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1. 发明授权

US10384673B2 Method and device for controlling vehicle motion and vehicle equipped with same 有权
公开(公告)号：US10384673B2
公开(公告)日：2019-08-20
申请号：US15510110
申请日：2015-07-27
申请人： Hitachi Automotive Systems, Ltd.
发明人： Makoto Yamakado , Toshiyuki Innami , Keiichiro Nagatsuka
IPC分类号： B60W30/045 , B60W10/192 , B60W10/16 , B60T8/1766 , B60W30/18 , B60W40/114 , B60T8/1755 , B60T7/12 , B60T8/24 , B60W40/109
摘要： The purpose of the present invention is to provide a device and method for controlling vehicle motion and a vehicle equipped with the device, such that driving force and/or braking force is properly distributed between front wheels and rear wheels so that steering characteristics are made suitable and controllability and stability improve. This device comprises a means for controlling braking and/or driving force distribution between the front wheels and rear wheels of a vehicle such that when the absolute value of lateral acceleration of the vehicle increases, the distribution to the front wheels is made smaller, and when the absolute value of lateral acceleration of the vehicle decreases, the distribution to the front wheels is made larger.

2. 发明授权

US09643607B2 Vehicle motion control system 有权
公开(公告)号：US09643607B2
公开(公告)日：2017-05-09
申请号：US14762935
申请日：2013-12-20
申请人： HITACHI AUTOMOTIVE SYSTEMS, LTD.
发明人： Keiichiro Nagatsuka , Makoto Yamakado , Mikio Ueyama , Mitsuhide Sasaki
IPC分类号： B60W30/18 , B60T8/17 , B60T8/1755 , B60T8/1766
CPC分类号： B60W30/18 , B60T8/17555 , B60T8/1766 , B60W2520/105
摘要： Disclosed is a vehicle motion control system that can control a vehicle without making a driver feel uncomfortable. The vehicle motion control system includes a control command value calculation unit configured to calculate a control command value for controlling the longitudinal acceleration of a vehicle; a longitudinal acceleration estimating unit configured to estimate the longitudinal acceleration of the vehicle induced by a driver's brake operation; a longitudinal jark estimating unit configured to estimate the longitudinal jark of the vehicle by differentiating the longitudinal acceleration with respect to time; a deviation determination unit configured to determine a deviation between vehicle's motion induced by the driver's brake operation and vehicle's motion induced by a control command using the longitudinal jark and the control command value; and a control command value correction unit configured to correct the control command in accordance with a deviation determination result of the deviation determination unit.

3. 发明授权

US10286910B2 Vehicle running control apparatus 有权
公开(公告)号：US10286910B2
公开(公告)日：2019-05-14
申请号：US15025761
申请日：2014-06-13
申请人： Hitachi Automotive Systems, Ltd.
发明人： Keiichiro Nagatsuka , Makoto Yamakado , Mitsuhide Sasaki , Mikio Ueyama
IPC分类号： B60W10/04 , B60W30/14 , B60W30/16 , B60W30/18 , B60W10/184
摘要： Provided is a vehicle running control apparatus capable of controlling a vehicle comfortably while inhibiting an uncomfortable feeling of a driver in consideration of dimensions of longitudinal acceleration requirements for the vehicle. This vehicle running control apparatus includes: a first control command value calculation unit configured to calculate a first control command value that controls vehicle longitudinal acceleration; a second control command value calculation unit configured to calculate a second control command value that controls longitudinal acceleration according to a lateral jerk that acts on the vehicle; a correction determination processing unit configured to determine whether to make correction based on the first control command value and the second control command value; and a correction processing unit configured, when the correction determination processing unit determines that correction is needed, to correct the first control command value based on the second control command value.

4. 发明授权

US09296374B2 Motion controlling apparatus for a vehicle 有权
标题翻译：一种车辆运动控制装置
公开(公告)号：US09296374B2
公开(公告)日：2016-03-29
申请号：US14432270
申请日：2013-09-20
申请人： Hitachi Automotive Systems, Ltd.
发明人： Makoto Yamakado , Mitsuhide Sasaki , Mikio Ueyama , Keiichiro Nagatsuka
IPC分类号： G06F19/00 , B60T8/1755 , B60L3/10 , B60L7/26 , B60L15/20 , B60W10/08 , B60W10/184 , B60W30/045 , B60W20/00 , B60W40/114
CPC分类号： B60T8/1755 , B60L3/102 , B60L3/108 , B60L7/18 , B60L7/26 , B60L15/20 , B60L15/2009 , B60L2220/42 , B60L2220/44 , B60L2220/46 , B60L2240/12 , B60L2240/22 , B60L2240/423 , B60L2250/26 , B60L2260/28 , B60T8/17555 , B60T2230/04 , B60T2260/08 , B60T2270/303 , B60T2270/604 , B60W10/08 , B60W10/184 , B60W20/00 , B60W30/045 , B60W40/109 , B60W40/114 , B60W2510/18 , B60W2520/10 , B60W2520/105 , B60W2520/125 , B60W2520/14 , B60W2520/20 , B60W2520/30 , B60W2540/10 , B60W2540/12 , B60W2540/18 , B60W2550/10 , B60W2550/30 , B60W2600/00 , B60W2710/083 , B60W2710/18 , B60W2720/106 , B60W2720/125 , B60W2720/14 , Y02T10/645 , Y02T10/646 , Y02T10/72 , Y02T10/7275
摘要： Provided is a motion controlling apparatus for a vehicle that can achieve improvement in drivability, stability, and driving comfort. The apparatus includes a control unit for controlling driving forces of vehicle wheels; a vehicle acceleration/deceleration instruction calculator for calculating an acceleration/deceleration instruction value on the basis of a lateral jerk; a first vehicle yaw moment instruction calculator for calculating a first vehicle yaw moment instruction value on the basis of the lateral jerk; and a second vehicle yaw moment instruction calculator for calculating a second vehicle yaw moment instruction value on the basis of lateral slip information.
摘要翻译：提供一种车辆的运动控制装置，其可以实现驾驶性能，稳定性和驾驶舒适性的提高。该装置包括用于控制车轮的驱动力的控制单元; 车辆加速/减速指令计算器，用于基于横向加加速度计算加速/减速指令值; 第一车辆横摆力矩指令计算器，用于基于横向加加速度计算第一车辆横摆力矩指令值; 以及第二车辆横摆力矩指令计算器，用于基于横向滑移信息计算第二车辆横摆力矩指令值。

5. 发明申请

US20150166025A1 Vehicle Travel Control Device 有权
标题翻译：车辆行驶控制装置
公开(公告)号：US20150166025A1
公开(公告)日：2015-06-18
申请号：US14406810
申请日：2013-05-29
申请人： Hitachi Automotive Systems, Ltd.
发明人： Keiichiro Nagatsuka , Makoto Yamakado , Mitsuhide Sasaki , Mikio Ueyama
IPC分类号： B60T8/172
CPC分类号： B60T8/172 , B60T7/12 , B60T7/18 , B60W10/04 , B60W10/188 , B60W30/16 , B60W30/188 , B60W40/09 , B60W2540/12 , B60W2720/106 , F02D29/02 , F02D41/045 , F02D41/10 , F02D41/12
摘要： Provided is a vehicle travel control device (100) that can control a vehicle without causing discomfort to a driver based on a brake operation of the driver, the vehicle travel control device (100) including a control instruction computation unit (114). The control instruction computation unit (114) includes a control instruction value calculation unit (114a) that calculates a control instruction value to control the longitudinal acceleration of the vehicle; a driver acceleration intent quantification unit (114b) that calculates a longitudinal jerk from the longitudinal acceleration by a brake operation of the driver, and quantifies a driver's acceleration intent based on the longitudinal jerk; a control instruction value correction determination unit (114c) that determines whether a correction to the control instruction value is required in response to the quantified driver's acceleration intent; and a control instruction value correction unit (114d) that corrects the control instruction value in response to the correction determination result of the control instruction value correction determination unit (114c).
摘要翻译：提供一种车辆行驶控制装置（100），其能够基于驾驶员的制动操作来控制车辆而不引起驾驶员的不适，车辆行驶控制装置（100）包括控制指令计算单元（114）。控制指令计算单元（114）包括控制指令值计算单元（114a），其计算用于控制车辆的纵向加速度的控制指令值; 通过驾驶员的制动操作从纵向加速度计算纵向加加速度的驾驶员加速意图量化单元（114b），并且基于纵向冲击量化驾驶员的加速意图; 控制指令值校正确定单元（114c），其响应于所述量化的驾驶员的加速意图来确定是否需要对所述控制指令值的校正; 以及响应于控制指令值修正确定单元（114c）的校正确定结果来校正控制指令值的控制指令值校正单元（114d）。

6. 发明授权

US09821800B2 Processor for a vehicle 有权
公开(公告)号：US09821800B2
公开(公告)日：2017-11-21
申请号：US15455221
申请日：2017-03-10
申请人： Hitachi Automotive Systems, Ltd.
发明人： Makoto Yamakado , Mitsuhide Sasaki , Mikio Ueyama , Keiichiro Nagatsuka
IPC分类号： B60W30/045 , B60L15/20 , B60L3/10 , B60L7/18 , B60W10/08 , B60W10/184 , B60W40/114 , B60W40/109
CPC分类号： B60T8/1755 , B60L3/102 , B60L3/108 , B60L7/18 , B60L7/26 , B60L15/20 , B60L15/2009 , B60L2220/42 , B60L2220/44 , B60L2220/46 , B60L2240/12 , B60L2240/22 , B60L2240/423 , B60L2250/26 , B60L2260/28 , B60T8/17555 , B60T2230/04 , B60T2260/08 , B60T2270/303 , B60T2270/604 , B60W10/08 , B60W10/184 , B60W20/00 , B60W30/045 , B60W40/109 , B60W40/114 , B60W2510/18 , B60W2520/10 , B60W2520/105 , B60W2520/125 , B60W2520/14 , B60W2520/20 , B60W2520/30 , B60W2540/10 , B60W2540/12 , B60W2540/18 , B60W2550/10 , B60W2550/30 , B60W2600/00 , B60W2710/083 , B60W2710/18 , B60W2720/106 , B60W2720/125 , B60W2720/14 , Y02T10/645 , Y02T10/646 , Y02T10/72 , Y02T10/7275
摘要： A processor for a vehicle includes a vehicle yaw moment instruction calculator, and a mode under which yaw moment of the vehicle is controlled. If the vehicle yaw moment instruction value generates the driving forces or the driving torques, the driving forces or driving torques are different between the left and right wheels. If the vehicle yaw moment instruction value generates the braking forces or the braking torques, the braking forces or the braking torques are different between the left and right wheels. The mode operates at least in transit region between daily region and limit region.

7. 发明授权

US09540003B2 Vehicle motion control device 有权
标题翻译：车辆运动控制装置
公开(公告)号：US09540003B2
公开(公告)日：2017-01-10
申请号：US14780835
申请日：2014-01-24
申请人： Hitachi Automotive Systems, Ltd.
发明人： Makoto Yamakado , Mitsuhide Sasaki , Mikio Ueyama , Keiichiro Nagatsuka
IPC分类号： B60W30/00 , B60W30/09 , B60T7/00 , B60T7/12 , B60W40/107 , B60T8/1755 , B60W30/045 , B60W10/18 , B60W10/20
CPC分类号： B60W30/09 , B60T7/12 , B60T8/1755 , B60T2201/022 , B60T2201/16 , B60T2230/04 , B60W10/06 , B60W10/08 , B60W10/18 , B60W10/20 , B60W10/22 , B60W30/02 , B60W30/045 , B60W30/18145 , B60W40/107 , B60W2510/18 , B60W2510/20 , B60W2520/10 , B60W2520/105 , B60W2520/14 , B60W2540/16 , B60W2550/10 , B60W2550/402 , B60W2710/18 , B60W2710/20 , B60W2720/40 , B60W2720/403 , B60W2720/406
摘要： In order to reliably assist a driver in emergency detour steering without causing a jerking forward motion of the vehicle during normal operation, a vehicle motion control device includes: a risk potential estimator that estimates a risk potential of a vehicle based on input external information and vehicle information; a vehicle longitudinal motion controller that generates a longitudinal motion control command of the vehicle based on a vehicle lateral jerk and a predetermined gain; and a gain adjustor that adjusts the gain, in which the gain adjustor adjusts the gain based on the risk potential estimated by the risk potential estimator.
摘要翻译：为了可靠地辅助驾驶员进行紧急绕行转向，而不会在正常操作期间引起车辆的急转向运动，车辆运动控制装置包括：风险潜在估计器，其基于输入的外部信息和车辆来估计车辆的潜在潜力信息; 车辆纵向运动控制器，其基于车辆横向加加速度和预定增益生成车辆的纵向运动控制命令; 以及调整增益的增益调整器，其中增益调节器基于由潜在风险估计器估计的风险潜力来调整增益。

8. 发明授权

US09399449B2 Vehicle travel control device 有权
标题翻译：车辆行驶控制装置
公开(公告)号：US09399449B2
公开(公告)日：2016-07-26
申请号：US14406810
申请日：2013-05-29
申请人： Hitachi Automotive Systems, Ltd.
发明人： Keiichiro Nagatsuka , Makoto Yamakado , Mitsuhide Sasaki , Mikio Ueyama
IPC分类号： G06F19/00 , B60T8/172 , B60T7/12 , B60W10/04 , B60W10/188 , B60W30/188 , B60W40/09 , F02D29/02 , B60T7/18 , F02D41/04 , F02D41/10 , F02D41/12
CPC分类号： B60T8/172 , B60T7/12 , B60T7/18 , B60W10/04 , B60W10/188 , B60W30/16 , B60W30/188 , B60W40/09 , B60W2540/12 , B60W2720/106 , F02D29/02 , F02D41/045 , F02D41/10 , F02D41/12
摘要： A vehicle travel control device includes a control instruction value calculation unit, a driver acceleration intent quantification unit, and a control instruction value correction determination unit that determines whether correction of a control instruction value is required in response to a quantified driver's acceleration intent. The vehicle travel control device also includes a control instruction value correction unit that corrects the control instruction value in response to a correction determination result of the control instruction value correction determination unit. The driver acceleration intent quantification unit quantifies the driver's acceleration intent using an integral value of the longitudinal jerk occurring according to the brake operation of the driver.
摘要翻译：车辆行驶控制装置包括控制指令值计算单元，驾驶员加速意图量化单元和控制指令值校正确定单元，其响应于量化的驾驶员的加速意图来确定是否需要校正控制指令值。车辆行驶控制装置还包括控制指令值校正单元，其响应于控制指令值校正确定单元的校正确定结果来校正控制指令值。驾驶员加速意图量化单元使用根据驾驶员的制动操作发生的纵向加加速度的积分值来量化驾驶员的加速意图。

