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1. 发明授权

US06856886B1 Vehicle stability enhancement control and method 失效
标题翻译：车辆稳定性增强控制与方法
公开(公告)号：US06856886B1
公开(公告)日：2005-02-15
申请号：US10806674
申请日：2004-03-23
申请人： Shih-Ken Chen , William C. Lin , Yuen-Kwok S. Chin
发明人： Shih-Ken Chen , William C. Lin , Yuen-Kwok S. Chin
IPC分类号： B60T8/172 , B60T8/1755 , B60T8/60 , B60W30/02 , B62D6/00 , B62D7/15 , B62D37/00 , G01P15/00 , G06F19/00
CPC分类号： B60T8/17551 , B60T8/172 , B60T2230/02 , B60T2250/04 , B60W10/184 , B60W10/20 , B60W30/02 , B60W40/103 , B60W2510/20 , B60W2520/10 , B60W2520/125 , B60W2520/14 , B60W2710/207 , B60W2720/20 , B60W2720/403 , B62D7/159 , Y10T477/60 , Y10T477/675
摘要： A side-slip velocity estimation module for a vehicle stability enhancement control system includes a side-slip acceleration estimation module that determines an estimated side-slip acceleration of a vehicle. A limited-frequency integrator integrates the estimated side-slip acceleration to determine an estimated side-slip velocity of the vehicle. The limited-frequency integrator includes a feedback loop which incorporates a cutoff frequency for the integrator.
摘要翻译：用于车辆稳定性增强控制系统的侧滑速度估计模块包括确定车辆的估计侧滑加速度的侧滑加速度估计模块。有限频率积分器将估计的侧滑加速度整合以确定车辆的估计侧滑速度。有限频率积分器包括一个包含积分器截止频率的反馈回路。

2. 发明授权

US06856885B2 Vehicle stability enhancement control 失效
标题翻译：车辆稳定性增强控制
公开(公告)号：US06856885B2
公开(公告)日：2005-02-15
申请号：US10404371
申请日：2003-04-01
申请人： William C. Lin , Shih-Ken Chen
发明人： William C. Lin , Shih-Ken Chen
IPC分类号： B62D6/00 , B60R16/02 , B60T8/172 , B60T8/1755 , B62D101/00 , B62D111/00 , B62D113/00 , B62D137/00 , G06F19/00
CPC分类号： B60T8/17551 , B60T8/172 , B60T2230/02 , Y10T477/60 , Y10T477/675
摘要： A side-slip velocity estimation module for a vehicle stability enhancement control system includes a side-slip acceleration estimation module that determines an estimated side-slip acceleration of a vehicle. A limited-frequency integrator integrates the estimated side-slip acceleration to determine an estimated side-slip velocity of the vehicle. A reset logic module clears an output of the limited-frequency integrator when a first condition occurs. The first condition is one of a straight-driving condition, a speed condition, and a sensor bias condition. The estimated side-slip velocity is compared to a desired side-slip velocity to produce a side-slip control signal. The side-slip control signal is combined with a yaw rate control signal to produce an actuator control signal. The actuator control signal is received by one of at least one brake actuator and a rear-wheel steering actuator to create a yaw moment to correct a dynamic behavior of the vehicle.
摘要翻译：用于车辆稳定性增强控制系统的侧滑速度估计模块包括确定车辆的估计侧滑加速度的侧滑加速度估计模块。有限频率积分器将估计的侧滑加速度整合以确定车辆的估计侧滑速度。当第一个状态发生时，复位逻辑模块清除有限频率积分器的输出。第一个条件是直行驱动条件，速度条件和传感器偏置条件之一。将估计的侧滑速度与期望的侧滑速度进行比较以产生侧滑控制信号。侧滑控制信号与偏航率控制信号组合以产生致动器控制信号。致动器控制信号由至少一个制动器致动器和后轮转向致动器之一接收以产生偏航力矩以校正车辆的动态特性。

