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    • 1. 发明授权
    • Method for detecting driving situation with respect to vehicle yaw
behavior
    • 用于检测相对于车辆偏航行为的驾驶状况的方法
    • US5345385A
    • 1994-09-06
    • US907109
    • 1992-07-01
    • Adam ZomotorWalter KlinknerErich SchindlerFrank-Werner MohnThomas Wohland
    • Adam ZomotorWalter KlinknerErich SchindlerFrank-Werner MohnThomas Wohland
    • B60T8/1755B62D6/00B62D101/00B62D105/00B62D113/00B62D137/00G05D1/08
    • B62D6/00B60T8/1755G05D1/0891
    • A method detects the driving situation with respect to the yaw behavior of the vehicle, in which a desired value of the vehicle yaw angle rate .mu..sub.des is derived in a computer unit from measured values (such as vehicle speed, steering wheel angle), and at least one sensor signal is supplied to the computer unit from which the actual value of the vehicle yaw angle rate .mu..sub.act is derived. The difference between the desired value of the yaw angle rate .mu..sub.des and the actual value of the yaw angle rate .mu..sub.act is formed in the computer unit. The actual value of the yaw angle rate .mu..sub.act is subtracted from the desired value of the yaw angle rate .mu..sub.des, and at least one output signal is generated in and emitted by the computer unit from this difference. The output signal represents the detected driving situation with respect to the yaw behavior of the vehicle. The magnitude of the time derivative of the difference is used to derive whether there is a tendency towards an increasingly critical driving situation.
    • 一种方法检测相对于车辆的偏航行为的驾驶状况,其中在计算机单元中根据测量值(例如车辆速度,方向盘角度)导出车辆偏航角速率mu des的期望值,以及 至少一个传感器信号被提供给从其导出车辆偏航角速率mu act的实际值的计算机单元。 在计算机单元中形成偏航角速率mu des的期望值与偏航角速率mu act的实际值之间的差异。 从偏航角速率mu des的期望值中减去偏航角速率mu act的实际值,并且至少一个输出信号由计算机单元从该差异中产生和发射。 输出信号表示相对于车辆的偏航行为的检测到的驾驶状况。 差异的时间导数的大小用于推导出驾驶状况日益严重的趋势。
    • 2. 发明授权
    • Method and apparatus for preventing vehicle handling instabilities
    • 防止车辆处理不稳定的方法和装置
    • US5471388A
    • 1995-11-28
    • US912371
    • 1992-07-13
    • Adam ZomotorWalter KlinknerErich SchindlerFrank-Werner MohnThomas Wohland
    • Adam ZomotorWalter KlinknerErich SchindlerFrank-Werner MohnThomas Wohland
    • B60K28/16B60T8/1755B62D6/00B62D7/15B62D101/00B62D113/00B62D5/00
    • B62D7/159B60T8/1755B60T2270/86Y02T10/84
    • A method and apparatus for preventing vehicle handling instabilities, in which a vehicle yaw angular velocity required value (.mu..sub.soll) is formed from measured quantities (vehicle velocity, steering wheel angle). The vehicle yaw angular velocity actual value (.mu..sub.ist) is formed from at least one sensor signal, the difference between the yaw angular velocity required value (.mu..sub.soll) and the yaw angular velocity actual value (.mu..sub.ist) is determined by subtracting the yaw angular velocity actual value (.mu..sub.ist) from the yaw angular velocity required value (.mu..sub.soll), and the handling situation or the vehicle yaw behavior to be detected is determined from this difference. The time derivative of the difference is formed to determine whether the vehicle exhibits understeer or oversteer. The slip threshold value (.sigma..sub.soll) is varied in the direction of the value 0 when it is deduced from the detected handling situation that a changed lateral guidance force is required on the wheels of the vehicle driven axle.
