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1. 发明授权

US07640089B2 Vehicle-trailer stability and handling performance improvement using rear-wheel steering control 有权
标题翻译：使用后轮转向控制的车辆拖车稳定性和操纵性能提升
公开(公告)号：US07640089B2
公开(公告)日：2009-12-29
申请号：US11100016
申请日：2005-04-06
申请人： Weiwen Deng , Yong H. Lee , Yuen-Kwok Chin , David S. Rule
发明人： Weiwen Deng , Yong H. Lee , Yuen-Kwok Chin , David S. Rule
IPC分类号： B62D5/02
CPC分类号： B62D7/159 , B62D6/003 , B62D13/00
摘要： A vehicle steering control system for a vehicle/trailer combination that provides rear-wheel steering assist to improve the vehicle/trailer combination stability and handling performance. The control system provides an open-loop feed-forward control signal based on hand-wheel angle and vehicle speed. The control system includes a vehicle yaw rate command interpreter that provides a vehicle closed-loop feedback control signal based on the yaw rate of the vehicle, a trailer yaw rate command interpreter that provides a trailer closed-loop feedback control signal based on the yaw rate of the trailer, and a vehicle lateral acceleration command interpreter that provides a closed-loop feedback control signal based on the lateral acceleration of the vehicle. The closed-loop feedback signals are added together and then combined with the open-loop feed-forward control signal to provide the rear-wheel steering assist.
摘要翻译：一种用于车辆/拖车组合的车辆转向控制系统，其提供后轮转向辅助以改善车辆/拖车组合的稳定性和操纵性能。控制系统基于手轮角度和车速提供开环前馈控制信号。控制系统包括车辆横摆速度命令解释器，其基于车辆的横摆角速度提供车辆闭环反馈控制信号;拖车横摆速度命令解释器，其基于横摆率提供拖车闭环反馈控制信号以及车辆横向加速度指令解释器，其基于车辆的横向加速度提供闭环反馈控制信号。将闭环反馈信号加在一起，然后与开环前馈控制信号相结合，以提供后轮转向辅助。

2. 发明授权

US06560524B2 Integration of rear wheel steering with vehicle stability enhancement system 有权
标题翻译：后轮转向与车辆稳定性增强系统的集成
公开(公告)号：US06560524B2
公开(公告)日：2003-05-06
申请号：US09963770
申请日：2001-09-26
申请人： William Chin-Woei Lin , Yuen-Kwok Chin , David Michael Sidlosky , David S. Rule , Weiwen Deng
发明人： William Chin-Woei Lin , Yuen-Kwok Chin , David Michael Sidlosky , David S. Rule , Weiwen Deng
IPC分类号： G06F700
CPC分类号： B60T8/1755 , B60T2260/022
摘要： There is disclosed a method for integrating a vehicle stability enhancement system and rear wheel steering. The method includes inputting a vehicle speed and measured vehicle yaw rates. Determining a front and rear wheel steer angle. Calculating a desired yaw rate. Comparing the measured yaw rate with the desired yaw rate to determine a yaw error term. Applying a braking force to a wheel of a vehicle imparting a yaw moment based upon the magnitude of the error term calculated. The rear wheel steer angle is taken into account in calculating a desired yaw rate.
摘要翻译：公开了一种用于整合车辆稳定性增强系统和后轮转向的方法。该方法包括输入车速和测量的车辆偏航率。确定前后轮转向角度。计算所需的偏航率。将所测量的横摆角速度与期望的横摆角速比进行比较，以确定偏航误差项。基于所计算的误差项的大小，向车辆的车轮施加制动力，从而产生横摆力矩。在计算所需的偏航率时考虑后轮转向角度。