3. 发明授权

US07546191B2 Handwheel damping control of active steering system 失效
标题翻译：主动转向系统的手轮阻尼控制
公开(公告)号：US07546191B2
公开(公告)日：2009-06-09
申请号：US11017420
申请日：2004-12-20
申请人： William C. Lin , Shih-Ken Chen , Robert R. Bolio
发明人： William C. Lin , Shih-Ken Chen , Robert R. Bolio
IPC分类号： B62D5/00 , B62D6/00
CPC分类号： B62D6/008 , B62D5/008
摘要： An active front steering (AFS) system that provides hand-wheel damping. The AFS system includes a damping control sub-system that determines a hand-wheel angular velocity based on the rate of change of a hand-wheel angle signal. The damping control sub-system determines the damping control signal by multiplying the angular velocity of the hand-wheel angle signal with a control gain. The damping control signal is added to a steering signal from a variable gear ratio control sub-system to generate a steering command signal. The damping control sub-system sets to the damping control signal to zero if a signal from a vehicle stability enhancement sub-system is activated.
摘要翻译：提供手轮阻尼的主动前转向（AFS）系统。 AFS系统包括基于手轮角度信号的变化速率确定手轮角速度的阻尼控制子系统。阻尼控制子系统通过将手轮角度信号的角速度与控制增益相乘来确定阻尼控制信号。阻尼控制信号被添加到来自可变齿轮比控制子系统的转向信号，以产生转向指令信号。如果来自车辆稳定性增强子系统的信号被激活，则阻尼控制子系统将阻尼控制信号设置为零。

4. 发明授权

US06865468B2 Method and apparatus for vehicle stability enhancement system 有权
标题翻译：车辆稳定性增强系统的方法和装置
公开(公告)号：US06865468B2
公开(公告)日：2005-03-08
申请号：US10305378
申请日：2002-11-26
申请人： William C. Lin , Shih-Ken Chen , Yuen-Kwok Chin , Weiwen Deng , David S. Rule , David P. Lynch
发明人： William C. Lin , Shih-Ken Chen , Yuen-Kwok Chin , Weiwen Deng , David S. Rule , David P. Lynch
IPC分类号： B62D6/00 , B60W50/00 , B62D6/02 , B62D6/04 , B62D7/14 , B62D7/15 , B62D101/00 , B62D113/00 , B62D137/00 , G06F17/00 , B60K17/34 , G06F7/00
CPC分类号： B62D7/159 , B60W2050/0024 , B60W2520/125 , B60W2520/14 , B62D6/04
摘要： A vehicle stability enhancement system for a vehicle having at least one vehicle subsystem includes at least one sensor for sensing at least one vehicle parameter, at least one vehicle control system for adjusting the at least one vehicle subsystem wherein the at least one vehicle control system includes a rear wheel steering control system, at least one memory including at least one set of gain factors, and a controller responsive to the at least one sensor and the at least one set of gain factors for controlling the at least one vehicle control system.
摘要翻译：用于具有至少一个车辆子系统的车辆的车辆稳定性增强系统包括用于感测至少一个车辆参数的至少一个传感器，用于调整至少一个车辆子系统的至少一个车辆控制系统，其中所述至少一个车辆控制系统包括后轮转向控制系统，包括至少一组增益因子的至少一个存储器，以及响应于所述至少一个传感器的控制器和用于控制至少一个车辆控制系统的至少一组增益因子。

5. 发明授权

US06819998B2 Method and apparatus for vehicle stability enhancement system 失效
标题翻译：车辆稳定性增强系统的方法和装置
公开(公告)号：US06819998B2
公开(公告)日：2004-11-16
申请号：US10305426
申请日：2002-11-26
申请人： William C. Lin , Shih-Ken Chen
发明人： William C. Lin , Shih-Ken Chen
IPC分类号： G06F1700
CPC分类号： B60T8/17552 , B60G17/0195 , B60G2800/0194 , B60G2800/24 , B60G2800/922 , B60G2800/962 , B60T2210/22 , B60T2260/022 , B60W30/02 , B60W2050/0024 , B60W2520/125 , B60W2520/14 , B60W2520/20 , B62D6/04 , B62D7/159
摘要： A vehicle stability enhancement system for a vehicle having a vehicle subsystem includes a sensor for sensing a vehicle parameter, a vehicle control system for adjusting the vehicle subsystem, a memory having a register that includes a bank angle compensation control command, and a controller responsive to the sensor and the memory for controlling the vehicle control system.
摘要翻译：一种具有车辆子系统的车辆的车辆稳定性增强系统，包括用于感测车辆参数的传感器，用于调整车辆子系统的车辆控制系统，具有包括倾斜角补偿控制命令的寄存器的存储器，以及响应于传感器和用于控制车辆控制系统的存储器。

