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1. 发明授权

US08364347B2 Left-right independent steering device for steering left and right wheels independently 有权
标题翻译：独立转向左右独立转向装置的左右独立转向装置
公开(公告)号：US08364347B2
公开(公告)日：2013-01-29
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： G06F19/00 , B62D5/04 , A01B69/00
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。

2. 发明授权

US08165750B2 Vehicle motion control device and method 有权
标题翻译：车辆运动控制装置及方法
公开(公告)号：US08165750B2
公开(公告)日：2012-04-24
申请号：US13012927
申请日：2011-01-25
申请人： Yuichiro Tsukasaki , Masaru Kogure
发明人： Yuichiro Tsukasaki , Masaru Kogure
IPC分类号： G06F17/00
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。

3. 发明授权

US08135524B2 Vehicle driving force control device 有权
标题翻译：车辆驱动力控制装置
公开(公告)号：US08135524B2
公开(公告)日：2012-03-13
申请号：US12010422
申请日：2008-01-24
申请人： Takeshi Yoneda , Keisuke Hosokawa , Koichi Inoue , Hirowatari Yosuke , Tomohiro Yamada , Koji Matsuno , Masaru Kogure , Satoru Akiyama , Masato Igarashi , Yosuke Morokuma
发明人： Takeshi Yoneda , Keisuke Hosokawa , Koichi Inoue , Hirowatari Yosuke , Tomohiro Yamada , Koji Matsuno , Masaru Kogure , Satoru Akiyama , Masato Igarashi , Yosuke Morokuma
IPC分类号： B60K28/16
CPC分类号： B60W30/18172 , B60K23/0808 , B60W10/06 , B60W10/14 , B60W40/064 , B60W2510/0604 , B60W2510/0638 , B60W2510/1005 , B60W2510/20 , B60W2520/125 , B60W2520/14 , B60W2520/28 , B60W2540/10 , B60W2550/148 , B60W2710/0666 , B60W2720/30
摘要： A driving force control device includes an individual-wheel friction-circle limit-value calculating portion that calculates friction-circle limit-values of individual wheels, an individual-wheel requested-resultant-tire-force calculating portion that calculates requested resultant tire forces of the individual wheels, an individual-wheel resultant-tire-force calculating portion that calculates resultant tire forces of the individual wheels, an individual-wheel requested-excessive-tire-force calculating portion that calculates requested excessive tire forces of the individual wheels, an individual-wheel excessive-tire-force calculating portion that calculates excessive tire forces of the individual wheels, an excessive-tire-force calculating portion that calculates an excessive tire force, an over-torque calculating portion that calculates an over-torque, and a control-amount calculating portion that calculates a control amount that is output to an engine control unit.
摘要翻译：驱动力控制装置包括计算各个车轮的摩擦圆极限值的单轮摩擦圆限制值计算部，计算要求的轮胎的所需轮胎力的单轮请求结果轮胎力计算部单个车轮，计算各车轮的合成轮胎力的单轮车轮产生轮胎力计算部，计算出各车轮所要求的过度轮胎力的单轮要求过量轮胎力计算部，计算各个车轮的过大轮胎力的单轮过轮胎力计算部，计算过大轮胎力的过度轮胎力计算部，计算过转矩的过转矩运算部，以及控制量计算部，其计算输出到发动机控制单元的控制量。

