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41. 发明申请

US20120101701A1 VEHICLE COLLISION AVOIDANCE AND WARNING SYSTEM 有权
标题翻译：车辆碰撞避免和警告系统
公开(公告)号：US20120101701A1
公开(公告)日：2012-04-26
申请号：US12908699
申请日：2010-10-20
申请人： Nikolai K. Moshchuk , Shih-Ken Chen , Chad T. Zagorski , Aamrapali Chatterjee
发明人： Nikolai K. Moshchuk , Shih-Ken Chen , Chad T. Zagorski , Aamrapali Chatterjee
IPC分类号： B60T7/12
CPC分类号： B60W30/09 , B60W10/184 , B60W10/20 , B60W50/14 , B60W2050/0033 , B60W2050/143 , B60W2520/10 , B60W2520/105 , B60W2550/148 , B60W2550/302 , B60W2550/306 , B60W2550/308 , B60W2710/182 , B60W2710/207 , B60W2720/106 , B60W2720/14 , G08G1/166
摘要： A collision avoidance system in a host vehicle that employs combined automatic braking and steering. The collision avoidance system defines thresholds that identify a time to collision with a target vehicle by the host vehicle that are based on the speed of the host vehicle, the acceleration of the host vehicle, the speed of the target vehicle, the acceleration of the target vehicle, the distance to the target vehicle from the host vehicle and a coefficient of friction of the roadway. The collision avoidance system provides full automatic collision avoidance braking if the time to collision is less than one threshold and the lane adjacent to the host vehicle is not clear. The collision avoidance system provides both automatic steering and braking of the host vehicle if the time to collision is less than another threshold and the lane adjacent to the host vehicle is clear.
摘要翻译：在主车辆中采用组合式自动制动和转向的防撞系统。碰撞避免系统定义阈值，其识别本车辆基于本车辆的速度，本车辆的加速度，目标车辆的速度，目标车辆的加速度与目标车辆碰撞的时间车辆，从本车辆到目标车辆的距离和道路的摩擦系数。碰撞避免系统提供全自动碰撞避免制动，如果碰撞时间小于一个阈值，并且与本车辆相邻的车道不清楚。如果碰撞时间小于另一个阈值并且与主车辆相邻的车道是清晰的，则避碰系统提供主车辆的自动转向和制动。

42. 发明申请

US20120029769A1 ARCHITECTURE AND METHODOLOGY FOR HOLISTIC VEHICLE CONTROL 有权
标题翻译：机动车辆控制的结构与方法
公开(公告)号：US20120029769A1
公开(公告)日：2012-02-02
申请号：US12845127
申请日：2010-07-28
申请人： Shih-Ken Chen , Weiwen Deng , Youssef A. Ghoneim , Nikolai K. Moshohuk , Flavio Nardi , Jihan Ryu , Kevin A. O'Dea
发明人： Shih-Ken Chen , Weiwen Deng , Youssef A. Ghoneim , Nikolai K. Moshohuk , Flavio Nardi , Jihan Ryu , Kevin A. O'Dea
IPC分类号： B60G17/00
CPC分类号： B60W30/18145 , B60W10/184 , B60W10/20 , B60W10/22
摘要： A method to control a vehicle includes monitoring desired vehicle force and moment, monitoring real-time corner constraints upon vehicle dynamics which includes monitoring corner states of health for the vehicle, and monitoring corner capacities for the vehicle. The method further includes determining a desired corner force and moment distribution based upon the desired vehicle force and moment and the real-time corner constraints, and controlling the vehicle based upon the desired corner force and moment distribution.
摘要翻译：一种控制车辆的方法包括监测所需的车辆力和力矩，监测对车辆动态的实时角限制，其包括监控车辆的健康状况，以及监测车辆的拐角能力。该方法还包括基于期望的车辆力和力矩以及实时角限制来确定期望的角力和力矩分布，以及基于期望的角力和力矩分布来控制车辆。