    • 一种用于防止车辆处理不稳定性的方法和装置,其中根据测量量(车速,方向盘角)形成车辆偏航角速度要求值(mu sol1)。 通过至少一个传感器信号形成车辆偏航角速度实际值(mu ist),通过减去偏航来确定偏航角速度要求值(mu sol1)与偏航角速度实际值(mu ist)之间的差异 根据该差异确定来自偏航角速度要求值(mu sol1)的角速度实际值(mu ist)以及要检测的处理情况或车辆偏航行为。 形成差异的时间导数以确定车辆是否显示转向不足或过度转向。 当从检测到的处理情况推断在车辆驱动轴的车轮上需要改变的侧向引导力时,滑差阈值(sigma sol1)在值0的方向上变化。
    • 3. 发明授权
    • Hydraulic dual-circuit brake system
    • 液压双电路制动系统
    • US5201573A
    • 1993-04-13
    • US575634
    • 1990-08-31
    • Heinz LeiberManfred SteinerWalter Klinkner
    • Heinz LeiberManfred SteinerWalter Klinkner
    • B60T8/44B60T8/1761B60T8/26B60T11/20B60T17/18B60T17/22
    • B60T8/26B60T11/20B60T17/226
    • A hydraulic dual-circuit brake system has brake booster with a first output pressure chamber allocated to the front-axle brake circuit I and a second output pressure chamber allocated to the rear-axle brake circuit II. The chambers are movably delimited by master cylinder pistons, to each of which is allocated a position sensor. An electronic control device is provided to process the output signals of the position sensors and to emit control signals for a valve arrangement by which a brake circuit which is poorly bled or leaking is blocked off from its master brake line. The electronic control device includes a comparator, which compares the positions, represented by the two output signals of the positions, represented by the two output signals of the position sensors, of the pistons of the brake booster to one another and produces a signal for the purpose of driving the valve arrangement into its blocking position as soon as the positions of the brake booster piston allocated to the front-axle brake circuit corresponds to a stroke which is greater by more than a threshold value .DELTA.Smax than the stroke of the brake booster piston represented by the position-indicating signal of the brake booster piston allocated to the rear-axle brake circuit. The electronic control device allows this signal to decay again when the difference of the piston strokes falls below a smaller threshold value .DELTA.Smin.
    • 液压双回路制动系统具有制动助力器,其具有分配给前桥制动回路I的第一输出压力室和分配给后桥制动回路II的第二输出压力室。 这些腔室由主缸活塞可移动地限定,每个活塞分配有一个位置传感器。 提供电子控制装置来处理位置传感器的输出信号并且发出控制信号用于阀配置,通过该阀装置将不良流出或泄漏的制动回路与其主制动管路相阻塞。 电子控制装置包括比较器,其将由制动助力器的活塞的位置传感器的两个输出信号表示的位置的两个输出信号所表示的位置彼此进行比较,并产生用于 一旦分配给前轴制动电路的制动助力器活塞的位置对应于大于比制动助力器的行程大的阈值DELTA Smax的行程,则将阀装置驱动到其阻挡位置的目的 活塞由分配给后桥制动回路的制动助力器活塞的位置指示信号表示。 当活塞冲程的差异低于较小的阈值DELTA Smin时,电子控制装置允许该信号再次衰减。
    • 4. 发明授权
    • Hydraulic dual-circuit brake system
    • 液压双电路制动系统
    • US5150951A
    • 1992-09-29
    • US628171
    • 1990-12-17
    • Heinz LeiberManfred SteinerWalter Klinkner
    • Heinz LeiberManfred SteinerWalter Klinkner
    • B60T8/40B60T8/1766B60T8/26B60T8/42B60T8/48B60T8/90B60T8/94B60T13/12
    • B60T8/4072B60T8/268B60T8/4225B60T8/90B60T8/94Y10S303/03Y10S303/04Y10S303/11
    • A hydraulic dual-circuit brake system for a road vehicle with front-axle/rear-axle brake circuit division has a tandem main cylinder as a brake device. The primary output pressure space of the cylinders is associated with the front-axle brake circuit, and the secondary output pressure space of the cylinders is associated with the rear-axle brake circuit. A pressure modulator adjusts the front-axle/rear-axle braking force distribution in the direction of an approach to the, in each case, ideal braking force distribution, as a braking-pressure actuator for the rear-axle brake circuit. The pressure modulator has a drive pressure space, by the charging of which with the output pressure of an auxiliary pressure source under solenoid valve control, a braking pressure which can be coupled into the rear-wheel brakes can be built up in an output pressure space of the pressure modulator. This output pressure space is also connected to the output pressure space of the brake device provided for the rear-axle brake circuit. During normal braking action, the output pressure space of the pressure modulator is blocked off against the output pressure space of the brake device, and the pressure build-up in the rear-axle brake circuit is exclusively effected by the pressure modulator which is driven in the direction of a servo control for which a set point P.sub.s correlated with the braking pressure in the front-axle circuit as ideal or almost ideal value is utilized as a reference variable.
