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1. 发明授权

US07234564B2 Haptic controller for road vehicles 有权
标题翻译：用于道路车辆的触觉控制器
公开(公告)号：US07234564B2
公开(公告)日：2007-06-26
申请号：US11490548
申请日：2006-07-21
申请人： James Owen Patrick Farrelly , Simon David Stevens , Andrew Dennis Barton
发明人： James Owen Patrick Farrelly , Simon David Stevens , Andrew Dennis Barton
IPC分类号： B62D5/06
CPC分类号： B62D6/04
摘要： An electric assisted steering system for a motor driven road vehicle, having assist torque signal generating means which generates an assist torque signal for the steering system in response to the driver's applied torque and sensed vehicle speed to reduce the driver's steering effort. A yaw rate haptic torque is generated which is based upon vehicle rate error and is arranged to be added to the torque assist signal such that, when the yaw rate error builds up corresponding to increasing steering instability (e.g. understeer or oversteer) of the vehicle, the haptic torque added to the torque assist signal reduces the effective road reaction feedback sensed by the driver in advance of any actual vehicle stability loss whereby to allow the driver to correct appropriately in good time before terminal steering instability is reached. Alternatively, the haptic torque can be based upon vehicle lateral acceleration which is arranged to be subtracted from the torque assist signal such that when vehicle lateral acceleration builds up, corresponding to tighter cornering of the vehicle, the haptic torque subtracted from the torque assist signal increases the effective road reaction feedback sensed by the driver corresponding to the increase in cornering forces generated by the tires of the vehicle.
摘要翻译：一种用于电机驱动的公路车辆的电动助力转向系统，具有辅助转矩信号产生装置，该辅助转矩信号发生装置响应于驾驶员施加的转矩和感测到的车辆速度产生用于转向系统的辅助转矩信号，以减少驾驶员的转向力。产生基于车辆速度误差的偏航率触觉扭矩，并且被设置为被加到转矩辅助信号上，使得当相应于车辆的转向不稳定性（例如转向不足或过度转向）的增加而产生偏航率误差时，添加到转矩辅助信号的触觉扭矩在任何实际车辆稳定性损失之前减少驾驶员感测到的有效道路反作用反馈，从而允许驾驶员在终端转向不稳定之前及时正确地进行校正。或者，触觉扭矩可以基于车辆横向加速度，该车辆横向加速度被布置为从扭矩辅助信号中减去，使得当车辆横向加速度建立时，对应于车辆的更严格的转弯，从转矩辅助信号减去的触觉转矩增加对应于由车辆的轮胎产生的转弯力的增加而对驾驶员感测到的有效道路反应反馈。

2. 发明授权

US07185731B2 Haptic controller for road vehicles 有权
标题翻译：用于道路车辆的触觉控制器
公开(公告)号：US07185731B2
公开(公告)日：2007-03-06
申请号：US10637035
申请日：2003-08-07
申请人： James Owen Patrick Farrelly , Simon David Stevens , Andrew Dennis Barton
发明人： James Owen Patrick Farrelly , Simon David Stevens , Andrew Dennis Barton
IPC分类号： B62D5/06
CPC分类号： B62D6/04
摘要： An electric assisted steering system for a motor driven road vehicle, having assist torque signal generating means which generates an assist torque signal for the steering system in response to the driver's applied torque and sensed vehicle speed to reduce the driver's steering effort. A yaw rate haptic torque is generated which is based upon vehicle rate error and is arranged to be added to the torque assist signal such that, when the yaw rate error builds up corresponding to increasing steering instability (e.g. understeer or oversteer) of the vehicle, the haptic torque added to the torque assist signal reduces the effective road reaction feedback sensed by the driver in advance of any actual vehicle stability loss whereby to allow the driver to correct appropriately in good time before terminal steering instability is reached. Alternatively, the haptic torque can be based upon vehicle lateral acceleration which is arranged to be subtracted from the torque assist signal such that when vehicle lateral acceleration builds up, corresponding to tighter cornering of the vehicle, the haptic torque subtracted from the torque assist signal increases the effective road reaction feedback sensed by the driver corresponding to the increase in cornering forces generated by the tyres of the vehicle.
摘要翻译：一种用于电机驱动的公路车辆的电动助力转向系统，具有辅助转矩信号产生装置，该辅助转矩信号发生装置响应于驾驶员施加的转矩和感测到的车辆速度产生用于转向系统的辅助转矩信号，以减少驾驶员的转向力。产生基于车辆速度误差的偏航率触觉扭矩，并且被设置为被加到转矩辅助信号上，使得当相应于车辆的转向不稳定性（例如转向不足或过度转向）的增加而产生偏航率误差时，添加到转矩辅助信号的触觉扭矩在任何实际车辆稳定性损失之前减少驾驶员感测到的有效道路反作用反馈，从而允许驾驶员在终端转向不稳定之前及时正确地进行校正。或者，触觉扭矩可以基于车辆横向加速度，该车辆横向加速度被布置为从扭矩辅助信号中减去，使得当车辆横向加速度建立时，对应于车辆的更严格的转弯，从转矩辅助信号减去的触觉转矩增加对应于由车辆的轮胎产生的转弯力的增加而对驾驶员感测到的有效道路反应反馈。