43. 发明授权

US08099214B2 Path planning for autonomous parking 有权
标题翻译：道路规划自主停车
公开(公告)号：US08099214B2
公开(公告)日：2012-01-17
申请号：US12367778
申请日：2009-02-09
申请人： Nikolai K. Moshchuk , Shih-Ken Chen
发明人： Nikolai K. Moshchuk , Shih-Ken Chen
IPC分类号： G06F19/00
CPC分类号： B62D15/0285 , B62D15/027
摘要： A method is provided for determining a vehicle path for autonomously parallel parking a vehicle in a space between a first object and a second object. A distance is remotely sensed between the first object and the second object. A determination is made whether the distance is sufficient to parallel park the vehicle between. A first position to initiate a parallel parking maneuver is determined. A second position within the available parking space corresponding to an end position of the vehicle path is determined. A first arc shaped trajectory of travel is determined between the first position and an intermediate position, and a second arc shaped trajectory of travel is determined between the second position and the intermediate position. The first arc shaped trajectory is complementary to the second arc shaped trajectory for forming a clothoid which provides a smoothed rearward steering maneuver between the first position to the second position.
摘要翻译：提供一种用于确定用于在第一对象和第二对象之间的空间中自动平行停放车辆的车辆路径的方法。在第一物体和第二物体之间遥测距离。确定距离是否足以使车辆平行停放。确定启动平行停车机动的第一个位置。确定对应于车辆路径的结束位置的可用停车空间内的第二位置。在第一位置和中间位置之间确定行进的第一弧形轨迹，并且在第二位置和中间位置之间确定行进的第二弧形轨迹。第一弧形轨迹与第二弧形轨迹互补，用于形成回旋曲线，其在第一位置与第二位置之间提供平滑的后向转向操纵。

44. 发明授权

US08098174B2 Feasible region determination for autonomous parking 有权
标题翻译：自主停车的可行区域确定
公开(公告)号：US08098174B2
公开(公告)日：2012-01-17
申请号：US12427929
申请日：2009-04-22
申请人： Nikolai K. Moshchuk , Shih-Ken Chen
发明人： Nikolai K. Moshchuk , Shih-Ken Chen
IPC分类号： B60Q1/48
CPC分类号： B62D15/0285 , G01S2013/9314
摘要： A method is provided for initiating a parking maneuver for parallel parking a vehicle between a first object and a second object. A target parking space is measured. A determination is made whether the measured target parking space is sufficient to allow an autonomous parallel parking maneuver. A region of feasible starting locations is determined to successfully perform the parallel parking maneuver between the first object and the second object if the available parking space is sufficient. A position of a midpoint of a rear axle is determined in relation to the designated region. A determination is made whether the midpoint of the rear axle is within the designated region. A driver of the vehicle is signaled in response to an instantaneous location of the midpoint of the rear axle vehicle being a feasible starting location to initiate the parallel parking maneuver.
摘要翻译：提供了一种用于启动用于在第一对象和第二对象之间平行停泊车辆的停车操纵的方法。测量目标停车位。确定测量的目标停车位是否足以允许自主的并行停车操纵。确定可行开始位置的区域，以便如果可用的停车空间足够，则成功地执行第一物体和第二物体之间的平行泊车操纵。相对于指定区域确定后轴的中点的位置。确定后桥的中点是否在指定区域内。响应于后桥车辆的中点的即时位置是可行的起始位置来发出车辆的驾驶员，以启动平行停车操纵。

45. 发明申请

US20100271236A1 FEASIBLE REGION DETERMINATION FOR AUTONOMOUS PARKING 有权
标题翻译：自动停车场的可行区域确定
公开(公告)号：US20100271236A1
公开(公告)日：2010-10-28
申请号：US12427929
申请日：2009-04-22
申请人： Nikolai K. Moshchuk , Shih-Ken Chen
发明人： Nikolai K. Moshchuk , Shih-Ken Chen
IPC分类号： G08G1/14
CPC分类号： B62D15/0285 , G01S2013/9314
摘要： A method is provided for initiating a parking maneuver for parallel parking a vehicle between a first object and a second object. A target parking space is measured. A determination is made whether the measured target parking space is sufficient to allow an autonomous parallel parking maneuver. A region of feasible starting locations is determined to successfully perform the parallel parking maneuver between the first object and the second object if the available parking space is sufficient. A position of a midpoint of a rear axle is determined in relation to the designated region. A determination is made whether the midpoint of the rear axle is within the designated region. A driver of the vehicle is signaled in response to an instantaneous location of the midpoint of the rear axle vehicle being a feasible starting location to initiate the parallel parking maneuver.
摘要翻译：提供了一种用于启动用于在第一对象和第二对象之间平行停泊车辆的停车操纵的方法。测量目标停车位。确定测量的目标停车位是否足以允许自主的并行停车操纵。确定可行启动位置的区域，以便在可用的停车空间足够的情况下成功地执行第一物体和第二物体之间的平行泊车操纵。相对于指定区域确定后轴的中点的位置。确定后桥的中点是否在指定区域内。响应于后桥车辆的中点的即时位置是可行的起始位置来发出车辆的驾驶员，以启动平行停车操纵。