    • 用于具有前桥/后桥制动电路部分的道路车辆的液压双回路制动系统具有串联主缸作为制动装置。 气缸的主输出压力空间与前桥制动回路相关联,气缸的二次输出压力空间与后桥制动回路相关联。 压力调节器调整前轮/后轴的制动力分配方向,即在每种情况下,作为用于后桥制动回路的制动压力执行器的理想制动力分配。 压力调节器具有驱动压力空间,通过在电磁阀控制下通过辅助压力源的输出压力的充电,可以耦合到后轮制动器中的制动压力可以在输出压力空间 的压力调节器。 该输出压力空间也连接到为后桥制动回路设置的制动装置的输出压力空间。 在正常的制动过程中,压力调节器的输出压力空间被阻挡在制动装置的输出压力空间上,并且后桥制动回路中的压力积聚仅由驱动的压力调节器 将与前轴电路中的制动压力相关联的设定点Ps的伺服控制的方向用作参考变量,作为参考变量。
    • 7. 发明授权
    • Process for carrying out an automatic braking operation
    • 执行自动制动操作的过程
    • US5924508A
    • 1999-07-20
    • US897822
    • 1997-07-21
    • Johannes ClaussWalter KlinknerBernd KnoffManfred Steiner
    • Johannes ClaussWalter KlinknerBernd KnoffManfred Steiner
    • B60K31/00B60T7/12B60T8/00B60T8/176B60T8/32B60T13/66B60T13/72
    • B60T13/72B60T7/12B60T8/00B60T8/176B60T8/3275B60W10/04B60W10/18B60W30/1819B60K31/00B60T2201/03B60T2201/12
    • A process carries out an automatic braking operation in which, when the return speed of the accelerator pedal exceeds a threshold value and a transfer of the driver's foot from the accelerator pedal to the brake pedal is determined, an automatic braking operation is triggered. During that operation, a brake pressure is generated in the wheel brakes and is terminated when either a defined time has been exceeded since the triggering of the braking operation or when an operation of the brake pedal takes place by the driver. A support of the driver is ensured when operating the brake pedal in critical driving situations and a brake pressure buildup is carried out even before the operation of the brake pedal by the driver. After the automatic braking operation has been triggered, monitoring occurs to determine whether the time derivation of a quantity representing the operation of the brake pedal exceeds a threshold rise value. In such event, exceeding of the threshold rise value must take place within a defined time period after the triggering of the automatic braking operation, whereby the automatic braking operation is continued.
    • 过程执行自动制动操作,其中当加速器踏板的返回速度超过阈值并且确定驾驶员的脚从加速器踏板传递到制动踏板时,自动制动操作被触发。 在该操作期间,在制动器制动器中产生制动压力,并且当从触发制动操作或者当驾驶员进行制动踏板的操作超过规定的时间时终止制动压力。 在驾驶员处于严重驾驶状态下操作制动踏板时,即使在驾驶员对制动踏板进行操作之前也能够确保驾驶员的支撑。 在触发了自动制动操作之后,进行监视,以确定表示制动踏板操作量的时间推导是否超过阈值上升值。 在这种情况下,超过阈值上升值必须在触发自动制动操作之后的确定的时间段内进行,从而继续进行自动制动操作。
    • 8. 发明授权
    • Apparatus and method for preventing instabilities in vehicle handling
    • 用于防止车辆处理不稳定的装置和方法
    • US5341297A
    • 1994-08-23
    • US907283
    • 1992-07-01
    • Adam ZomotorWalter KlinknerErich SchindlerFrank-Werner MohnThomas Wohland
    • Adam ZomotorWalter KlinknerErich SchindlerFrank-Werner MohnThomas Wohland
    • B60T8/1755B60T8/42B60T8/48B60T8/62B62D6/00B62D103/00B62D105/00B62D113/00B62D137/00B60T8/64B62D6/04
    • B60T8/1755B60T8/4275B60T8/4809
    • A method and apparatus prevents instabilities in vehicle handling by forming a desired value of the vehicle yaw angle rate .mu..sub.des from measured values (namely, vehicle speed, steering wheel angle), and forming the actual value of the vehicle yaw angle rate .mu..sub.act from at least one sensor signal. The difference between the desired value of the yaw angle rate .mu..sub.des and the actual value of the yaw angle rate .mu..sub.act is formed by subtracting the actual value of the yaw angle rate .mu..sub.act from the desired value of the yaw angle rate .mu..sub.des. At least one output signal is generated and emitted by the computer unit, from this difference. The output signal represents the detected driving situation with respect to the yaw behavior of the vehicle, with the brake pressure of individual wheels of the vehicle being varied as a function of this output signal, and the output signal being generated in the computer unit as a function of a time derivative of the difference. The output signal contains information on whether the vehicle has understeering or oversteering handling. In the case of oversteering handling, the brake pressure is increased for the vehicle front wheel on the outside of the turn; in the case of understeering handling, the brake pressure is increased for the vehicle rear wheel on the inside of the turn.