3. 发明授权

US07273127B2 Rack force disturbance rejection 有权
标题翻译：机架扰动抑制
公开(公告)号：US07273127B2
公开(公告)日：2007-09-25
申请号：US11245935
申请日：2005-10-07
申请人： Andrew James Pick , Timothy James Sworn , Andrew Dennis Barton , James Owen Patrick Farrelly
发明人： Andrew James Pick , Timothy James Sworn , Andrew Dennis Barton , James Owen Patrick Farrelly
IPC分类号： B62D6/04
CPC分类号： B62D7/22 , B62D6/005
摘要： A road vehicle steering system which is adapted to use measurements and estimates characterising the motion of and forces acting on the vehicle and the steering system such as to derive an estimate of steering system disturbance force and to then use the latter estimate to establish a torque demand for the vehicle electronic power steering (EPS) which substantially compensates for this disturbance force.
摘要翻译：公路车辆转向系统，其适于使用表征作用在车辆和转向系统上的运动和力的测量和估计，以便导出转向系统扰动力的估计，然后使用后者的估计来建立扭矩需求用于基本上补偿该干扰力的车辆电动助力转向（EPS）。

4. 发明授权

US06895318B1 Oversteer steering assistance controller 有权
标题翻译：过度转向辅助控制器
公开(公告)号：US06895318B1
公开(公告)日：2005-05-17
申请号：US10666737
申请日：2003-09-19
申请人： Andrew Dennis Barton , James Owen Patrick Farrelly , Nicholas Alford
发明人： Andrew Dennis Barton , James Owen Patrick Farrelly , Nicholas Alford
IPC分类号： B60T8/1755 , B62D6/00 , B62D15/02
CPC分类号： B62D6/003 , B60T8/1755 , B60T2260/02 , B62D15/025
摘要： A steering assistance controller for the generation of a compensating torque which assists the driver in overcoming the tendency of a vehicle to oversteer by encouraging the driver to steer the vehicle back to a non-steering condition through the application of said compensating torque which is based substantially upon an estimate of magnitude of oversteer.
摘要翻译：一种用于产生补偿转矩的转向辅助控制器，其通过鼓励驾驶员通过施加所述补偿扭矩来引导车辆转向非转向状态来帮助驾驶员克服车辆过度转向的趋势，所述转向辅助控制器基本上基本上根据过度转向的大小估计。