3. 发明授权

US06292094B1 Vehicle-trailer backing-up control system with vehicle rear wheel steering 失效
标题翻译：具有车辆后轮转向的车辆拖车后备控制系统
公开(公告)号：US06292094B1
公开(公告)日：2001-09-18
申请号：US09758986
申请日：2001-01-16
申请人： Weiwen Deng , Yuen-Kwok Chin , William Chin-Woei Lin , David S. Rule , Yong Han Lee
发明人： Weiwen Deng , Yuen-Kwok Chin , William Chin-Woei Lin , David S. Rule , Yong Han Lee
IPC分类号： G08B2100
CPC分类号： B62D7/159 , B62D13/06 , B62D15/02
摘要： A method is disclosed for controlling a backing maneuver of an automotive vehicle and trailer combination in which the vehicle has operator-actuated front wheel steering and microprocessor-actuated, reversible electric motor driven rear wheel steering. For a given initial alignment of vehicle and trailer, the computer-executed method first determines whether the driver needs to pull forward before commencing the backing operation. The driver is then requested to turn the front wheels in a direction suitable for backing the vehicle without a trailer in the desired direction. The process then determines whether the driver needs to perform counter front wheel steering before backing. Then the process controls the steering of the rear wheels during the backing operation.
摘要翻译：公开了一种用于控制机动车辆和拖车组合的后备机动的方法，其中车辆具有操作者致动的前轮转向和微处理器致动的可逆电动机驱动的后轮转向。对于车辆和拖车的给定初始对准，计算机执行的方法首先确定驾驶员在开始后备操作之前是否需要向前拉。然后，请求驾驶员沿着适合于背靠车辆的方向转动前轮，而不需要拖车沿期望的方向。然后，该过程确定在备份之前驾驶员是否需要执行相对前轮转向。然后，该过程控制后轮操纵期间的后轮的转向。

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. 发明申请

US20080177443A1 Method and system for vehicle parking assistance 有权
标题翻译：车辆停车辅助方法和系统
公开(公告)号：US20080177443A1
公开(公告)日：2008-07-24
申请号：US11625909
申请日：2007-01-23
申请人： Yong H. Lee , Weiwen Deng , Alexander Kade , Yuen-Kwok Chin
发明人： Yong H. Lee , Weiwen Deng , Alexander Kade , Yuen-Kwok Chin
IPC分类号： B62D6/00
CPC分类号： B62D15/0285
摘要： A method to assist steering of a vehicle equipped with an active steering system when operating in a reverse direction is provided. The method comprises monitoring vehicle operating characteristics and an operator steering input. Boundaries of a target region and a reference point are determined. A target steering angle range is calculated based upon the reference point and the target location. A controlled steering angle of the active steering system is corrected when the operator steering input is outside the target steering angle range. An aspect of the invention included determining the reference point comprising a point of intersection of a first vector and a second vector, the first vector parallel to and passing through a centerline of a rear axle of the vehicle and the second vector perpendicular to and passing through a centerline of an inside front steerable wheel of the vehicle.
摘要翻译：提供了一种在反向工作时辅助配备有主动转向系统的车辆的转向的方法。该方法包括监视车辆操作特性和操作者转向输入。确定目标区域和参考点的边界。基于参考点和目标位置计算目标转向角范围。当操作者转向输入超出目标转向角范围时，主动转向系统的受控转向角被校正。本发明的一个方面包括确定包括第一矢量和第二矢量的交点的参考点，平行于并经过车辆后轴的中心线的第一矢量和垂直于并经过的第二矢量车辆内侧可转向车轮的中心线。