    • 一种方法和装置通过根据测量值(即,车辆速度,方向盘角度)形成车辆偏航角速率mu des的期望值来防止车辆处理中的不稳定性,并且形成车辆偏航角速率mu act的实际值 至少一个传感器信号。 偏航角速率mu des的期望值与偏航角速率mu act的实际值之间的差异是通过从偏航角速率mu des的期望值中减去偏航角速率mu act的实际值来形成的。 根据该差异,计算机单元产生并发射至少一个输出信号。 输出信号表示相对于车辆的偏航行为的检测到的驾驶状况,车辆的各个车轮的制动压力作为该输出信号的函数而变化,并且在计算机单元中产生的输出信号为 函数的时间导数的差异。 输出信号包含关于车辆是否转向不足或过度转向处理的信息。 在过度转向处理的情况下,在车轮外侧的车辆前轮上的制动压力增加; 在转向不足的情况下,转向内侧的车辆后轮的制动压力增加。
    • 10. 发明授权
    • Apparatus for the road-surface-dependent control of shock absorbers in a
vehicle suspension system
    • 用于车辆悬架系统中减震器的路面依赖控制的装置
    • US4685698A
    • 1987-08-11
    • US866377
    • 1986-05-23
    • Walter KlinknerFritz Schmidt
    • Walter KlinknerFritz Schmidt
    • B60G23/00B60G17/015B60G17/018B60G17/04
    • B60G17/018B60G2400/102B60G2400/252B60G2500/10B60G2600/02B60G2600/12B60G2600/16B60G2600/184B60G2600/602B60G2600/604
    • Apparatus for controlling a vehicle suspension system includes acceleration sensors mounted on the vehicle for producing electrical signals representative of road surface undulations or irregularities, processing circuitry for processing the sensor signals to produce control signals, and a shock absorber or damper having adjustable damping characteristics. The damper preferably includes two chambers connected by a controllable bypass. One of the chambers becomes smaller during compression of the suspension system, and one becomes smaller during expansion. A controllable throttle and/or valve is provided in the bypass to adjust the damping characteristic of the absorber. The circuitry produces control signals H and w which are representative of the average height of the overall road surface undulations, and a ratio of average heights of long-wave and short-wave undulations, respectively. The circuitry further processes these signals to produce control signals F and P to control the bypass throttle and/or valve, respectively, in accordance with the following relationship:P=a.sub.o +a.sub.1 H+a.sub.2 w+a.sub.3 HwF=b.sub.o +b.sub.1 H+b.sub.2 w+b.sub.3 Hwwhere, a.sub.o -a.sub.3 and b.sub.o -b.sub.3 are predetermined constants.
    • 用于控制车辆悬架系统的装置包括安装在车辆上的加速度传感器,用于产生代表路面起伏或不规则的电信号,用于处理传感器信号以产生控制信号的处理电路,以及具有可调阻尼特性的减震器或阻尼器。 阻尼器优选地包括通过可控旁路连接的两个腔室。 其中一个室在悬挂系统的压缩过程中变小,在膨胀期间变小。 在旁路中设置有可控制的节流阀和/或阀,以调节吸收器的阻尼特性。 电路产生代表整个路面起伏的平均高度的控制信号H和w,以及长波和短波起伏的平均高度的比值。 电路进一步处理这些信号以产生控制信号F和P,以分别根据以下关系控制旁路节流阀和/或阀:P = ao + a1H + a2w + a3Hw F = bo + b1H + b2w + b3Hw 其中,ao-a3和bo-b3是预定的常数。