公开(公告)号：US07890230B2

公开(公告)日：2011-02-15

申请号：US11196167

申请日：2005-08-03

申请人： Yuichiro Tsukasaki ,  Masaru Kogure

发明人： Yuichiro Tsukasaki ,  Masaru Kogure

IPC分类号： B60G17/018

CPC分类号： B60K23/0808 ,  B60K17/3462 ,  B60K23/04 ,  B60W30/02 ,  B60W40/064 ,  B60W2040/1307 ,  B60W2520/30 ,  B60W2530/20 ,  B60W2550/148 ,  B60W2710/105 ,  B60W2720/403

摘要： The objective of the present invention is to provide a vehicle motion control device capable of controlling the driving force distribution to the wheels with superior stability and response while effectively utilizing the tire grip. Specifically, the present invention provides a vehicle motion control device for a vehicle, the vehicle having a plurality of wheels and a driving device for driving the wheels based on a driving force/load distribution ratio, having: a force detection unit for detecting forces that act on the wheels; a target distribution ratio calculating unit for obtaining nonlinear terms by use of a group of parameters including the forces detected by the force detection unit, and obtaining a target value of the driving force/load distribution ratio so as to minimize the nonlinear terms, the nonlinear terms being included in elements of a system matrix of equations of state that describe a state of motion of the vehicle; and a driving device control unit for controlling the driving device based on the target value of the driving force/load distribution ratio.

摘要翻译： 本发明的目的是提供一种车辆运动控制装置，其能够在有效地利用轮胎抓地力的同时以更好的稳定性和响应来控制对车轮的驱动力分布。 具体而言，本发明提供一种车辆用车辆运动控制装置，具有多个车轮的车辆和用于基于驱动力/负荷分配比率驱动车轮的驱动装置，具有：力检测单元， 在轮子上行事 目标分配比率计算单元，用于通过使用包括由力检测单元检测到的力的一组参数获得非线性项，并获得驱动力/负载分布比的目标值，以使非线性项最小化，非线性 术语被包括在描述车辆的运动状态的状态方程组的系统矩阵的元素中; 以及驱动装置控制单元，用于基于驱动力/负载分配比的目标值来控制驱动装置。

公开(公告)号：US07317982B2

公开(公告)日：2008-01-08

申请号：US11135433

申请日：2005-05-24

申请人： Yuichiro Tsukasaki ,  Masaru Kogure

发明人： Yuichiro Tsukasaki ,  Masaru Kogure

IPC分类号： G06F19/00 ,  G06F7/60 ,  G06F7/70

CPC分类号： G01G19/086 ,  B60T8/172 ,  B60T2240/06 ,  B60T2250/02 ,  G01M1/122

摘要： A detector 22 detects action forces acting on a wheel 5 provided to a vehicle. An estimator 21a estimates the present value of a vehicle mass m on the basis of an action force acting in a component force direction out of the action forces, and an acceleration of the vehicle in the component force direction. Specifically, the estimator 21a estimates the present value of the vehicle mass m on the basis of an acceleration ax in the longitudinal direction and a longitudinal force Fx or on the basis of an acceleration ay in the lateral direction and a lateral force Fy. The estimator estimates the present value of a center-of-gravity height of the vehicle on the basis of the detected variation amount of the vertical force and the detected longitudinal force.

摘要翻译： 检测器22检测作用于设置在车辆上的车轮5的作用力。 估计器21a基于作用力作用在作用力之外的作用力，以及车辆在分力方向上的加速度来估计车辆质量m的当前值。 具体地，估计器21a基于纵向方向上的加速度ax和纵向力Fx或者基于横向方向上的加速度ay和横向力Fy来估计车辆质量m的当前值。 估计器基于检测到的垂直力的变化量和检测到的纵向力来估计车辆的重心高度的当前值。

公开(公告)号：US20060041364A1

公开(公告)日：2006-02-23

申请号：US11196769

申请日：2005-08-03

申请人： Yuichiro Tsukasaki ,  Masaru Kogure

发明人： Yuichiro Tsukasaki ,  Masaru Kogure

IPC分类号： G06F17/00

CPC分类号： B62D6/003 ,  B60T8/1755 ,  B60T2260/02 ,  B60W30/02 ,  B60W40/064

摘要： The objective of the present invention is to provide a vehicle behavior control device, wherein vehicle behaviors are quickly detected by use of a small number of sensors for achieving stability without sacrificing speed while giving a driver natural, smooth steering. According to the present invention, the vehicle behavior control device includes: a force detecting unit for detecting a tire force acting on each wheel of a vehicle; a yaw moment computing unit for computing a yaw moment of the vehicle based on the tire force acting on each wheel detected by the force detecting unit, the yaw moment being generated by a driving force transmitted to each wheel; a cornering power computing unit for computing a cornering power of each wheel based on the tire force acting on each wheel detected by the force detection unit; and a correcting unit for correcting the yaw moment based on a moment of inertia of the vehicle and the cornering powers.