5. 发明授权

US06968920B2 Steering control during split-mu ABS braking 有权
标题翻译：分离式ABS制动时的转向控制
公开(公告)号：US06968920B2
公开(公告)日：2005-11-29
申请号：US10665724
申请日：2003-09-19
申请人： Andrew Dennis Barton , James Owen Patrick Farrelly , Mark Richard Tucker , Edward John Milbourn , Michael John Bayes
发明人： Andrew Dennis Barton , James Owen Patrick Farrelly , Mark Richard Tucker , Edward John Milbourn , Michael John Bayes
IPC分类号： B60T8/1755 , B60T8/1761 , B60T8/1764 , B60T8/58 , B60T8/84 , B62D6/00 , B62D15/02 , B62D101/00 , B62D109/00 , B62D111/00 , B62D113/00 , B62D119/00 , B62D137/00 , B62D5/04
CPC分类号： B62D15/025 , B60T8/1764 , B60T2260/024 , B62D6/003 , B62D6/008
摘要： A vehicle stability compensation system, which is arranged to adjust dynamically the self-centering position and the steering feel of the vehicle steering system during split mu braking operation. The adjustment being based on at least one operational variable representing a corrective steer angle for the vehicle and hence representing a target self-centering position. A target self-centering error is derived from the difference between the target self-centering position and an actual vehicle steering angle. A torque demand that is proportional to the target self-centering error is then added to an assistance torque generated by the electrically assisted steering system to shift the self-centering position so as to encourage the vehicle driver to move the steering wheel such as to reduce the target self-centering error to zero for maintaining the vehicle stable and controllable.
摘要翻译：一种车辆稳定性补偿系统，其被布置成在分离MU制动操作期间动态地调节车辆转向系统的自定心位置和转向感觉。该调整基于至少一个操作变量，其表示车辆的矫正转向角，因此表示目标自对中位置。目标自对中误差源于目标自动对中位置与实际车辆转向角之间的差异。然后将与目标自对中误差成比例的扭矩要求加到由电辅助转向系统产生的辅助扭矩上，以移动自定心位置，以便鼓励车辆驾驶员移动方向盘，以减少目标自动对中误差为零，以保持车辆稳定可控。

6. 发明授权

US08494717B2 Steering control during split mu braking 有权
标题翻译：分闸时制动时的转向控制
公开(公告)号：US08494717B2
公开(公告)日：2013-07-23
申请号：US12446537
申请日：2007-10-13
申请人： Andrew Dennis Barton , Anthony Walter Burton , Adam John Heenan
发明人： Andrew Dennis Barton , Anthony Walter Burton , Adam John Heenan
IPC分类号： A01B69/00
CPC分类号： B62D6/005
摘要： An electric assisted steering control strategy for a steering system for a vehicle is arranged to assist the driver in controlling the vehicle during a split mu braking operation. The steering is provided with assistance being based on at least one operational variable representing a corrective steer angle for the vehicle which is added to a main assistance torque via a driver feedback controller, and the strategy is adapted to employ an estimate of yaw moment of the vehicle as the operational variable, the yaw moment being determined by processing the speed of wheels on opposite sides of the vehicle.
摘要翻译：一种用于车辆的转向系统的电动辅助转向控制策略被布置成在分闸MU制动操作期间辅助驾驶员控制车辆。所述转向装置被提供有辅助，其基于至少一个操作变量，所述至少一个操作变量表示通过驾驶员反馈控制器被添加到主辅助扭矩的车辆的矫正转向角，并且所述策略适于采用对所述车辆的偏航力矩的估计车辆作为操作变量，通过处理车辆的相对侧上的车轮的速度来确定偏航力矩。

7. 发明申请

US20110077824A1 Steering Control During Split Mu Braking 有权
标题翻译：分离制动时的转向控制
公开(公告)号：US20110077824A1
公开(公告)日：2011-03-31
申请号：US12446537
申请日：2007-10-13
申请人： Andrew Dennis Barton , Anthony Walter Burton , Adam John Heenan
发明人： Andrew Dennis Barton , Anthony Walter Burton , Adam John Heenan
IPC分类号： B62D6/00 , G06F17/00
CPC分类号： B62D6/005
摘要： An electric assisted steering control strategy for a steering system for a vehicle is arranged to assist the driver in controlling the vehicle during a split mu braking operation. The steering is provided with assistance being based on at least one operational variable representing a corrective steer angle for the vehicle which is added to a main assistance torque via a driver feedback controller, and the strategy is adapted to employ an estimate of yaw moment of the vehicle as the operational variable, the yaw moment being determined by processing the speed of wheels on opposite sides of the vehicle.
摘要翻译：一种用于车辆的转向系统的电动辅助转向控制策略被布置成在分闸MU制动操作期间辅助驾驶员控制车辆。所述转向装置被提供有辅助，其基于至少一个操作变量，所述至少一个操作变量表示通过驾驶员反馈控制器被添加到主辅助扭矩的车辆的矫正转向角，并且所述策略适于采用对所述车辆的偏航力矩的估计车辆作为操作变量，通过处理车辆的相对侧上的车轮的速度来确定偏航力矩。

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