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1. 发明授权

US06505108B2 Damper based vehicle yaw control 失效
公开(公告)号：US06505108B2
公开(公告)日：2003-01-07
申请号：US09963765
申请日：2001-09-26
申请人： Mark Olen Bodie , Aleksander Boguslaw Hac
发明人： Mark Olen Bodie , Aleksander Boguslaw Hac
IPC分类号： B60G1700
CPC分类号： B60G17/0162 , B60G17/0195 , B60G17/08 , B60G2400/0523 , B60G2400/104 , B60G2400/208 , B60G2400/41 , B60G2400/822 , B60G2500/10 , B60G2600/184 , B60G2600/1873 , B60G2800/212 , B60G2800/215 , B60G2800/24 , B60G2800/244 , B60G2800/246 , B60G2800/91 , B60G2800/922
摘要： Controllable dampers are used to improve vehicle responses and stability during severe vehicle handling maneuvers. A total handling damping value for the vehicle is derived, preferably from the greatest of a yaw rate error value, a lateral acceleration value and a time derivative of lateral acceleration value. In addition, a control ratio of front axle roll damping to total roll damping is derived, preferably from the yaw rate error value, an oversteer/understeer indication and possibly vehicle speed. From these values, handling damping values are derived for each wheel of the vehicle and blended with damping values for the same wheels derived from suspension component movement to determine a corner damping command for each controllable damper. Preferably, the damping values derived from suspension component movement are shifted away from damping control of the vehicle body toward handling damping control when yaw rate error is large in magnitude.

2. 发明授权

US06549842B1 Method and apparatus for determining an individual wheel surface coefficient of adhesion 失效
标题翻译：用于确定单个车轮表面粘附系数的方法和装置
公开(公告)号：US06549842B1
公开(公告)日：2003-04-15
申请号：US10003713
申请日：2001-10-31
申请人： Aleksander Boguslaw Hac , Mark Olen Bodie
发明人： Aleksander Boguslaw Hac , Mark Olen Bodie
IPC分类号： G05D100
CPC分类号： B60T8/172 , B60T2210/12
摘要： The present invention provides a method of estimating a coefficient of adhesion between a road surface and a plurality of tires disposed on a vehicle. An estimated coefficient of adhesion for each of the plurality of tires is provided. First values of longitudinal and lateral forces on the tires are determined from a first set of vehicle dynamic parameters requiring no explicit knowledge of the coefficient of adhesion; and second values of the same forces are determined from a second set of vehicle parameters in an analytic tire model including the estimated value of the coefficient of adhesion. Differences between the first and the second values of the forces on the tires are determined in the longitudinal and lateral directions. Longitudinal and lateral adaptation speeds are determined for each of the plurality of tires; and a coefficient of adhesion adjustment for each of the plurality of tires is estimated from the differences and the adaptation speeds. The estimated coefficients of adhesion for each of the plurality of tires are updated with the estimated coefficient of adhesion adjustments in a reiterative process minimizing the differences.
摘要翻译：本发明提供一种估计路面与设置在车辆上的多个轮胎之间的粘合系数的方法。提供了用于多个轮胎中的每一个的估计的粘合系数。轮胎上的纵向和横向力的第一值由第一组车辆动态参数确定，不需要明确了解附着系数; 并且在包括粘附系数的估计值的分析轮胎模型中从第二组车辆参数确定相同力的第二值。在纵向和横向上确定轮胎上的力的第一和第二值之间的差异。确定多个轮胎中的每一个的纵向和横向适应速度; 并且根据差异和适应速度估计多个轮胎中的每一个的粘附力调节系数。在多个轮胎中的每一个的估计的粘附系数在重复过程中用估计的粘附力调节系数来更新，以使差异最小化。