6. 发明授权

US07154385B2 Vehicle-trailer backing up system using active front steer 失效
标题翻译：车辆拖车备用系统使用主动前转向
公开(公告)号：US07154385B2
公开(公告)日：2006-12-26
申请号：US10987556
申请日：2004-11-12
申请人： Yong H. Lee , Weiwen Deng , Yuen-Kwok Chin , William C. Lin
发明人： Yong H. Lee , Weiwen Deng , Yuen-Kwok Chin , William C. Lin
IPC分类号： G08B21/00
CPC分类号： B62D5/008 , B62D6/002 , B62D13/06 , B62D15/027
摘要： A vehicle-trailer back-up control system that employs an active front steer sub-system. The system includes a smart hitch controller that receives a vehicle speed signal and a hand-wheel angle signal, and calculates a hitch angle command signal. The system further includes a hitch angle sensor that measures the hitch angle between the vehicle and the trailer that is compared to the hitch angle command signal to generate a hitch angle error signal. A PID control unit receives the hitch angle error signal, and generates a corrected road wheel angle signal based on proportional and derivative gains. The corrected road wheel angle signal is used to generate a motor angle signal that is applied to a steering actuator to be combined with the steering angle signal to generate the front wheel steering signal during a back-up maneuver.
摘要翻译：一种采用主动前转向子系统的车辆拖车后备控制系统。该系统包括接收车速信号和手轮角度信号的智能牵引控制器，并计算牵引角度指令信号。该系统还包括一个牵引角度传感器，其测量与牵引角度指令信号相比的车辆和拖车之间的牵引角度，以产生牵引角误差信号。 PID控制单元接收牵引角误差信号，并根据比例和微分增益产生校正的车轮角度信号。校正后的车轮角度信号用于产生电动机角度信号，该电动机角度信号被施加到与转向角信号组合的转向致动器，以在后备操纵期间产生前轮转向信号。

7. 发明授权

US08538631B2 Method and system for vehicle parking assistance 有权
标题翻译：车辆停车辅助方法和系统
公开(公告)号：US08538631B2
公开(公告)日：2013-09-17
申请号：US11625909
申请日：2007-01-23
申请人： Yong H. Lee , Weiwen Deng , Alexander Kade , Yuen-Kwok Chin
发明人： Yong H. Lee , Weiwen Deng , Alexander Kade , Yuen-Kwok Chin
IPC分类号： G05D1/00 , G06F7/00
CPC分类号： B62D15/0285
摘要： A method to assist steering of a vehicle equipped with an active steering system when operating in a reverse direction is provided. The method comprises monitoring vehicle operating characteristics and an operator steering input. Boundaries of a target region and a reference point are determined. A target steering angle range is calculated based upon the reference point and the target location. A controlled steering angle of the active steering system is corrected when the operator steering input is outside the target steering angle range. An aspect of the invention included determining the reference point comprising a point of intersection of a first vector and a second vector, the first vector parallel to and passing through a centerline of a rear axle of the vehicle and the second vector perpendicular to and passing through a centerline of an inside front steerable wheel of the vehicle.
摘要翻译：提供了一种在反向工作时辅助配备有主动转向系统的车辆的转向的方法。该方法包括监视车辆操作特性和操作者转向输入。确定目标区域和参考点的边界。基于参考点和目标位置计算目标转向角范围。当操作者转向输入超出目标转向角范围时，主动转向系统的受控转向角被校正。本发明的一个方面包括确定参考点，其包括第一矢量和第二矢量的交点，平行于并经过车辆后轴的中心线的第一矢量和垂直于并经过的第二矢量车辆内侧可转向车轮的中心线。

8. 发明授权

US06838979B2 Vehicle-trailer backing up jackknife detection and warning system 失效
标题翻译：车载拖车检查和报警系统
公开(公告)号：US06838979B2
公开(公告)日：2005-01-04
申请号：US10435209
申请日：2003-05-09
申请人： Weiwen Deng , Yong H. Lee , Yuen-Kwok Chin
发明人： Weiwen Deng , Yong H. Lee , Yuen-Kwok Chin
IPC分类号： B62D13/06 , B62D15/02 , G08B21/00
CPC分类号： B62D13/06 , B62D15/028
摘要： This invention provides a system to detect in real time the condition of jackknifing tendency during vehicle-trailer backing up, and to provide steering direction assistance. The system utilizes rates of change of a vehicle-trailer articulation angle to determine a critical articulation angle.