46. 发明申请

US20090260907A1 Autonomous parking strategy based on available parking space 有权
标题翻译：基于可用停车位的自主停车策略
公开(公告)号：US20090260907A1
公开(公告)日：2009-10-22
申请号：US12107130
申请日：2008-04-22
申请人： Nikolai K. Moshchuk , Shih-Ken Chen
发明人： Nikolai K. Moshchuk , Shih-Ken Chen
IPC分类号： B62D1/00 , G05D1/00
CPC分类号： B62D15/0285
摘要： A method is provided for controlling a parallel parking of a vehicle. A distance between the first object and the second object is remotely sensed. The distance is compared to a first predetermined distance and a second predetermined distance. An autonomous first steering strategy maneuver is performed for parking the vehicle between the first object and second object if the distance is greater than the first predetermined distance. The first steering strategy maneuver consists of a first predetermined number of steering cycles for parking the vehicle. An autonomous second steering strategy maneuver is performed for parking the vehicle between the first and second object if the distance is between the first predetermined distance and the second predetermined distance. The second steering strategy maneuver consists of a second predetermined number of steering cycles for parking the vehicle where the second is greater than the first predetermined number of steering cycles.
摘要翻译：提供了一种用于控制车辆的平行停车的方法。遥测第一物体与第二物体之间的距离。该距离与第一预定距离和第二预定距离进行比较。如果所述距离大于所述第一预定距离，则执行自动的第一转向策略操纵以将所述车辆停放在所述第一物体和所述第二物体之间。第一转向策略机动包括用于停放车辆的第一预定数量的转向循环。如果距离在第一预定距离和第二预定距离之间，执行自动的第二转向策略操纵以将车辆停放在第一和第二物体之间。第二转向策略机动包括第二预定数量的转向循环，用于停放车辆，其中第二转向周期大于第一预定数量的转向循环。

47. 发明授权

US07571030B2 Estimation of vehicle roll rate and roll angle using suspension deflection sensors 有权
标题翻译：使用悬架偏转传感器估计车辆滚动速率和滚动角度
公开(公告)号：US07571030B2
公开(公告)日：2009-08-04
申请号：US11400844
申请日：2006-04-10
申请人： Jihan Ryu , Shih-Ken Chen , Nikolai K. Moshchuk
发明人： Jihan Ryu , Shih-Ken Chen , Nikolai K. Moshchuk
IPC分类号： G06F17/00
CPC分类号： B60T8/172 , B60T2230/03 , B60T2270/86
摘要： A system and method for estimating vehicle roll rate and roll angle. The system includes a suspension deflection sensor provided at each wheel of the vehicle that provides suspension measurement signals indicative of the roll of the vehicle. The system also includes a roll rate estimator that uses the suspension measurement signals and an estimated tire deflection of the wheels to provide a roll rate estimation signal. The system also includes a vehicle roll angle and a roll rate estimator that uses the roll rate estimation signal and a dynamic model to estimate the roll angle and refine the roll rate. The roll rate estimator calculates the roll rate one way if none of the vehicle wheels are off of the ground and calculates it another way if any of the wheels are off of the ground.
摘要翻译：一种用于估计车辆滚动速率和滚动角度的系统和方法。该系统包括设置在车辆的每个车轮处的悬架偏转传感器，其提供指示车辆的滚动的悬架测量信号。该系统还包括使用悬架测量信号和轮的估计的轮胎偏转以提供滚动速率估计信号的滚动速率估计器。该系统还包括使用滚动速率估计信号的车辆滚动角度和滚动速率估计器，以及动态模型来估计滚动角度并优化滚动速率。如果没有车轮离开地面，滚动速率估计器可以单向计算滚动速率，如果任何一个车轮离开地面，则以另一种方式进行计算。