3. 发明授权

US06681167B2 Vehicle chassis control with coordinated brake and steering control on split coefficient surface 有权
标题翻译：车辆底盘控制，具有协调的制动和转向控制分裂系数表面
公开(公告)号：US06681167B2
公开(公告)日：2004-01-20
申请号：US10164321
申请日：2002-06-04
申请人： Edward John Bedner , Aleksander Boguslaw Hac , Hsien Heng Chen , Ashok Chandy , Michael John Check
发明人： Edward John Bedner , Aleksander Boguslaw Hac , Hsien Heng Chen , Ashok Chandy , Michael John Check
IPC分类号： G06F1700
CPC分类号： B60K28/16 , B60T8/1764 , B60T2260/022 , B60T2260/024 , B60W2520/14 , B60W2520/28 , B62D7/159
摘要： A vehicle chassis control stores first and second calibrated values of a predetermined braking parameter and a steering correction parameter. The control includes apparatus for detecting a split coefficient condition with respect to the road surface; and, when it does and a braking signal is present, the control actuates braking apparatus for a wheel on the side of the vehicle having the higher coefficient of friction with the first calibrated value of the predetermined braking parameter and simultaneously actuates the steering apparatus with a steering correction to compensate for yaw induced by braking on the split coefficient road surface. If the steering correction is not available, however, the braking apparatus is actuated for the wheel having the higher coefficient of friction with the second calibrated value of the predetermined braking parameter without simultaneously actuating the steering apparatus with the steering correction. The steering correction may have an open loop part derived from a difference between wheel slips of two wheels on opposite sides of the vehicle and/or a closed loop part derived from yaw rate, side slip and/or side slip rate error.
摘要翻译：车辆底盘控制器存储预定制动参数和转向校正参数的第一和第二校准值。该控制装置包括用于检测相对于路面的分裂系数条件的装置; 并且当其存在并且存在制动信号时，所述控制致动具有与所述预定制动参数的第一校准值相比具有较高摩擦系数的车辆侧的车轮的制动装置，并且同时致动所述转向装置转向补偿以补偿由分裂系数路面上的制动引起的偏航。然而，如果转向矫正不可用，则制动装置对于具有较高摩擦系数的车轮与具有预定制动参数的第二校准值而被致动，而不用转向校正同时致动转向装置。转向校正可以具有从车辆相对侧上的两个车轮的车轮滑移之间的差导出的开环部分和/或由偏航率，侧滑和/或侧滑率误差导出的闭环部分。

4. 发明授权

US6125319A Brake system control method responsive to measured vehicle acceleration 失效
标题翻译：制动系统控制方法响应测量的车辆加速度
公开(公告)号：US6125319A
公开(公告)日：2000-09-26
申请号：US134951
申请日：1998-08-17
申请人： Aleksander Boguslaw Hac , John Francis Hoying , Kamal Naif Majeed , Hsien Heng Chen , Joachim Busshardt
发明人： Aleksander Boguslaw Hac , John Francis Hoying , Kamal Naif Majeed , Hsien Heng Chen , Joachim Busshardt
IPC分类号： B60T8/1763 , B60T8/32
CPC分类号： B60T8/17636 , B60T2210/12
摘要： A brake system control method, comprising the steps of: determining a maximum acceleration of a vehicle on a high coefficient of adhesion road surface; measuring an acceleration of the vehicle; determining a ratio between the measured acceleration of the vehicle and the maximum acceleration of the vehicle on the high coefficient of adhesion road surface; responsive to the ratio, determining a signal indicative of present coefficient of adhesion; determining a brake actuator command responsive to the signal; and providing the brake actuator command to a brake actuator, wherein an accurate estimation of coefficient of friction between the vehicle wheels and the road surface is used in the brake system control.
摘要翻译：一种制动系统控制方法，包括以下步骤：在高粘附路面系数上确定车辆的最大加速度; 测量车辆的加速度; 确定车辆的测量加速度与车辆在高粘性路面系数上的最大加速度之间的比率; 响应于所述比率，确定指示当前粘附系数的信号; 响应于所述信号确定制动致动器指令; 并且向制动器致动器提供制动致动器命令，其中在制动系统控制中使用车轮与路面之间的摩擦系数的精确估计。