6. 发明授权

US07274984B2 Vehicle stability enhancement system 失效
标题翻译：车辆稳定性增强系统
公开(公告)号：US07274984B2
公开(公告)日：2007-09-25
申请号：US10868696
申请日：2004-06-14
申请人： Kwang-Keun Shin , Shih-Ken Chen , William C Lin
发明人： Kwang-Keun Shin , Shih-Ken Chen , William C Lin
IPC分类号： G06F19/00
CPC分类号： B60T8/17551 , B60T2230/02 , B60T2260/022 , B62D7/159 , Y10T477/60 , Y10T477/675
摘要： A side-slip velocity estimation module for a vehicle stability enhancement control system includes a side-slip acceleration estimation module that estimates a side-slip acceleration of a vehicle. A multiple-order integrator integrates the side-slip acceleration to generate an estimated side-slip velocity of the vehicle. A reset logic module clears an output of the multiple-order integrator when the vehicle experiences a straight-driving condition, when a speed of the vehicle is less than a predetermined speed, and/or when a sensor bias condition occurs. The multiple-order integrator includes at least two accumulators and at least two feedback loops. The estimated side-slip velocity is a weighted sum of outputs of at least one of the at least two accumulators. A sum of the at least two feedback loops offsets the estimated side-slip acceleration.
摘要翻译：用于车辆稳定性增强控制系统的侧滑速度估计模块包括估计车辆的侧滑加速度的侧滑加速度估计模块。多阶积分器集成了侧滑加速度以产生车辆的估计侧滑速度。当车辆的速度小于预定速度时，和/或当发生传感器偏置条件时，当车辆经历直行驱动状态时，复位逻辑模块清除多阶积分器的输出。多阶积分器包括至少两个累加器和至少两个反馈回路。估计的侧滑速度是至少两个累加器中的至少一个的输出的加权和。至少两个反馈回路的总和抵消了估计的侧滑加速度。

7. 发明授权

US07099760B2 Active wheel steering control 失效
标题翻译：主动轮转向控制
公开(公告)号：US07099760B2
公开(公告)日：2006-08-29
申请号：US10828074
申请日：2004-04-20
申请人： William C. Lin , Shih-Ken Chen , Yuen-Kwok Chin
发明人： William C. Lin , Shih-Ken Chen , Yuen-Kwok Chin
IPC分类号： B62D5/04
CPC分类号： B62D7/159
摘要： A control system that employs closed-loop control for providing active vehicle rear-wheel steering, where the control system receives longitudinal wheel slip inputs to improve the vehicle directional stability. The longitudinal wheel slip inputs can be from one or more of wheel speed, traction control on and automatic braking system on. The control system includes an open-loop controller for generating an open-loop steering control signal, a yaw rate feedback controller for generating a yaw rate feedback signal, and a side-slip rate controller for generating a side-slip rate feedback signal. The open-loop steering control signal, the yaw rate feedback signal and the side-slip rate feedback signal are combined to generate the steering control signal to steer the vehicle rear wheels.
摘要翻译：一种控制系统，其采用闭环控制来提供主动的车辆后轮转向，其中控制系统接收纵轮滑移输入以改善车辆方向稳定性。纵轮滑差输入可以来自一个或多个车轮速度，牵引力控制和自动制动系统。控制系统包括用于产生开环转向控制信号的开环控制器，用于产生横摆率反馈信号的横摆率反馈控制器和用于产生侧滑速率反馈信号的侧滑速率控制器。组合开环转向控制信号，横摆率反馈信号和侧滑速率反馈信号以产生转向控制信号以转向车辆后轮。

8. 发明授权

US08862321B2 Directing vehicle into feasible region for autonomous and semi-autonomous parking 有权
标题翻译：引导车辆进入可行区域进行自主和半自动停车
公开(公告)号：US08862321B2
公开(公告)日：2014-10-14
申请号：US13586077
申请日：2012-08-15
申请人： Nikolai K. Moshchuk , Bakhtiar Brian Litkouhi , Shih-Ken Chen
发明人： Nikolai K. Moshchuk , Bakhtiar Brian Litkouhi , Shih-Ken Chen
IPC分类号： B60G17/018 , B62C3/00 , B62D5/04
CPC分类号： B62D5/0463 , B62D6/00 , B62D15/0285
摘要： A method of guiding a vehicle to a region for initiating a parallel parking maneuver. A region of feasible starting locations for successfully performing a parallel parking maneuver is determined by a processor. A position of the vehicle relative to the region of feasible starting locations is determined. A determination is made whether the vehicle is in a zero heading position. The vehicle is guided along an initial target path by controlling a steering actuator until the vehicle is in a zero heading position relative to the road of travel in response to the vehicle is not in the zero heading position. A planned path is generated that includes two arc-shaped trajectories extending between the vehicle at the zero heading position and a position within the region of feasible starting locations as determined by the processor. The steering actuator is controlled to follow the planned path to the feasible region.
摘要翻译：将车辆引导到用于启动平行停放机动的区域的方法。用于成功执行平行停车操纵的可行启动位置的区域由处理器确定。确定车辆相对于可行起始位置的区域的位置。确定车辆是否处于零行程位置。通过控制转向执行机构，车辆沿着初始目标路径被引导，直到车辆相对于车辆行驶道路处于零行程位置为止不在零行程位置时。生成包括两个在零行程位置的车辆之间延伸的两个弧形轨迹和由处理器确定的可行起始位置区域内的位置的计划路径。控制转向执行器以遵循到可行区域的计划路径。