48. 发明申请

US20070239320A1 Estimation of vehicle roll rate and roll angle using suspension deflection sensors 有权
标题翻译：使用悬架偏转传感器估计车辆滚动速率和滚动角度
公开(公告)号：US20070239320A1
公开(公告)日：2007-10-11
申请号：US11400844
申请日：2006-04-10
申请人： Jihan Ryu , Shih-Ken Chen , Nikolai Moshchuk
发明人： Jihan Ryu , Shih-Ken Chen , Nikolai Moshchuk
IPC分类号： G06F17/00
CPC分类号： B60T8/172 , B60T2230/03 , B60T2270/86
摘要： A system and method for estimating vehicle roll rate and roll angle. The system includes a suspension deflection sensor provided at each wheel of the vehicle that provides suspension measurement signals indicative of the roll of the vehicle. The system also includes a roll rate estimator that uses the suspension measurement signals and an estimated tire deflection of the wheels to provide a roll rate estimation signal. The system also includes a vehicle roll angle and a roll rate estimator that uses the roll rate estimation signal and a dynamic model to estimate the roll angle and refine the roll rate. The roll rate estimator calculates the roll rate one way if none of the vehicle wheels are off of the ground and calculates it another way if any of the wheels are off of the ground.
摘要翻译：一种用于估计车辆滚动速率和滚动角度的系统和方法。该系统包括设置在车辆的每个车轮处的悬架偏转传感器，其提供指示车辆的滚动的悬架测量信号。该系统还包括使用悬架测量信号和轮的估计的轮胎偏转以提供滚动速率估计信号的滚动速率估计器。该系统还包括使用滚动速率估计信号的车辆滚动角度和滚动速率估计器，以及动态模型来估计滚动角度并优化滚动速率。如果没有车轮离开地面，滚动速率估计器可以单向计算滚动速率，如果任何一个车轮离开地面，则以另一种方式进行计算。

49. 发明申请

US20070185623A1 Vehicle wheel lift detection 审中-公开
标题翻译：车轮升降机检测
公开(公告)号：US20070185623A1
公开(公告)日：2007-08-09
申请号：US11346948
申请日：2006-02-03
申请人： Shih-Ken Chen , Jihan Ryu , Cheng-Foo Chen
发明人： Shih-Ken Chen , Jihan Ryu , Cheng-Foo Chen
IPC分类号： G06F17/00
CPC分类号： B60W30/04 , B60G2400/104 , B60G2400/208 , B60G2400/252 , B60W2510/22 , B60W2520/125 , B60W2520/14
摘要： A system and method for detecting vehicle wheel lift. The system includes wheel speed sensors for measuring the speed of each wheel of the vehicle, and suspension sensors for measuring the position of the vehicle suspension at each wheel of the vehicle. A controller determines whether any of the wheels are off the ground by using a kinematic relationship that uses the wheel speed signals and independently determines whether any of the wheels are off the ground by using damper spring displacement from the suspension sensors.
摘要翻译：一种用于检测车轮升降的系统和方法。该系统包括用于测量车辆每个车轮的速度的车轮速度传感器和用于测量车辆每个车轮处的车辆悬架的位置的悬架传感器。控制器通过使用使用车轮速度信号的运动学关系来确定任何车轮是否离开地面，并且通过使用来自悬架传感器的阻尼弹簧位移来独立地确定任何车轮是否离开地面。

50. 发明申请

US20070162204A1 Enhanced roll stability indicator for vehicle rollover control 有权
标题翻译：用于车辆翻车控制的增强滚转稳定性指示器
公开(公告)号：US20070162204A1
公开(公告)日：2007-07-12
申请号：US11685833
申请日：2007-03-14
申请人： Nikolai Moshchuk , Shih-Ken Chen , Flavio Nardi
发明人： Nikolai Moshchuk , Shih-Ken Chen , Flavio Nardi
IPC分类号： B60G17/016
CPC分类号： B60W30/04 , B60G2800/9124 , B60W40/11 , B60W40/112 , B60W40/114 , B60W2720/18
摘要： A system and method for providing a vehicle roll stability indicator that dynamically estimates the probability for vehicle rollover. The system determines vehicle kinematics from various vehicle sensors. From these kinematic values, the system estimates a roll angle of the vehicle and a bank angle of the vehicle. The estimated bank angle is used to correct the roll angle. The system determines a roll energy of the vehicle and a roll energy rate of the vehicle from the corrected roll angle. The system also calculates a tire lateral load transfer of the relative forces on the vehicle tires, and the duration that any of the tires have been off of the ground. From the roll energy, the roll energy rate, the tire lateral load transfer and the wheel airborne duration, the system calculates the roll stability indicator.
摘要翻译：一种用于提供车辆侧倾稳定性指示器的系统和方法，其动态地估计车辆翻车的可能性。该系统从各种车辆传感器确定车辆运动学。从这些运动学值，系统估计车辆的侧倾角和车辆的倾斜角。估计的倾斜角用于校正滚动角度。系统根据校正的滚动角度确定车辆的滚动能量和车辆的滚动能量速率。该系统还计算车辆轮胎上的相对力的轮胎横向载荷传递以及任何轮胎已经离开地面的持续时间。从滚动能量，滚动能量速率，轮胎侧向载荷传递和车轮空中持续时间，系统计算滚动稳定性指标。

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