5. 发明授权

US6035251A Brake system control method employing yaw rate and ship angle control 失效
标题翻译：采用横摆率和船角控制的制动系统控制方法
公开(公告)号：US6035251A
公开(公告)日：2000-03-07
申请号：US967091
申请日：1997-11-10
申请人： Aleksander Boguslaw Hac , John Francis Hoying , Rowland Curl Augustus , Joachim Busshardt , Sean Padraig O'Connell , William Chin-Woei Lin , Youssef Ahmed Ghoneim , Hsien Heng Chen , David Michael Sidlosky , Yuen-Kwok Chin , David John Barta
发明人： Aleksander Boguslaw Hac , John Francis Hoying , Rowland Curl Augustus , Joachim Busshardt , Sean Padraig O'Connell , William Chin-Woei Lin , Youssef Ahmed Ghoneim , Hsien Heng Chen , David Michael Sidlosky , Yuen-Kwok Chin , David John Barta
IPC分类号： B60T8/1755 , G06F7/70
CPC分类号： B60T8/1755 , B60T2230/02
摘要： A brake system control for use in a vehicle with wheels, wheel brakes and a body, comprising the steps of: measuring a plurality of vehicle parameters; responsive to the measured parameters, determining at least a vehicle yaw rate, a vehicle slip angle, a desired yaw rate and a desired slip angle; responsive to the measured parameters, estimating a coefficient of adhesion between the vehicle wheels and a road surface; implementing a control responsive to the vehicle yaw rate and the desired yaw rate with a first authority and responsive to the vehicle slip angle and the desired slip angle with a second authority, wherein the first authority increases as the estimated coefficient of adhesion increases and decreases as the estimated coefficient of adhesion decreases; and controlling the wheel brakes responsive to the control to reduce a first difference between the vehicle yaw rate and the desired yaw rate and to reduce a second difference between the vehicle slip angle and the desired slip angle.
摘要翻译：一种用于具有轮子，车轮制动器和车身的车辆的制动系统控制器，包括以下步骤：测量多个车辆参数; 响应于所测量的参数，确定至少车辆横摆角速度，车辆滑行角度，期望的横摆角速度和期望的滑移角度; 响应于测量的参数，估计车辆车轮与路面之间的粘附系数; 利用第一权限实现响应于车辆横摆率和期望的偏航率的控制，并响应于第二权限的车辆滑移角和期望的滑移角，其中第一权限随着估计的粘附系数增加而增加，并且随着估计的粘附系数降低; 以及响应于所述控制来控制所述车轮制动器，以减少所述车辆横摆角速度和所述偏航率之间的第一差异，并且减小所述车辆滑行角和所述滑动角之间的第二差异。

6. 发明授权

US06195606B1 Vehicle active brake control with bank angle compensation 失效
标题翻译：车辆主动制动控制，带斜角补偿
公开(公告)号：US06195606B1
公开(公告)日：2001-02-27
申请号：US09207012
申请日：1998-12-07
申请人： David John Barta , Aleksander Boguslaw Hac
发明人： David John Barta , Aleksander Boguslaw Hac
IPC分类号： G06F770
CPC分类号： B60T8/17552 , B60T2210/12 , B60T2210/22 , B60T2230/02
摘要： An improved active brake control method which compensates for the effects of a banked road surface under both steady state and transient operating conditions of the vehicle. The control includes an observer for estimating the lateral velocity of the vehicle as a means of determining vehicle slip angle, and a time derivative of the estimated lateral velocity is used along with measured values of lateral acceleration, vehicle speed and yaw rate to compute the lateral acceleration component due to the banked road surface, referred to as the bank acceleration. The bank acceleration, in turn, is then used to correct the values of measured steering angle and the measured lateral acceleration used (1) to develop the desired yaw rate, slip angle and lateral acceleration, and (2) to estimate the surface coefficient of adhesion and slip angle. Partial compensation can be achieved by applying suitable gain factors to the computed bank acceleration, if desired.
摘要翻译：一种改进的主动制动控制方法，其补偿在车辆的稳态和瞬时操作条件下的堤岸路面的影响。该控制包括用于估计车辆的侧向速度的观察者作为确定车辆滑移角的手段，并且使用所估计的横向速度的时间导数以及横向加速度，车辆速度和横摆率的测量值来计算侧向加速度分量由于堤岸路面，称为堤岸加速度。然后，银行加速度又用于校正测量的转向角和所使用的测量的横向加速度的值（1），以产生所需的横摆角速度，滑移角和横向加速度，以及（2）估计表面系数附着力和滑移角。如果需要，可以通过将合适的增益因子应用于计算的库加速度来实现部分补偿。

