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1. 发明授权

US06580988B2 Rear wheel steering control 有权
标题翻译：后轮转向控制
公开(公告)号：US06580988B2
公开(公告)日：2003-06-17
申请号：US09992505
申请日：2001-11-06
申请人： William Chin-Woei Lin , Yuen-Kwok Chin , Weiwen Deng , Scott P. Sherman , Paul A. Grougan , Eugene A. Rodden
发明人： William Chin-Woei Lin , Yuen-Kwok Chin , Weiwen Deng , Scott P. Sherman , Paul A. Grougan , Eugene A. Rodden
IPC分类号： B62D504
CPC分类号： B62D7/159
摘要： A method is disclosed for controlling the rear wheel angle in a four-wheel steering vehicle such as a pickup truck. The front wheels are steered using the conventional operator handwheel linked to the front wheels. The rear wheels are actuated with a reversible electric motor and the rear wheel angle controlled using a computer with inputs of vehicle velocity, operator handwheel position and correlated front wheel angle, and handwheel turning rate. Control of rear wheel angle starts with a correlation of ratios of rear wheel angle to front wheel angle, R/F, vs. vehicle velocity suitable, determined under steady state front steering angle and velocity conditions, to maximize the contribution of the rear wheels while avoiding side-slip of the vehicle. It is found that driver steering feel and vehicle maneuverability is improved by imposing a minimum front wheel angle requirement before rear wheel steering is permitted and by modifying the current value of R/F with gain factors base d on the hand wheel angle and rate of motion.
摘要翻译：公开了一种用于控制诸如皮卡车之类的四轮转向车辆中的后轮角度的方法。使用与前轮连接的常规操作手轮来转向前轮。后轮由可逆电动机驱动，后轮角度使用具有车速，操作手轮位置和相关前轮角度以及手轮转速的输入的计算机进行控制。后轮角度的控制开始于在稳态前转向角和速度条件下确定的后轮角度与前轮角度R / F与适合的车速之比的相关性，以最大化后轮的贡献，避免车辆侧滑。发现驾驶员转向感和车辆机动性通过在允许后轮转向之前施加最小前轮角度要求而得到改善，并且通过以手轮角度和运动速度为基础的增益因子d修改R / F的当前值。

2. 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。

3. 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。

4. 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。

5. 发明授权

US6079800A Active brake control with front-to-rear proportioning 失效
标题翻译：主动制动控制，前后配比
公开(公告)号：US6079800A
公开(公告)日：2000-06-27
申请号：US136947
申请日：1998-08-20
申请人： William Chin-Woei Lin , Youssef Ahmed Ghoneim , David Michael Sidlosky , Yuen-Kwok Chin
发明人： William Chin-Woei Lin , Youssef Ahmed Ghoneim , David Michael Sidlosky , Yuen-Kwok Chin
IPC分类号： B60T8/1764 , B60T8/32
CPC分类号： B60T8/1764
摘要： An improved active brake control for carrying out a desired wheel speed differential for enhanced vehicle lateral stability while maintaining suitable front-to-rear brake pressure proportioning. During driver braking, the target speeds for the wheels of the driven axle during active brake control are determined as a combined function of the wheel speeds of the un-driven axle and the desired wheel speed differential. Specifically, the target speeds for the driven wheels are determined according to the measured speeds of the corresponding un-driven wheels, and one of the target speeds is reduced to reflect the desired wheel speed differential. If the desired wheel speed differential is designed to produce a clockwise yaw moment, the target speed for the driven wheel on the right-hand side of the vehicle is reduced; if the differential is designed to produce a counter-clockwise yaw moment, the target speed for the driven wheel on the left-hand side of the vehicle is reduced. As a result of the control, the stability enhancing effect of the ABC is achieved without disturbing the ideal front-to-rear brake effort proportioning.
摘要翻译：改进的主动制动控制，用于执行期望的车轮速度差速器，以增强车辆横向稳定性，同时保持适当的前后制动压力比例。在驾驶员制动期间，主动制动控制期间从动轴的车轮的目标速度被确定为未驱动车轮的车轮速度和期望车轮速度差的组合函数。具体地，根据相应的未驱动轮的测量速度来确定从动轮的目标速度，并且减小目标速度之一以反映期望的车轮速度差。如果期望的车轮速度差被设计成产生顺时针的横摆力矩，则车辆右侧的从动轮的目标速度减小; 如果差速器设计成产生逆时针横摆力矩，则车辆左侧的从动轮的目标速度减小。作为控制的结果，实现了ABC的稳定性增强效果，而不会干扰理想的前后制动力比例。

6. 发明授权

US6062336A Adaptive variable effort power steering system 有权
标题翻译：自适应变量动力转向系统
公开(公告)号：US6062336A
公开(公告)日：2000-05-16
申请号：US191600
申请日：1998-11-13
申请人： Sanket Suresh Amberkar , Yuen-Kwok Chin , William Chin-Woei Lin , Jeffery Alan Zuraski
发明人： Sanket Suresh Amberkar , Yuen-Kwok Chin , William Chin-Woei Lin , Jeffery Alan Zuraski
IPC分类号： B62D6/00 , B62D5/04
CPC分类号： B62D6/00
摘要： An adaptive, variable effort power steering system is responsive signals from one or more low friction road surface vehicle handling controls which indicate when the system has become active in modifying handling, and thus indicates the existence of a near limit or at limit vehicle handling situation. Such controls include anti-lock braking systems (ABS), traction control systems (TCS) and integrated chassis control systems (ICCS). When such a handling limit signal is received, the power steering system responds by decreasing steering assist to provide a more "manual" steering feel as long as the handling limit situation is indicated. The handling limit signal may be a binary signal, indicating activity or no activity of an anti-lock brake system, traction control system or a chassis control system such a yaw rate control. Alternatively, or in addition, the handling limit signal may be a magnitude signal indicating the degree or amount of yaw rate error, lateral acceleration error, wheel slip or vehicle side-slip and thus potentially anticipating the vehicle handling limit as indicated by a binary signal. If binary and magnitude signals are used together, the magnitude signal is preferably used as an anticipatory signal with a partial and growing correction to smooth the application of the full correction signaled by the binary signal.
摘要翻译：一种自适应的可变力量动力转向系统是来自一个或多个低摩擦路面车辆处理控制器的响应信号，其指示系统何时变更处理，并且因此指示存在接近极限或极限车辆处理情况。这种控制包括防抱死制动系统（ABS），牵引力控制系统（TCS）和集成底盘控制系统（ICCS）。当接收到这样的处理限制信号时，只要指示处理极限情况，动力转向系统就会通过减少转向辅助来响应，从而提供更“手动”的转向感觉。处理限制信号可以是二进制信号，指示防抱死制动系统，牵引力控制系统或诸如横摆率控制的底盘控制系统的活动或无活动。或者或另外，处理限制信号可以是指示横摆率误差，横向加速度误差，车轮滑移或车辆侧滑的程度或量的幅度信号，并且因此潜在地预期由二进制信号指示的车辆处理极限。如果二进制和幅度信号一起使用，则幅度信号优选地用作具有部分和不断增长的校正的预测信号，以平滑由二进制信号发送的全校正的应用。

7. 发明授权

US5720533A Brake control system 失效
标题翻译：制动控制系统
公开(公告)号：US5720533A
公开(公告)日：1998-02-24
申请号：US732582
申请日：1996-10-15
申请人： Stephen Robert Pastor , William Chin-Woei Lin , Michael Douglas Rizzo , Duane Edward Bassett , Edward John Bedner , Edmund Stanley Browalski , Douglass L. Carson , Hsien Heng Chen , Yuen-Kwok Chin , Youssef Ahmed Ghoneim , Hong Xing Hu , Vivek Jaikamal , Ronald Paul , Steven Lee Tracht , