公开(公告)号：US5321616A

公开(公告)日：1994-06-14

申请号：US741865

申请日：1991-08-07

Applicant: Eiichiro Okuda ,  Masuo Takigawa

Inventor： Eiichiro Okuda ,  Masuo Takigawa

IPC: B60G17/016 ,  B62D7/15 ,  B62D5/04 ,  B60G17/00

CPC classification number: B62D7/159 ,  B60G17/0163 ,  B60G2400/204 ,  B60G2400/40 ,  B60G2400/412 ,  B60G2400/82 ,  B60G2400/842 ,  B60G2500/10 ,  B60G2500/40 ,  B60G2600/604 ,  B60G2800/012 ,  B60G2800/014 ,  B60G2800/24 ,  B60T2250/062

Abstract: A vehicle behavior during driving is correctly grasped by computing and map-retrieving from output signal (.omega.y) of an angular velocity sensor (2) for detecting the angular velocity of the vehicle (11). A vehicle control apparatus of the present invention can correctly compensate the output signal (.omega.y) having error owing to the secular change or temperature change, etc. by using a zero-point calculation means (6, 16, 26, 36, 46, 56) for calculating zero-point signal (.omega.y0) and an angular velocity correction means (7, 17, 27, 37, 47, 57) for correcting the output signal (.omega.y) of the angular velocity sensor (2).

Abstract translation: 通过对用于检测车辆（11）的角速度的角速度传感器（2）的输出信号（ω-y）进行计算和映射检索来正确地掌握驾驶期间的车辆行为。 本发明的车辆控制装置可以通过使用零点计算装置（6,16,26,36,46,48,46,46）正确地补偿由于长期变化或温度变化等导致的误差的输出信号（ωy） 56），用于计算用于校正角速度传感器（2）的输出信号（ωy）的零点信号（ωy 0）和角速度校正装置（7,17,27,37,47,57）。

公开(公告)号：US5314037A

公开(公告)日：1994-05-24

申请号：US8367

申请日：1993-01-22

Applicant: David C.-H. Shaw ,  Judy Z.-Z Shaw

Inventor： David C.-H. Shaw ,  Judy Z.-Z Shaw

IPC: B60K23/08 ,  B60K28/16 ,  B60K31/00 ,  B60R16/02 ,  B60R16/023 ,  B60T7/22 ,  B62D7/15 ,  F16H59/58 ,  F16H59/66 ,  G01S17/93 ,  G05D1/02 ,  B62D1/24 ,  B60T7/16

CPC classification number: B60R16/0231 ,  B60K23/08 ,  B60K28/16 ,  B60K28/165 ,  B60K31/0008 ,  B60T7/22 ,  B62D7/159 ,  G01S17/936 ,  G05D1/024 ,  G05D1/0248 ,  G05D1/0257 ,  G05D1/027 ,  B60T2201/022 ,  B60W2520/28 ,  F16H59/58 ,  F16H59/66 ,  Y02T10/84 ,  Y10S188/01

Abstract: An automobile collision avoidance system based on laser radars for aiding in avoidance of automobile collisions. The very small beam width, very small angular resolution and the highly directional character of laser radars provide a plurality of advantages as compared with microwave radars. With two sets of laser radars this system can detect the location, the direction of movement, the speed and the size of all obstacles specifically and precisely. This system includes laser radars with transmitters and receivers, a computer, a warning device and an optional automatic braking device. A steering wheel rotation sensor or a laser gyroscope is utilized to give information of system-equipped vehicle's directional change. The system will compare the predicted collision time with the minimal allowable time to determine the imminency of a collision. When the system determines that a situation likely to result in an accident exists, it provides a warning. An optional automatic braking device is disclosed to be used when the vehicle user fails to respond to a warning. Furthermore, a wheel skidding detecting system based on a discrepancy between the directional change rate predicted by a steering wheel rotation sensor and the actual directional change rate detected by a laser gyroscope is also disclosed. The detection of wheel skidding can be utilized by various vehicle control designs, including designs to adjust rear wheel steered angle in a four wheel steering vehicle, to alleviate or correct the wheel skidding. Designs to decelerate the engine or to adjust the transmission to lower gears are also disclosed to alleviate wheel skidding.

Abstract translation: 基于激光雷达的汽车防撞系统，用于避免汽车碰撞。 与微波雷达相比，非常小的光束宽度，非常小的角度分辨率和激光雷达的高度定向特性提供了多个优点。 使用两套激光雷达，该系统可以具体准确地检测所有障碍的位置，移动方向，速度和大小。 该系统包括具有发射器和接收器的激光雷达，计算机，警告装置和可选的自动制动装置。 使用方向盘旋转传感器或激光陀螺仪来提供系统配备的车辆方向改变的信息。 该系统将预测的碰撞时间与最小允许时间进行比较，以确定碰撞的即将发生。 当系统确定可能导致事故的情况存在时，它会提供警告。 公开了一种可选的自动制动装置，用于当车辆用户不能对警告做出响应时使用。 此外，还公开了一种基于由方向盘旋转传感器预测的方向变化率与由激光陀螺仪检测到的实际方向变化率之间的差异的车轮打滑检测系统。 车轮打滑的检测可以通过各种车辆控制设计来利用，包括在四轮转向车辆中调节后轮转向角的设计，以减轻或纠正车轮打滑。 还公开了将发动机减速或将变速器调节到下部齿轮的设计，以减轻车轮打滑。

公开(公告)号：US5268841A

公开(公告)日：1993-12-07

申请号：US750943

申请日：1991-08-28

Applicant: Hiroshi Mouri

Inventor： Hiroshi Mouri

IPC: B62D6/00 ,  B62D7/14 ,  B62D7/15 ,  B62D101/00 ,  B62D111/00 ,  B62D113/00 ,  B62D117/00 ,  B62D5/00

CPC classification number: B62D7/159

Abstract: In an apparatus for actively controlling a steer angle of front wheels of a vehicle in accordance with a steering wheel angle, an active control amount for actively controlling the steer angle of the front wheels is calculated by an equation including a proportional term and a differential term. A coefficient of the differential term is changed in accordance with a lateral acceleration such that it is kept unchanged within a first range in which the cornering power is large, but is increased in a second range in which the cornering power is decreased due to the non-linearity of tires. Thus, the reduction in the cornering power in the second range can be compensated for and the stability and response during the high lateral G turning can be improved.

Abstract translation: 在根据方向盘角度主动地控制车辆的前轮转向角度的装置中，通过包括比例项和微分项的等式来计算主动控制前轮的转向角的主动控制量 。 微分项的系数根据横向加速度而变化，使得其在转弯功率大的第一范围内保持不变，但在由于非转向功率而转弯功率减小的第二范围内增加 轮胎的线性。 因此，可以补偿第二范围内的转弯功率的降低，并且可以提高高侧G转弯期间的稳定性和响应。

公开(公告)号：US5261503A

公开(公告)日：1993-11-16

申请号：US807247

申请日：1991-12-18

Applicant: Yoshiyuki Yasui

Inventor： Yoshiyuki Yasui

IPC: B62D5/04 ,  B62D5/22 ,  B62D5/30 ,  B62D6/00 ,  B62D6/04 ,  B62D7/15 ,  B62D9/00 ,  B62D101/00 ,  B62D111/00 ,  B62D113/00 ,  B62D123/00 ,  B62D137/00 ,  F16H19/04 ,  B67D5/04 ,  B67D5/22

CPC classification number: B62D5/22 ,  B62D5/30 ,  B62D6/04 ,  B62D7/159 ,  B62D9/00

Abstract: The steering stability of a moving vehicle is maintained by measuring an actual yaw rate of the vehicle and determining a desired yaw rate of the vehicle and producing an output signal in response to a comparison of the actual and desired yaw rates. The steering angle of steerable wheels of the vehicle is controlled in response to the output signal in a manner tending to substantially conform the actual yaw rate to the desired yaw rate, thereby maintaining vehicle stability. The steerable wheels are steered by a steering wheel, and are independently steered by a motor in response to the output signal. The amount of steering provided by the motor is controlled in dependence upon an estimated frictional coefficient between the vehicle and the road, or upon detected values of the environmental temperature and precipitation.

Abstract translation: 通过测量车辆的实际横摆角速度和确定车辆的期望偏航角速度并响应于实际和期望的偏航率的比较来产生输出信号来维持移动车辆的转向稳定性。 响应于输出信号控制车辆的可转向车轮的转向角度，其倾向于基本上使实际的横摆率与所期望的横摆角速度一致，从而保持车辆的稳定性。 可转向的车轮由方向盘转向，并响应于输出信号由电动机独立转向。 由电动机提供的转向量根据车辆和道路之间的估计摩擦系数，或者环境温度和降水的检测值进行控制。

公开(公告)号：US5230396A

公开(公告)日：1993-07-27

申请号：US805960

申请日：1991-12-12

Applicant: Yoshiyuki Yasui

Inventor： Yoshiyuki Yasui

IPC: B62D5/22 ,  B62D6/04 ,  B62D7/15 ,  B62D9/00

CPC classification number: B62D7/159 ,  B62D5/22 ,  B62D6/04 ,  B62D9/00

Abstract: The steering stability of a moving vehicle is maintained by measuring an actual yaw rate of the vehicle and determining a desired yaw rate of the vehicle and producing an output signal in response to a comparison of the actual and desired yaw rates. The steering angle of steerable wheels of the vehicle is controlled in response to the output signal in a manner tending to substantially conform the actual yaw rate to the desired yaw rate, thereby maintaining vehicle stability. The steerable wheels are steered by a steering wheel, and are independently steered by a motor in response to the output signal. That motor may comprise a fluid motor or an electric motor.

Abstract translation: 通过测量车辆的实际横摆角速度和确定车辆的期望偏航角速度并响应于实际和期望的偏航率的比较来产生输出信号来维持移动车辆的转向稳定性。 响应于输出信号控制车辆的可转向车轮的转向角度，其倾向于基本上使实际的横摆率与所期望的横摆角速度一致，从而保持车辆的稳定性。 可转向的车轮由方向盘转向，并响应于输出信号由电动机独立转向。 该马达可以包括流体马达或电马达。

公开(公告)号：US5225983A

公开(公告)日：1993-07-06

申请号：US631924

申请日：1990-12-20

Applicant: Hiroshi Ohmura ,  Takashi Nakashima ,  Takeshi Edahiro ,  Fumio Kageyama ,  Atuo Tomoda ,  Haruki Okazaki ,  Ryuya Akita ,  Takeshi Murai

Inventor： Hiroshi Ohmura ,  Takashi Nakashima ,  Takeshi Edahiro ,  Fumio Kageyama ,  Atuo Tomoda ,  Haruki Okazaki ,  Ryuya Akita ,  Takeshi Murai

IPC: B60T8/1755 ,  B60T8/42 ,  B62D7/15

CPC classification number: B62D7/159 ,  B60T8/1755 ,  B60T8/4291 ,  B60T2260/022 ,  B60T2260/024 ,  B60T2270/304

Abstract: A rear steering control system for a motor vehicle includes an antiskid braking system which controls a braking force in a brake device in a respective wheel in accordance with a deceleration condition of the respective wheel so as to prevent wheel locking in a braking operation. The sytem includes a rear steering control system for establishing a ratio of steering amount of the rear wheels to that of the front wheels as a predetermined steering ratio characteristic. An input device inputs an operation condition of the antiskid braking system and an control condition of the brake device for the respective wheel conducted by the antiskid braking system to the rear steering control system. A device is provided in the system for amending the predetermined steering ratio characteristic in accordance with the control condition of the brake device for the respective wheel when the antiskid braking system is in operation.

Abstract translation: 用于机动车辆的后转向控制系统包括防滑制动系统，其根据相应车轮的减速条件控制各轮中的制动装置中的制动力，以防止制动操作中的车轮锁定。 该系统包括用于确定后轮的转向量与前轮的转向量的比率的后转向控制系统作为预定的转向比特性。 一个输入装置输入防滑制动系统的操作状态以及由防滑制动系统传导到各个车轮的制动装置的控制状态到后转向控制系统。 在防滑制动系统运行时，根据制动装置的控制条件，在系统中设置有用于修正预定转向比特性的装置。

公开(公告)号：US5208751A

公开(公告)日：1993-05-04

申请号：US728326

申请日：1991-07-08

Applicant: Volker Berkefeld

Inventor： Volker Berkefeld

IPC: B62D7/15

CPC classification number: B62D7/159 ,  B60T2260/022

Abstract: An active four-wheel steering system for motor vehicles has steering devices for the front wheels and the rear wheels. These devices operate as a function of driving condition quantities fed to an electronic control unit. A variable wheel steering angle relationship with respect to the front wheels is adjusted, in which case the input signal concerning the steering wheel angle from a steering wheel angle sensor and the additional signal concerning the vehicle speed from a speed sensor is fed to a first function calculation task apparatus of the control unit. This function calculation task apparatus generates a first output signal for the lateral acceleration which, as an input signal, together with the additional input signal of the vehicle speed, is fed to a second function calculation task apparatus. In order to take a driving speed change into account, the output signal concerning the lateral acceleration, together with a signal from the driving speed change, is fed to the third function calculation task apparatus. This input signal, computed in the first function calculation task apparatus, and the input signals concerning the speed change, computed in the third function calculation task apparatus, are converted to an output signal additional rear wheel steering angle, which is overlayed on the output signal rear wheel steering angle. The sum of these output signals, as the steering angle signal, are fed to the control unit for the control of the hydraulic steering device for the rear wheels.

Abstract translation: 用于机动车辆的主动四轮转向系统具有用于前轮和后轮的转向装置。 这些装置根据馈送到电子控制单元的驱动条件数量来操作。 调整相对于前轮的可变轮舵角关系，在这种情况下，将来自方向盘角度传感器的方向盘角度的输入信号和与速度传感器相关的车速的附加信号送入第一功能 控制单元的计算任务装置。 该功能计算任务装置生成用于横向加速度的第一输出信号，其作为输入信号与车速的附加输入信号一起被馈送到第二功能计算任务装置。 为了考虑驾驶速度变化，关于横向加速度的输出信号以及来自驱动速度变化的信号被馈送到第三功能计算任务装置。 在第一功能计算任务装置中计算出的输入信号和与在第三功能计算任务装置中计算出的速度变化有关的输入信号被转换为输出信号附加后轮转向角， 后轮转向角度。 这些输出信号作为转向角信号的总和被馈送到用于后轮的液压转向装置的控制单元。

公开(公告)号：US5186273A

公开(公告)日：1993-02-16

申请号：US676120

申请日：1991-03-27

Applicant: Kazunori Mori

Inventor： Kazunori Mori

IPC: B62D7/15

CPC classification number: B62D7/159

Abstract: An automotive vehicle rear wheel steering system steers the rear wheels in accordance with front wheel steering, with a steering angle which corresponds to the sum of proportional and differential components of the front wheel steering amount. A detecting unit detects a front wheel large steering condition in which the front wheels have been steered with an amount in excess of a preset value. A correction unit corrects at least one of the above-mentioned components in the front wheel large steering condition, in such direction as to improve transient turning response characteristic of the vehicle. An actuator unit steers the rear wheels by a steering angle based on at least one component which has been corrected in the large front wheel steering condition. The turning-round property and maneuverability of the vehicle can be prevented from degradation despite the rear wheel steering under the front wheel large steering condition.

Abstract translation: 机动车后轮转向系统根据前轮转向操纵后轮，转向角对应于前轮转向量的比例和差速分量之和。 检测单元以超过预设值的量检测前轮已经转向的前轮大转向状况。 校正单元在改善车辆的瞬态转向响应特性的方向上校正前轮大转向条件中的上述部件中的至少一个。 执行器单元基于在大前轮转向状态下被校正的至少一个部件转向后轮。 尽管在前轮大的转向条件下进行后轮转向，也可以防止车辆的转弯性能和机动性。

公开(公告)号：US5184298A

公开(公告)日：1993-02-02

申请号：US575012

申请日：1990-08-30

Applicant: Takashi Imaseki ,  Minoru Tamura ,  Toru Iwata ,  Yuichi Fukuyama

Inventor： Takashi Imaseki ,  Minoru Tamura ,  Toru Iwata ,  Yuichi Fukuyama

IPC: B62D7/14 ,  B62D7/15

CPC classification number: B62D7/159

Abstract: A system for controlling a steering angle for the rear wheels of a vehicle is provided. This system includes generally, a torque sensor for detect torque of driven wheel, an angle sensor for sensing a steered angle of front wheels, a steering controller for determining a rear wheel target steering angle, and an actuator for steering the rear wheels by the rear wheel target steering angle. The steering controller first determines a rear wheel steering angle based on the steered angle of the front wheels and then calculates a correction for the rear wheel steering angle according to variation in the torque of the driven wheels during running to determine the proper rear wheel target steering angle.

公开(公告)号：US5180026A

公开(公告)日：1993-01-19

申请号：US758454

申请日：1991-09-06

Applicant: Kazunori Mori

Inventor： Kazunori Mori

IPC: B62D7/15

CPC classification number: B62D7/159

Abstract: A system for controlling the steering angle for the rear wheels of a vehicle is provided. This system includes an angle sensor for sensing a steered angle, a vehicle speed sensor, and a steering angle controller. The steering angle controller is adapted for controlling steering of the rear wheels based on a target steering angle derived according to a transfer function in view of suspension steering to improve yaw damping in ranges of high steering frequency.

Abstract translation: 提供一种用于控制车辆后轮的转向角的系统。 该系统包括用于感测转向角度的角度传感器，车速传感器和转向角控制器。 转向角控制器适于基于从悬架转向的传递函数导出的目标转向角控制后轮的转向，以改善高转向频率范围内的偏航阻尼。