7. 发明授权

US6161905A Active brake control including estimation of yaw rate and slip angle 有权
标题翻译：主动制动控制包括偏航率和滑移角的估计
公开(公告)号：US6161905A
公开(公告)日：2000-12-19
申请号：US195674
申请日：1998-11-19
申请人： Aleksander Boguslaw Hac , Melinda Daniele Simpson
发明人： Aleksander Boguslaw Hac , Melinda Daniele Simpson
IPC分类号： B60T8/1755 , B60T8/60
CPC分类号： B60T8/17551 , B60T2230/02 , B60T2250/03
摘要： An improved vehicle active brake control based on an estimate of vehicle yaw rate and slip angle, wherein the estimate is based on a weighted average of two yaw rate values developed with two different estimation techniques. In general, the first estimate of yaw rate is based on the relative velocity of the un-driven wheels, and the second estimate is based on a measure of lateral acceleration. Confidence levels in each estimate are determined and used to form a third or preliminary yaw rate estimate based on a weighted average of the first and second estimates, and the third estimate is supplied to a closed-loop nonlinear dynamic observer which develops the final estimate of yaw rate, along with estimates of lateral velocity and side-slip angle.
摘要翻译：基于车辆横摆角速度和滑移角的估计的改进的车辆主动制动控制，其中所述估计基于用两种不同的估计技术开发的两个横摆率值的加权平均值。一般来说，偏航率的第一估计是基于非驱动轮的相对速度，第二估计是基于侧向加速度的测量。确定每个估计中的置信度水平，并用于基于第一和第二估计的加权平均值形成第三或初步偏航角速度估计，并且将第三估计提供给闭环非线性动态观测器，其产生最终估计值横摆率，以及侧向速度和侧滑角的估计。

8. 发明授权

US5931887A Brake control method based on a linear transfer function reference model 有权
标题翻译：基于线性传递函数参考模型的制动控制方法
公开(公告)号：US5931887A
公开(公告)日：1999-08-03
申请号：US160275
申请日：1998-09-24
申请人： Aleksander Boguslaw Hac
发明人： Aleksander Boguslaw Hac
IPC分类号： B60T8/1755 , G06F19/00 , A60K28/16
CPC分类号： B60T8/17552 , B60T2230/02 , B60T2270/86
摘要： An active brake control method including an improved method of developing the desired state variables, enabling the system designer to specify the damping ratio and the un-damped natural frequency of desired vehicle performance. The desired state variables are determined by converting a linear time domain model into a transfer function model and solving for the lateral velocity and yaw rate as a function of the driver steering angle, the damping ratio, the un-damped natural frequency of the vehicle, and the transfer function zeros. The damping ratio, the un-damped natural frequency of the vehicle, and the transfer function zeros may either be computed or specified in a look-up table as a function of vehicle speed. This allows the system designer to provide increased damping at high vehicle speeds, for example.
摘要翻译：一种主动制动控制方法，包括改进的所需状态变量的方法，使得系统设计者能够指定所需车辆性能的阻尼比和非阻尼固有频率。通过将线性时域模型转换为传递函数模型来确定期望的状态变量，并且根据驾驶员转向角，阻尼比，车辆的非阻尼固有频率来求解横向速度和横摆角速度，和传递函数为零。可以在查询表中计算或指定车辆的阻尼比，车辆的非阻尼固有频率和传递函数零，作为车速的函数。例如，这允许系统设计者在高车速下提供增加的阻尼。

