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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。

3. 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。

4. 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。

5. 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.

6. 发明授权

US07774121B2 Curve speed control system with adaptive map preview time and driving mode selection 有权
标题翻译：曲线速度控制系统具有自适应地图预览时间和驾驶模式选择
公开(公告)号：US07774121B2
公开(公告)日：2010-08-10
申请号：US11831571
申请日：2007-07-31
申请人： Yong H. Lee , Weiwen Deng , Haicen Zhang
发明人： Yong H. Lee , Weiwen Deng , Haicen Zhang
IPC分类号： B60T8/32 , B60L3/08
CPC分类号： B60W30/045 , B60W30/143 , B60W30/18145 , B60W2550/142 , B60W2550/146
摘要： A system and method for detecting a road curve as a vehicle approaches the curve, automatically providing road curvature information and controlling vehicle speed. The system uses a locating device and a map database to know the vehicle's position. Depending on the speed of the vehicle, the system generates a curvature profile for different curvature data points at or around the curve in front of the vehicle. The system then generates a desired speed profile for the curvature points. The desired speed profile and the actual vehicle speed are compared to determine whether the vehicle is traveling too fast for the target speed at each profile point. The acceleration computation can be enhanced by providing a driver cornering mode input that the vehicle operator can select based on how aggressively the driver wants the system to act to slow down the vehicle.
摘要翻译：用于检测作为车辆的道路曲线的系统和方法接近曲线，自动提供道路曲率信息并控制车速。系统使用定位装置和地图数据库来了解车辆的位置。根据车辆的速度，系统在车辆前面的曲线处或周围的不同曲率数据点处产生曲率轮廓。然后，系统为曲率点生成所需的速度曲线。比较所需的速度曲线和实际车速以确定在每个轮廓点处车辆是否行驶得太快以达到目标速度。可以通过提供驾驶员转弯模式输入来增强加速度计算，车辆驾驶员可以基于驾驶员如何积极地使系统作用来减慢车辆而选择。

7. 发明授权

US08170751B2 Detection of driver intervention during a torque overlay operation in an electric power steering system 有权
标题翻译：在电动助力转向系统中的扭矩叠加操作期间检测驾驶员干预
公开(公告)号：US08170751B2
公开(公告)日：2012-05-01
申请号：US12336819
申请日：2008-12-17
申请人： Yong H. Lee , Jihan Ryu , Weiwen Deng
发明人： Yong H. Lee , Jihan Ryu , Weiwen Deng
IPC分类号： B62D5/04
CPC分类号： B62D15/025 , B62D1/286
摘要： A method for controlling an assisted steering maneuver in an electric power steering (EPS) system includes modeling steering dynamics during a torque overlay operation to generate a dynamic steering model (DSM), measuring vehicle operating values, and detecting a driver intervention in the torque overlay operation based on the DSM and the vehicle operating values. The torque overlay operation is overridden when driver intervention is detected, allowing the driver to regain control of the steering maneuver. A vehicle includes a steering wheel, a steering assist mechanism, and an EPS system having an electronic control unit (ECU) adapted to determine a present intent of a driver of the vehicle to interrupt application of the TOC based on a vehicle operating value transmitted by the driver to the steering wheel. The ECU is operable for interrupting the torque overlay operation when the present intent of the driver is determined.
摘要翻译：用于控制电动助力转向（EPS）系统中的辅助转向操纵的方法包括在转矩叠加操作期间建模转向动力学以产生动态转向模型（DSM），测量车辆操作值，以及检测驾驶员在转矩叠加中的干预基于DSM和车辆运行值进行操作。当检测到驾驶员干预时，扭矩覆盖操作被覆盖，允许驾驶员重新获得对转向操纵的控制。一种车辆包括方向盘，转向辅助机构和EPS系统，其具有电子控制单元（ECU），该电子控制单元（ECU）基于车辆运行值确定车辆的驾驶员的当前意图以基于由司机到方向盘。当确定驾驶员的当前意图时，ECU可操作用于中断转矩叠加操作。