9. 发明申请

US20060229782A1 Vehicle-trailer stability and handling performance improvement using rear-wheel steering control 有权
公开(公告)号：US20060229782A1
公开(公告)日：2006-10-12
申请号：US11100016
申请日：2005-04-06
申请人： Weiwen Deng , Yong Lee , Yuen-Kwok Chin , David Rule
发明人： Weiwen Deng , Yong Lee , Yuen-Kwok Chin , David Rule
IPC分类号： B62D5/04
CPC分类号： B62D7/159 , B62D6/003 , B62D13/00
摘要： A vehicle steering control system for a vehicle/trailer combination that provides rear-wheel steering assist to improve the vehicle/trailer combination stability and handling performance. The control system provides an open-loop feed-forward control signal based on hand-wheel angle and vehicle speed. The control system includes a vehicle yaw rate command interpreter that provides a vehicle closed-loop feedback control signal based on the yaw rate of the vehicle, a trailer yaw rate command interpreter that provides a trailer closed-loop feedback control signal based on the yaw rate of the trailer, and a vehicle lateral acceleration command interpreter that provides a closed-loop feedback control signal based on the lateral acceleration of the vehicle. The closed-loop feedback signals are added together and then combined with the open-loop feed-forward control signal to provide the rear-wheel steering assist.

10. 发明授权

US06965820B2 Robust steering-pull torque compensation 有权
标题翻译：坚固的转向拉力矩补偿
公开(公告)号：US06965820B2
公开(公告)日：2005-11-15
申请号：US09954886
申请日：2001-09-18
申请人： Sanket S. Amberkar , Ashok Chandy , Kathryn L. Pattok , Mark P. Colosky , William Chin-Woei Lin , Weiwen Deng , Yuen-Kwok Chin
发明人： Sanket S. Amberkar , Ashok Chandy , Kathryn L. Pattok , Mark P. Colosky , William Chin-Woei Lin , Weiwen Deng , Yuen-Kwok Chin
IPC分类号： B62D5/04 , B62D6/04 , A01B69/00 , B62D11/00 , B63G8/20 , G05D1/00
CPC分类号： B62D5/0472 , B62D6/04 , Y10T477/10
摘要： A controller (32) for a vehicular system (10) that includes a hand-wheel (16) and an electric motor (34) includes a torque-assist function (56) responsive to a signal representing the torque applied to the hand-wheel (16) for providing a torque-assist command to the motor (34), and a steering-pull compensator (52) responsive to a signal representing a valid ignition cycle for modifying the torque-assist command to the motor (34) by an offset corresponding to a detected steering-pull condition; where the method of control includes receiving the signal indicative of the torque applied to the hand-wheel (16), providing a torque-assist command to the motor (34) in response to the received torque signal, detecting an enabling signal related to the signal representing a valid ignition cycle, quantifying a steering-pull condition in response to the received and detected signals, and modifying the torque-assist command to the motor (34) by an offset corresponding to the quantified steering-pull condition.
摘要翻译：一种用于包括手轮（16）和电动机（34）的车辆系统（10）的控制器（32）包括扭矩辅助功能（56），其响应于表示施加到手轮（16），用于向所述电动机（34）提供转矩辅助指令;以及转向拉动补偿器（52），其响应于表示有效点火循环的信号，用于通过一个所述电动机（34）修正所述电动机（34）的转矩辅助指令对应于检测到的转向拉条件的偏移; 其中所述控制方法包括接收指示施加到所述手轮（16）的转矩的信号，响应于所接收的转矩信号向所述电动机（34）提供转矩辅助指令，检测与所述手轮信号，其表示有效的点火周期，响应于所接收和检测到的信号量化转向拉动状况，并且将对所述电动机（34）的转矩辅助指令修正与量化的转向拉动条件相对应的偏移。

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