9. 发明授权

US08775006B2 System and method for enhanced vehicle control 有权
标题翻译：用于增强车辆控制的系统和方法
公开(公告)号：US08775006B2
公开(公告)日：2014-07-08
申请号：US13544689
申请日：2012-07-09
申请人： Nikolai K. Moshchuk , Shih-Ken Chen , Jin-Woo Lee , Chad T. Zagorski , Aamrapali Chatterjee
发明人： Nikolai K. Moshchuk , Shih-Ken Chen , Jin-Woo Lee , Chad T. Zagorski , Aamrapali Chatterjee
IPC分类号： G01C21/00 , B60W50/08 , B60W30/09 , B62D15/02 , G08G1/16
CPC分类号： B60W50/08 , B60W30/09 , B62D15/0265 , G08G1/16 , G08G1/164 , G08G1/165 , G08G1/166 , G08G1/167
摘要： A method and system may determine, in a vehicle, a desired path around an object based on a location of the object relative to the vehicle, relative speed, road parameters and one or more vehicle parameters. The method and system may calculate one or more vehicle control parameter values which minimize a predicted deviation from the desired vehicle path. The method and system may determine whether the one or more vehicle control parameter values would cause the vehicle to exceed one or more vehicle stability constraints. If the one or more vehicle control parameter values would cause the vehicle to exceed one or more vehicle stability constraints, the one or more vehicle control parameter values may be reduced to one or more vehicle control parameter values not causing the vehicle to exceed the one or more vehicle stability constraints. The method and system may output the one or more vehicle control parameter values to a vehicle automated control device.
摘要翻译：方法和系统可以在车辆中基于物体相对于车辆的位置，相对速度，道路参数和一个或多个车辆参数来确定物体周围的期望路径。该方法和系统可以计算一个或多个车辆控制参数值，其使预期偏离预期车辆路径最小化。方法和系统可以确定一个或多个车辆控制参数值是否将导致车辆超过一个或多个车辆稳定性约束。如果一个或多个车辆控制参数值将导致车辆超过一个或多个车辆稳定性约束，则一个或多个车辆控制参数值可以被减少到一个或多个车辆控制参数值，该车辆控制参数值不会导致车辆超过一个或更多的车辆稳定性约束。方法和系统可以将一个或多个车辆控制参数值输出到车辆自动控制装置。

10. 发明申请

US20130054128A1 SYSTEM AND METHOD FOR COLLISION AVOIDANCE MANEUVER PATH DETERMINATION WITH JERK LIMIT 有权
标题翻译：系统和方法用于冲突避免通过路线限制的路径确定
公开(公告)号：US20130054128A1
公开(公告)日：2013-02-28
申请号：US13222499
申请日：2011-08-31
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： G08G1/16
CPC分类号： G08G1/167 , B60W10/18 , B60W10/20 , B60W30/08 , B60W30/09 , B62D15/0265 , G01S13/93 , G01S13/931 , G01S2013/9342 , G08G1/16 , G08G1/165 , G08G1/166
摘要： In a vehicle, an optimal path curvature limited by one or more constraints may be determined. The constraints may be related to lateral jerk and one or more vehicle dynamics constraints. Based on the optimal path curvature, an optimal vehicle path around an object may be determined. The optimal vehicle path may be output to a collision avoidance control system. The collision avoidance control system may cause the vehicle to take a certain path.
摘要翻译：在车辆中，可以确定由一个或多个约束限制的最佳路径曲率。这些约束可能与侧向冲击和一个或多个车辆动力学约束有关。基于最佳路径曲率，可以确定物体周围的最佳车辆路径。可以将最佳车辆路径输出到防撞控制系统。碰撞避免控制系统可能导致车辆采取一定的路径。

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