4. 发明申请

US20110172883A1 STEERING CONTROL SYSTEM FOR VEHICLE 有权
标题翻译：车辆转向控制系统
公开(公告)号：US20110172883A1
公开(公告)日：2011-07-14
申请号：US13052503
申请日：2011-03-21
申请人： Koji MATSUNO , Satoru AKIYAMA , Shinji MATSUSHITA , Shiro EZOE , Masaru KOGURE , Hajime OYAMA
发明人： Koji MATSUNO , Satoru AKIYAMA , Shinji MATSUSHITA , Shiro EZOE , Masaru KOGURE , Hajime OYAMA
IPC分类号： B62D6/00
CPC分类号： B62D6/003 , B62D5/008
摘要： A steering control section has a first steering angle correction amount calculating section, a second steering angle correction amount calculating section, and a motor rotational angle calculating section. The first correction amount calculating section calculates a first correction amount based on a vehicle speed and an actual steering wheel angle. The second correction amount calculating section calculates a second correction amount through multiplying a control gain corresponding to the vehicle speed with a value calculated by low-pass filtering a differential value of steering wheel angle. The motor rotational angle calculating section calculates a motor rotational angle corresponding to the value adding the first and second steering angle correction amount, and outputs it to a motor driving section so as to drive an electric motor for correcting the steering angle. Thereby, an unstable vehicle behavior due to a resonance of a yaw motion caused in the steering operation can be suppressed.
摘要翻译：转向控制部具有第一转向角修正量计算部，第二转向角修正量计算部和电动机转动角计算部。第一校正量计算部基于车速和实际方向盘角度来计算第一校正量。第二校正量计算部分通过将与车速相对应的控制增益乘以通过对方向盘角度的差分值进行低通滤波而计算的值来计算第二校正量。马达旋转角度计算部分计算与增加第一和第二转向角校正量的值相对应的马达旋转角度，并将其输出到马达驱动部分，以驱动用于校正转向角的电动马达。由此，可以抑制由于在转向操作中引起的偏航运动的共振引起的不稳定的车辆行为。

5. 发明授权

US07619649B2 Vehicle front-view monitoring system 有权
公开(公告)号：US07619649B2
公开(公告)日：2009-11-17
申请号：US09902576
申请日：2001-07-12
申请人： Masaru Kogure , Yutaka Hiwatashi
发明人： Masaru Kogure , Yutaka Hiwatashi
IPC分类号： H04N7/18
CPC分类号： G06T7/0002 , G01S11/12 , G06T2207/10012 , G06T2207/10021 , G06T2207/30168 , G06T2207/30252 , H04N13/239 , H04N13/25 , H04N2013/0081
摘要： A vehicle front-view monitoring system determines whether there is a fail occurring on the monitoring system based on luminance data on an image of a front view taken by camera and takes fail-safe measures if the fail is occurring. The luminance data indicates luminance-distribution characteristic values indicating horizontal luminance-distribution on the image. A fail can be determined based on a parameter obtained by normalizing the luminance-distribution characteristic values by a shutter speed for the camera equipment.

6. 发明申请

US20060030974A1 Vehicle motion control device and method 有权
标题翻译：车辆运动控制装置及方法
公开(公告)号：US20060030974A1
公开(公告)日：2006-02-09
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： G06F17/00
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。

7. 发明申请

US20060006017A1 Wheel ground-contact state judging device and method and vehicle motion control device 有权
标题翻译：车轮接地状态判断装置及方法及车辆运动控制装置
公开(公告)号：US20060006017A1
公开(公告)日：2006-01-12
申请号：US11177286
申请日：2005-07-11
申请人： Yuichiro Tsukasaki , Masaru Kogure
发明人： Yuichiro Tsukasaki , Masaru Kogure
IPC分类号： B60K17/34
CPC分类号： B60G17/0162 , B60G21/0555 , B60G2400/104 , B60G2400/822 , B60G2600/02 , B60G2800/214 , B60G2800/24 , B60G2800/702 , B60G2800/9122
摘要： In wheel ground-contact state judging device and method, a detector directly detects a lateral force acting in a direction perpendicular to the wheel center plane of a wheel. An acceleration sensor detects an acceleration in the lateral direction of a vehicle. A calculator calculates a cornering force acting on each wheel on the basis of the acceleration in the lateral direction thus detected. A judging unit compares the detected lateral force with the calculated cornering force to judge whether the ground-contact state of the wheel is good or not.
摘要翻译：在车轮接地状态判断装置和方法中，检测器直接检测沿与车轮中心平面垂直的方向作用的横向力。加速度传感器检测车辆的横向的加速度。计算器根据这样检测的横向加速度计算作用在每个车轮上的转弯力。判断单元将检测出的横向力与计算出的转弯力进行比较，判断车轮的接地状态是否良好。

8. 发明申请

US20050049774A1 Road surface frictional coefficient estimating apparatus 有权
标题翻译：路面摩擦系数估计装置
公开(公告)号：US20050049774A1
公开(公告)日：2005-03-03
申请号：US10923941
申请日：2004-08-24
申请人： Masaru Kogure
发明人： Masaru Kogure
IPC分类号： B60R16/02 , B60T8/172 , B60W40/068 , G01N19/02
CPC分类号： B60T8/172 , B60T2210/12 , B60W40/068 , B60W2520/10 , B60W2520/14 , B60W2520/263 , B60W2550/148
摘要： A braking/driving force fx is calculated at S102, and a lateral force Fy is calculated at S103. At S104, reference is made to a preset map to select a road surface μ estimation part to be used for determination (to select a first road surface μ estimation part 25 or a second road surface μ estimation part 26 or nonperformance of determination. At S105, a display flag Fla from the road surface μ selection part is read. Indication 1 is displayed (S107) in the case of a road having a high μ. Indication 2 is displayed (S109) in the case of a road having a medium μ. Indication 3 is displayed (S111) in the case of a road having a low μ. Indication 0 is displayed (S112) in other cases wherein the road surface μ is unknown.
摘要翻译：在S102中计算制动/驱动力fx，并且在S103计算横向力Fy。在S104中，参照预先设定的图，选择要使用的路面μ估计部（判定用的第1路面mu估计部25或第2路面mu估计部26），或者判断的不良性，在S105 读取来自路面μ选择部的显示标志Fla，在道路高mu的情况下显示指示1（S107），在具有中mu的道路的情况下显示指示2（S109）在路面μ为mu的情况下显示指示3（S111），在路面mu未知的情况下，显示指示0（S112）。

9. 发明申请

US20050044944A1 APPARATUS AND METHOD OF JUDGING ROAD SURFACE CONDITIONS FOR VEHICLE 有权
标题翻译：评估车辆道路表面条件的装置和方法
公开(公告)号：US20050044944A1
公开(公告)日：2005-03-03
申请号：US10921232
申请日：2004-08-19
申请人： Masaru Kogure , Eiji Shibata
发明人： Masaru Kogure , Eiji Shibata
IPC分类号： B60C23/06 , B60G17/0165 , B60T8/172 , B60W40/06 , G01M17/02
CPC分类号： B60W40/064 , B60C23/061 , B60G17/0165 , B60G2400/822 , B60G2800/702 , B60T8/172 , B60T2210/12 , B60W40/068 , B60W2550/14 , B60W2550/148
摘要： A road surface condition judging apparatus of a vehicle includes means for detecting wheel speeds of respective wheels, means for calculating a vehicle speed of the vehicle based on the wheel speeds, means for calculating a deceleration of the vehicle, slip ratio difference calculating means for calculating a difference of slip ratios between front wheels and rear wheels based on the wheel speeds of the respective wheels and the vehicle speed, tire judgment value establishing means for variably establishing a tire judgment value, tire type judging means for judging a tire type of the wheels based on the tire judgment value, grip threshold value establishing means for variably establishing a grip threshold value in accordance with the tire type and road surface judging means for judging a road surface condition based on a comparison of the difference of slip ratios with the grip threshold value.
摘要翻译：车辆的路面状况判断装置包括：检测各车轮速度的装置，基于车轮速度计算车辆的车速的装置，用于计算车辆减速度的装置;滑移率差计算装置，用于计算基于各车轮的车轮速度和车速的前轮和后轮之间的滑移比的差异，用于可变地建立轮胎判断值的轮胎判断值建立装置，用于判断车轮的轮胎类型的轮胎类型判断装置基于轮胎判断值，根据轮胎类型和路面判断装置可变地建立抓地阈值的抓地阈值建立装置，用于基于滑移比差与握力阈值的比较来判断路面状况值。

10. 发明授权

US06597980B2 Road friction coefficients estimating apparatus for vehicle 有权
公开(公告)号：US06597980B2
公开(公告)日：2003-07-22
申请号：US09983780
申请日：2001-10-25
申请人： Masaru Kogure
发明人： Masaru Kogure
IPC分类号： B60T800
CPC分类号： B60W40/10 , B60T8/172 , B60T2210/12 , B60W40/064 , B60W40/068 , B60W2550/148 , G01N19/02
摘要： A road friction coefficients estimating apparatus for a vehicle comprises a first road friction coefficient estimating section for calculating a first road friction coefficient based on a vehicle behavior in a lateral direction, a second road friction coefficient estimating section for calculating a second road friction coefficient based on a vehicle behavior in a longitudinal direction, a third road friction coefficient estimating section for calculating a third road friction coefficient based on road conditions and an estimating value selection section for selecting either one of the first, second and third road friction coefficients as a final road friction coefficient estimating value.

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