9. 发明授权

US07440844B2 Vehicle rollover detection and mitigation using rollover index 有权
标题翻译：使用翻车索引的车辆翻车检测和减轻
公开(公告)号：US07440844B2
公开(公告)日：2008-10-21
申请号：US11234805
申请日：2005-09-23
申请人： David John Barta , Aleksander Boguslaw Hac
发明人： David John Barta , Aleksander Boguslaw Hac
IPC分类号： G06G7/48 , G06G7/00 , G06G7/76
CPC分类号： B60G17/0195 , B60G17/0182 , B60G2400/0511 , B60G2400/104 , B60G2600/1872 , B60G2800/0124 , B60G2800/702 , B60G2800/9122 , B60G2800/922 , B60G2800/962 , B60T8/17554 , B60T2230/03 , B60W10/184 , B60W10/20 , B60W30/04 , B60W2050/0013 , B60W2520/125 , B60W2520/18 , B60W2710/18 , B60W2710/20 , B62D6/002
摘要： A method and apparatus for determining likelihood of rollover of a vehicle and/or mitigating rollover of the vehicle is responsive to measured vehicle lateral acceleration and a measured one of vehicle roll rate and vehicle suspension displacements to derive estimates of roll angle and roll rate. First, preliminary, estimates of roll angle and roll rate are derived and used as pseudo-measurements in a dynamic, closed loop observer equation which represents a model of the vehicle in a first roll mode for roll angles small compared to a reference value indicating two wheel lift-off and a second roll mode for roll angles at least near a reference value indicating two wheel lift-off. The observer equation has parameters and gains with values for each mode stored as a function of roll angle index derived from measurements and pseudo-measured values. The observer equation produces second, improved values or roll angle and roll rate together indicating the likelihood of vehicle rollover. Rollover mitigating controls for brakes, active front steer, and/or active rear steer are also disclosed.
摘要翻译：用于确定车辆翻车的可能性和/或减轻车辆的翻车的方法和装置响应于测量的车辆横向加速度和车辆滚动速率和车辆悬架位移的测量值，以得出滚转角和滚动速率的估计。首先，推导出滚动角和滚动速率的初步估计，并将其用作动态闭环观测器方程式中的伪测量值，该方程式表示与第一滚动模式相比较的滚动角度的车辆的模型，与参考值相比较，表示两个滚轮离开和第二滚动模式，用于滚动角至少接近指示两轮剥离的参考值。观察者方程式具有参数和增益，每个模式的值存储为从测量值和伪测量值导出的滚动角度指数的函数。观察者方程式产生第二，改进的值或滚转角和滚动速率，一起指示车辆翻车的可能性。还公开了用于制动器，主动前转向和/或主动后转向器的翻转减速控制。

10. 发明授权

US07107136B2 Vehicle rollover detection and mitigation using rollover index 有权
公开(公告)号：US07107136B2
公开(公告)日：2006-09-12
申请号：US10229367
申请日：2002-08-27
申请人： David John Barta , Aleksander Boguslaw Hac
发明人： David John Barta , Aleksander Boguslaw Hac
IPC分类号： B60T8/60 , G06F7/00
CPC分类号： B60G17/0195 , B60G17/0182 , B60G2400/0511 , B60G2400/104 , B60G2600/1872 , B60G2800/0124 , B60G2800/702 , B60G2800/9122 , B60G2800/922 , B60G2800/962 , B60T8/17554 , B60T2230/03 , B60W10/184 , B60W10/20 , B60W30/04 , B60W2050/0013 , B60W2520/125 , B60W2520/18 , B60W2710/18 , B60W2710/20 , B62D6/002
摘要： A method and apparatus for determining likelihood of rollover of a vehicle and/or mitigating rollover of the vehicle is responsive to measured vehicle lateral acceleration and a measured one of vehicle roll rate and vehicle suspension displacements to derive estimates of roll angle and roll rate. First, preliminary, estimates of roll angle and roll rate are derived and used as pseudo-measurements in a dynamic, closed loop observer equation which represents a model of the vehicle in a first roll mode for roll angles small compared to a reference value indicating two wheel lift-off and a second roll mode for roll angles at least near a reference value indicating two wheel lift-off. The observer equation has parameters and gains with values for each mode stored as a function of roll angle index derived from measurements and pseudo-measured values. The observer equation produces second, improved values or roll angle and roll rate together indicating the likelihood of vehicle rollover. Rollover mitigating controls for brakes, active front steer, and/or active rear steer are also disclosed.

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