摘要翻译： 本发明的目的是提供一种车辆行为控制装置，其中通过使用少量的传感器来快速地检测车辆行为，以在不牺牲速度的情况下实现稳定性，同时给予驾驶员自然，平稳的转向。 根据本发明，车辆行为控制装置包括：力检测单元，用于检测作用在车辆的每个车轮上的轮胎力; 横摆力矩计算单元，用于基于由力检测单元检测到的作用在每个车轮上的轮胎力来计算车辆的横摆力矩，所述横摆力矩由传递到每个车轮的驱动力产生; 转向动力计算单元，用于基于由力检测单元检测到的作用在每个车轮上的轮胎力来计算每个车轮的转弯力; 以及校正单元，用于基于车辆的转动惯量和转弯力来校正横摆力矩。

公开(公告)号：US07864032B2

公开(公告)日：2011-01-04

申请号：US11543070

申请日：2006-10-05

申请人： Masaru Kogure ,  Yuichiro Tsukasaki

发明人： Masaru Kogure ,  Yuichiro Tsukasaki

IPC分类号： G60Q1/00 ,  G05D1/02 ,  G06F17/10 ,  G06F17/18 ,  G06F19/00 ,  G06G7/78 ,  G08G1/16

CPC分类号： B60W30/09 ,  B60W10/18 ,  B60W30/08 ,  B60W30/095 ,  B60W30/18172 ,  B60W50/14 ,  B60W2420/403 ,  B60W2420/52 ,  G08G1/165 ,  G08G1/166 ,  G08G1/167

摘要： A control unit 5 calculates, by a statistical processing, the current front/rear-directional acceleration, the current front/rear-directional velocity, and the current front/rear-directional position of the three-dimensional object to be determined while considering an error caused by a camera. These values are used in the statistical processing so as to calculate the front/rear-directional acceleration after Δt seconds, the front/rear-directional velocity after Δt seconds, and the front/rear-directional position after Δt seconds, and so as to obtain a probability of contact after Δt seconds based on the front/rear-directional position after Δt seconds.

摘要翻译： 控制单元5通过统计处理来计算当前的前/后方向加速度，当前前/后方向速度以及待确定的三维物体的当前前/后方位置，同时考虑 相机造成的错误 这些值用于统计处理，以计算＆Dgr; t秒之后的前/后方向加速度，＆Dgr; t秒后的前/后方向速度和＆Dgr; t后的前/后方向位置 秒，并且基于＆Dgr; t秒之后的前后方向位置获得＆Dgr; t秒之后的接触概率。

公开(公告)号：US20080177442A1

公开(公告)日：2008-07-24

申请号：US12007388

申请日：2008-01-09

申请人： Yuichiro Tsukasaki ,  Masaru Kogure

发明人： Yuichiro Tsukasaki ,  Masaru Kogure

IPC分类号： G06F19/00

CPC分类号： B62D6/006 ,  B62D7/09 ,  B62D7/20

摘要： When a vehicle is turning, it is determined whether an inside turning wheel has sufficient grip force. If the inside wheel has sufficient grip force, left and right forces orthogonally input to the vehicle body are calculated based on longitudinal and lateral tire forces, and are checked if there is a difference in the left and right forces. If there is such a left-right force difference and the vehicle is not undergoing a braking operation, the turning angle of the inside wheel is corrected using a left-right independent steering device that independently controls the turning angles of left and right wheels, so that the difference becomes zero. Thus, the difference in left and right forces laterally input to the vehicle body is reduced to minimize a jack-up force. This improves the driving stability and achieves a good roll feel by means of a jack-down force, thereby achieving improved driving feel.