8. 发明授权

US07400963B2 Speed control method for vehicle approaching and traveling on a curve 有权
标题翻译：用于车辆接近和曲线行驶的速度控制方法
公开(公告)号：US07400963B2
公开(公告)日：2008-07-15
申请号：US11297906
申请日：2005-12-09
申请人： Yong H. Lee , Weiwen Deng
发明人： Yong H. Lee , Weiwen Deng
IPC分类号： B60T8/24 , B60T8/58 , G01C21/30
CPC分类号： B60K31/0066 , B60K31/0083 , B60W10/06 , B60W10/184 , B60W2550/143
摘要： A vehicle curve speed control system (10) adapted for use with a vehicle (12) having an operator (14), includes a map database (16) representing a current vehicle path, and a locator device (20) communicatively coupled to the database (16) and configured to determine the location of the vehicle (12) on the path. The system (10) further includes a controller (36) configured to identify approaching curve points of a curve (18a) in terms of curvature or radius, and determine a desired speed profile based on operator preference and/or vehicle characteristic input. An acceleration profile is determined, based on the current vehicle speed, and desired speed profile. An acceleration/deceleration command at the present control loop is modified towards achieving an optimal curve speed, and is delivered to either a brake or acceleration module (40,42) to automatically accelerate or decelerate the vehicle (12) accordingly.
摘要翻译：一种适于与具有操作员（14）的车辆（12）一起使用的车辆曲线速度控制系统（10），包括表示当前车辆路径的地图数据库（16）和通信地耦合到数据库的定位装置（20）（16）并且被配置为确定所述车辆（12）在所述路径上的位置。系统（10）还包括控制器（36），其被配置为基于曲率或半径来识别曲线（18a）的接近曲线点，并且基于操作者偏好和/或车辆特性输入来确定期望的速度曲线。基于当前车辆速度和期望的速度曲线来确定加速度曲线。当前控制回路处的加速/减速命令被修改以实现最佳的曲线速度，并被传送到制动器或加速模块（40,42），以相应地自动加速或减速车辆（12）。

9. 发明授权

US06956468B2 Sensing mechanism for hitch articulation angle 失效
标题翻译：牵引关节角度感应机构
公开(公告)号：US06956468B2
公开(公告)日：2005-10-18
申请号：US10434839
申请日：2003-05-09
申请人： Yong H. Lee , Weiwen Deng , Willard A. Hall , Thomas R. Brown , Joseph J. Gies, III
发明人： Yong H. Lee , Weiwen Deng , Willard A. Hall , Thomas R. Brown , Joseph J. Gies, III
IPC分类号： B60D1/06 , G08B21/00
CPC分类号： B60D1/305 , B60D1/065
摘要： The invention describes a sensor mechanism for measuring hitch articulation angle. A configuration of the contact face between hitch ball and receiver eliminates the effect of the unwanted trailer motions, such as roll and pitch while accurately registering trailer yaw motion. Also, there is no yaw slippage at the contact that was a major problem during the successive acceleration and brake maneuvers. With the freely rotating ball and shaft, the angle is measured using an angle sensor, such as an optical encoder, potentiometer, or other means. For the case of a relative angle sensor, automatic zero angle calibration can be used to allow an absolute angle measurement.
摘要翻译：本发明描述了一种用于测量铰接铰接角度的传感器机构。悬挂球和接收器之间的接触面的配置消除了不期望的拖车运动的影响，例如滚动和俯仰，同时准确地登记拖车偏航运动。此外，在连续加速和制动操作期间，接触处没有偏航滑移是主要问题。使用自由旋转的球和轴，使用诸如光学编码器，电位计或其他装置的角度传感器测量角度。对于相对角度传感器的情况，可以使用自动零角度校准来进行绝对角度测量。

10. 发明授权

US08983765B2 Method and system for lane centering control 有权
标题翻译：车道对中控制方法与系统
公开(公告)号：US08983765B2
公开(公告)日：2015-03-17
申请号：US11548293
申请日：2006-10-11
申请人： Weiwen Deng , Yong H. Lee , Haicen Zhang
发明人： Weiwen Deng , Yong H. Lee , Haicen Zhang
IPC分类号： G06F19/00 , B62D6/00 , G05D1/00 , A01B69/00
CPC分类号： B62D15/025 , B62D6/003 , G05D1/0244 , G05D1/0257 , G05D2201/0213
摘要： A system for lane centering control for a vehicle having a user-operable steering device is disclosed. The system includes a set of sensors for sensing the vehicle speed, yaw rate, and steering device angle, a target path tracker configured for tracking the target path of the vehicle, a processor responsive to the set of sensors for predicting the path of the vehicle, a controller responsive to the set of sensors, the target path tracker, and the processor, and productive of a lane centering control signal, and an active front steering actuator responsive to the control signal and productive of steering assistance to the steering device. The controller includes a processing circuit responsive to executable instructions for producing the steering assistance to the steering device to reduce a difference between the predicted path and the target path, thereby serving to maintain lane centering of the vehicle.
摘要翻译：公开了一种用于具有用户可操作的转向装置的车辆的车道对中控制系统。该系统包括用于感测车辆速度，横摆角速度和转向装置角度的一组传感器，被配置为跟踪车辆的目标路径的目标路径跟踪器，响应于该组传感器来预测车辆的路径的处理器响应于该组传感器，目标路径跟踪器和处理器以及生成车道对中控制信号的控制器以及响应于控制信号的有效前转向致动器和对转向装置的转向辅助的生产。控制器包括响应于可执行指令的处理电路，用于产生对转向装置的转向辅助以减少预测路径和目标路径之间的差异，由此用于维持车辆的车道对中。

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