9. 发明授权

US09352747B2 Vehicle travel control system 有权
标题翻译：车辆行驶控制系统
公开(公告)号：US09352747B2
公开(公告)日：2016-05-31
申请号：US14379686
申请日：2013-01-21
申请人： Hitachi Automotive Systems, Ltd.
发明人： Keiichiro Nagatsuka , Makoto Yamakado , Mitsuhide Sasaki , Mikio Ueyama
IPC分类号： G06F7/70 , B60Q1/44 , B60W30/14 , B60T7/22 , B60T13/66 , B60W30/02 , B60W30/16 , B60W40/107 , B60T7/12 , B60T8/171 , B60W10/04 , B60W10/18 , B60W30/08 , B60W40/02 , G01C21/26 , G01S19/13 , B60W50/00
CPC分类号： B60W30/14 , B60T7/12 , B60T7/22 , B60T8/171 , B60T13/662 , B60T2201/02 , B60T2210/36 , B60W10/04 , B60W10/18 , B60W30/02 , B60W30/08 , B60W30/143 , B60W30/16 , B60W40/02 , B60W40/107 , B60W2050/0024 , B60W2520/10 , B60W2520/125 , B60W2550/308 , B60W2550/402 , B60W2720/10 , B60W2720/125 , G01C21/26 , G01S19/13
摘要： A vehicle travel control system includes a first unit configured to calculate a target longitudinal acceleration/deceleration control command of the own vehicle based on a distance or a relative speed between the own vehicle and a forward obstacle, traveling route information from a vehicle navigation system or a Global Positioning System, and input information such as a vehicle speed set by a driver; a second unit configured to calculate a target longitudinal acceleration/deceleration control command according to a lateral jerk that acts on the own vehicle; and an arbitration unit configured to perform, based on the target longitudinal acceleration/deceleration control command calculated by the second unit, arbitration of the target longitudinal acceleration/deceleration control command calculated by the first unit, wherein output from the arbitration unit is set as a command to control the target longitudinal acceleration/deceleration control command of the own vehicle.
摘要翻译：车辆行驶控制系统包括：第一单元，其被配置为基于本车辆和前方障碍物之间的距离或相对速度计算本车辆的目标纵向加速/减速控制命令，来自车辆导航系统的行驶路线信息，全球定位系统，以及诸如由驾驶员设定的车速的输入信息; 第二单元，被配置为根据作用于自身车辆的横向加加速度来计算目标纵向加速/减速控制命令; 以及仲裁单元，被配置为基于由所述第二单元计算出的所述目标纵向加速/减速控制指令来执行由所述第一单元计算出的所述目标纵向加速/减速控制指令的仲裁，其中所述仲裁单元的输出被设置为命令来控制本车辆的目标纵向加减速控制指令。

10. 发明授权

US09919603B2 Operation control system for vehicle, vehicle, and program 有权
公开(公告)号：US09919603B2
公开(公告)日：2018-03-20
申请号：US15116707
申请日：2015-01-28
申请人： Hitachi Automotive Systems, Ltd.
发明人： Makoto Yamakado , Keiichiro Nagatsuka , Junya Takahashi , Mitsuhide Sasaki , Toshiyuki Innami , Mikio Ueyama
IPC分类号： B60L3/00 , B60T1/10 , B60T7/12 , B60T7/18 , B60T7/22 , B60T8/17 , B60W30/09 , B60L3/10 , B60L7/14 , B60L7/26 , B60L11/18 , B60L15/02 , B60L15/20 , B60L7/18 , B60T8/172 , B60T8/174 , B60T8/58
CPC分类号： B60L3/0015 , B60L3/102 , B60L3/108 , B60L7/14 , B60L7/18 , B60L7/26 , B60L11/1803 , B60L11/1861 , B60L15/025 , B60L15/20 , B60L15/2009 , B60L2240/12 , B60L2240/14 , B60L2240/16 , B60L2240/18 , B60L2240/20 , B60L2240/22 , B60L2240/24 , B60L2240/421 , B60L2240/423 , B60L2240/461 , B60L2240/463 , B60L2240/465 , B60L2240/622 , B60L2240/68 , B60L2240/80 , B60L2250/10 , B60L2250/16 , B60L2250/26 , B60L2260/42 , B60L2270/142 , B60L2270/145 , B60T1/10 , B60T7/12 , B60T7/18 , B60T7/22 , B60T8/17 , B60T8/172 , B60T8/174 , B60T8/58 , B60T2201/022 , B60T2210/32 , B60T2250/03 , B60T2270/604 , B60W30/09 , Y02T10/643 , Y02T10/7005 , Y02T10/7044 , Y02T10/705 , Y02T10/72 , Y02T10/7275 , Y02T10/7291 , Y02T90/16 , Y02T90/162
摘要： The present invention improves emergency evasion performance. An operation control system for a vehicle that is provided with a risk-potential determining unit that determines the risk potential of a vehicle on the basis of external environment information and/or vehicle information, a friction braking unit that applies friction braking force to the vehicle, and a regenerative braking device that applies regenerative braking force to the vehicle, the operation control system being provided with a control value determining unit that determines a first control value that is for determining the size of the friction braking force and determines a second control value that is for determining the size of the regenerative braking force. The control value determining unit determines at least the first control value on the basis of the risk potential determined by the risk-potential determining unit.

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