摘要翻译： 当车辆转动时，确定内侧转向轮是否具有足够的抓握力。 如果内轮具有足够的抓握力，则基于纵向和侧向轮胎力计算正交输入到车体的左右力，并且检查左右力是否存在差异。 如果存在这样的左右力差并且车辆没有进行制动操作，则使用独立地控制左右车轮的转向角度的左右独立转向装置来校正内轮的转向角度，因此 差值变为零。 因此，减小横向输入到车体的左右力的差异，以最小化自升式力。 这提高了驾驶的稳定性，并且通过起降力实现了良好的滚动感，从而实现了改进的驾驶感觉。

公开(公告)号：US20070080968A1

公开(公告)日：2007-04-12

申请号：US11543070

申请日：2006-10-05

申请人： Masaru Kogure ,  Yuichiro Tsukasaki

发明人： Masaru Kogure ,  Yuichiro Tsukasaki

IPC分类号： G06T15/70 ,  G06T13/00

CPC分类号： B60W30/09 ,  B60W10/18 ,  B60W30/08 ,  B60W30/095 ,  B60W30/18172 ,  B60W50/14 ,  B60W2420/403 ,  B60W2420/52 ,  G08G1/165 ,  G08G1/166 ,  G08G1/167

摘要： A control unit 5 calculates, by a statistical processing, the current front/rear-directional acceleration, the current front/rear-directional velocity, and the current front/rear-directional position of the three-dimensional object to be determined while considering an error caused by a camera. These values are used in the statistical processing so as to calculate the front/rear-directional acceleration after Δt seconds, the front/rear-directional velocity after Δt seconds, and the front/rear-directional position after Δt seconds, and so as to obtain a probability of contact after Δt seconds based on the front/rear-directional position after Δt seconds.

摘要翻译： 控制单元5通过统计处理来计算当前的前/后方向加速度，当前前/后方向速度以及待确定的三维物体的当前前/后方位置，同时考虑 相机造成的错误 这些值用于统计处理，以便计算Deltat秒后的前/后方向加速度，Deltat秒后的前/后方向速度以及Deltat秒后的前/后方向位置，以便 在Deltat秒后基于前/后方位置，在Deltat秒后获得接触概率。

公开(公告)号：US20050273241A1

公开(公告)日：2005-12-08

申请号：US11135433

申请日：2005-05-24

申请人： Yuichiro Tsukasaki ,  Masaru Kogure

发明人： Yuichiro Tsukasaki ,  Masaru Kogure

IPC分类号： B60K31/00 ,  B60R16/02 ,  B60W30/00 ,  B60W40/10 ,  B60W40/12 ,  B60W40/13 ,  F02D29/02 ,  G01G19/08 ,  G01L7/10 ,  G06F7/70 ,  G06F19/00

CPC分类号： G01G19/086 ,  B60T8/172 ,  B60T2240/06 ,  B60T2250/02 ,  G01M1/122

摘要： A detector 22 detects action forces acting on a wheel 5 provided to a vehicle. An estimator 21a estimates the present value of a vehicle mass m on the basis of an action force acting in a component force direction out of the action forces, and an acceleration of the vehicle in the component force direction. Specifically, the estimator 21a estimates the present value of the vehicle mass m on the basis of an acceleration ax in the longitudinal direction and a longitudinal force Fx or on the basis of an acceleration ay in the lateral direction and a lateral force Fy. The estimator estimates the present value of a center-of-gravity height of the vehicle on the basis of the detected variation amount of the vertical force and the detected longitudinal force.

摘要翻译： 检测器22检测作用于设置在车辆上的车轮5的作用力。 估计器21a基于作用力作用在作用力之外的作用力，以及车辆在分力方向上的加速度来估计车辆质量m的当前值。 具体地，估计器21a基于纵向方向上的加速度ax和纵向力Fx或者基于横向方向上的加速度ay和横向力Fy来估计车辆质量m的当前值。 估计器基于检测到的垂直力的变化量和检测到的纵向力来估计车辆的重心高度的当前值。

公开(公告)号：US07416264B2

公开(公告)日：2008-08-26

申请号：US11148334

申请日：2005-06-09

申请人： Yuichiro Tsukasaki

发明人： Yuichiro Tsukasaki

IPC分类号： B60T8/62

CPC分类号： B60W40/10 ,  B60T7/10 ,  B60T8/00 ,  B60T8/1766 ,  B60T11/21 ,  B60T2260/02 ,  B60W10/119 ,  B60W10/184 ,  B60W10/20 ,  B60W2510/20 ,  B60W2520/28 ,  B62D9/007

摘要： A wheel adjusting device can adjust separately the wheel angles of left and right wheels. A judgment portion which determines whether vehicle braking is to be permitted or not based on the driving state of the vehicle. A control portion controls the wheel adjusting device. More specifically, under conditions where the vehicle braking is permitted by the judgment portion, the control portion defines the wheel angles of the left and right wheels to be in opposite phase and adjusts the wheel angles in accordance with the braking force to be applied to the left and right wheels.

摘要翻译： 车轮调节装置可以分别调节左右车轮的车轮角度。 判定部，根据车辆的行驶状态判定是否允许车辆制动。 控制部控制车轮调节装置。 更具体地，在判断部允许车辆制动的条件下，控制部将左右轮的车轮角度定义为相反相位，并根据施加到车辆的制动力来调整车轮角度 左右轮

公开(公告)号：US20080167778A1

公开(公告)日：2008-07-10

申请号：US12007389

申请日：2008-01-09

申请人： Yuichiro Tsukasaki ,  Masaru Kogure

发明人： Yuichiro Tsukasaki ,  Masaru Kogure

IPC分类号： G05D1/00 ,  B62D1/00

CPC分类号： B62D7/20 ,  B62D5/0418 ,  B62D5/049 ,  B62D7/09 ,  B62D15/021 ,  Y10T74/18992

摘要： A small-size, highly-reliable left-right independent steering device is provided without having to make significant modifications to existing vehicles or to develop dedicated vehicles. The device includes tie rods linked to left and right front wheels and axially expandable and contractible by means of small-size telescopic mechanism portions defined by ball-screw-type linear actuators. Each telescopic mechanism portion mainly includes a main body to which a tie-rod end of the corresponding tie rod is fixed, and an electric motor serving as an actuator attached substantially perpendicularly to the main body. The other end of the tie rod is coupled to a steering rod and functions as a piston rod that can advance or recede in the axial direction by means of the telescopic mechanism portion. Thus, the telescopic mechanism portions are mountable within tire wheels at positions free of, for example, suspension arms and stabilizers located near the tie rods.

摘要翻译： 提供小尺寸，高可靠性的左右独立转向装置，而不必对现有车辆进行重大修改或开发专用车辆。 该装置包括连接到左前轮和右前轮的拉杆，并且通过由滚珠丝杠型线性致动器限定的小尺寸伸缩机构部分轴向地可膨胀和收缩。 每个伸缩机构部分主要包括固定相应的拉杆的拉杆端的主体和用作基本垂直于主体的致动器的电动机。 拉杆的另一端连接到转向杆，并且用作可通过伸缩机构部分沿轴向前进或后退的活塞杆。 因此，伸缩机构部分可安装在轮胎车轮内的位置处，例如位于拉杆附近的悬挂臂和稳定器。

公开(公告)号：US20050285442A1

公开(公告)日：2005-12-29

申请号：US11155741

申请日：2005-06-20

申请人： Yuichiro Tsukasaki

发明人： Yuichiro Tsukasaki

IPC分类号： B60K17/348 ,  B60K31/00 ,  B60T7/12 ,  B60T8/00 ,  B60T8/1755 ,  B60T8/1769 ,  B60T13/74 ,  B60T17/18 ,  B60W10/02 ,  B60W10/18 ,  B60W10/192 ,  F02D29/02

CPC分类号： B60T8/1769 ,  B60T13/74

摘要： When supplied with a signal for correcting a vehicle behavior is input from a brake controller, an electrically-driven parking brake controller releases actuation of an electrically-driven parking brake when the electrically-driven parking brake is actuated. When supplied with a brake control amount when abnormality occurs in a main brake system is input the electrically-driven parking brake controller drives electric motors to generate the brake control amount concerned. Furthermore, when supplied with the brake control amount of the electrically-driven parking brake 30 from an ACC system, the electrically-driven parking brake controller drives the electric motors to generate the brake control amount concerned. The front-and-rear driving force distribution controller directly couples the front shaft and the rear shaft when the electrically-driven parking brake is actuated.

摘要翻译： 当从制动控制器输入提供用于校正车辆行为的信号时，电驱动的驻车制动控制器在电动驻车制动器被致动时释放电动驻车制动器的致动。 输入主制动系统发生异常时的制动控制量时，电动驻车制动控制器驱动电动机，生成有关的制动控制量。 此外，当从ACC系统提供电动驻车制动器30的制动控制量时，电动驻车制动器控制器驱动电动机以产生所涉及的制动控制量。 当电动驻车制动器被致动时，前后驱动力分配控制器直接连接前轴和后轴。