辆的车轮上的制动力。 左右制动力差推定部判定由制动力推定部估计出的施加在左右车轮上的制动力之差。 辅助转向转矩提供单元基于由右和左制动力差估计单元估计的左右车轮之间的制动力的差异，为转向转矩控制单元提供辅助转向转矩。

公开(公告)号：US06792343B2

公开(公告)日：2004-09-14

申请号：US10445019

申请日：2003-05-27

申请人： Yoshiyuki Yasui ,  Katsuhiro Asano ,  Yuji Muragishi ,  Minekazu Momiyama ,  Kenji Asano

发明人： Yoshiyuki Yasui ,  Katsuhiro Asano ,  Yuji Muragishi ,  Minekazu Momiyama ,  Kenji Asano

IPC分类号： G06F700

CPC分类号： B60T8/17636 ,  B60T2210/12

摘要： An antiskid braking control system includes a wheel factor estimating means for estimating at least a wheel factor such as a side force of a vehicle front wheel and a front wheel slip angle based upon a vehicle state variable, a grip factor estimating means for estimating a grip factor of at least the vehicle front wheel based upon a change of a aligning torque depending upon the front wheel factor, and a control parameter adjusting means for adjusting a control parameter based upon the grip factor estimated.

公开(公告)号：US06802226B2

公开(公告)日：2004-10-12

申请号：US10193220

申请日：2002-07-12

申请人： Eiichi Ono ,  Yoshitoshi Watanabe ,  Masanori Miyashita ,  Yuji Muragishi ,  Katsuhiro Asano

发明人： Eiichi Ono ,  Yoshitoshi Watanabe ,  Masanori Miyashita ,  Yuji Muragishi ,  Katsuhiro Asano

IPC分类号： G01L302

CPC分类号： G01N19/02 ,  B60T2210/12 ,  B62D15/02

摘要： A physical amount estimating apparatus including first outputting means for outputting a first physical amount that does not include a hysteresis characteristic, second outputting means for outputting a second physical amount that has a predetermined physical relationship to the first physical amount and includes a hysteresis characteristic, hysteresis removing means for calculating a corrected value with the hysteresis characteristic removed therefrom based on the second physical amount, and estimating means for estimating a third physical amount based on a physical relationship between the first physical amount and the corrected value.

摘要翻译： 一种物理量估计装置，包括：第一输出装置，用于输出不包括滞后特性的第一物理量;第二输出装置，用于输出与第一物理量具有预定物理关系的第二物理量，并包括滞后特性，滞后特性 去除装置，用于基于第二物理量计算从其中除去的滞后特性的校正值;以及估计装置，用于基于第一物理量和校正值之间的物理关系来估计第三物理量。

公开(公告)号：US06324461B1

公开(公告)日：2001-11-27

申请号：US09106342

申请日：1998-06-29

申请人： Hiroyuki Yamaguchi ,  Katsuhiro Asano ,  Eiichi Ono ,  Takaji Umeno ,  Masaru Sugai

发明人： Hiroyuki Yamaguchi ,  Katsuhiro Asano ,  Eiichi Ono ,  Takaji Umeno ,  Masaru Sugai

IPC分类号： B60T800

CPC分类号： B60T8/172 ,  B60T2210/12

摘要： Disclosed is a road surface condition estimating apparatus including: a converting portion having a table showing a relation among a vehicle speed, a braking force and a resonance gain for each road surface condition and converting a detected value of the input vehicle speed and braking force into a resonance gain on the basis of the table, a subtracting device for computing each of differences between the resonance gain for each road surface condition converted by each of the converting portions and the detected value of the input resonance gain, and a minimum value selecting portion selecting the minimum value among the computed values in the subtracting device and outputting an information of the road surface condition corresponding to the converting portion giving the minimum value.

摘要翻译： 公开了一种路面状态估计装置，包括：转换部，具有表示车辆速度，制动力和各路面状况的共振增益之间的关系的表，并将输入车速和制动力的检测值转换为 基于该表的共振增益，用于计算由每个转换部分转换的每个路面条件的共振增益与输入谐振增益的检测值之间的每个差异的减法装置，以及最小值选择部分 选择减法装置中的计算值中的最小值，并输出与给出最小值的转换部分相对应的路面条件的信息。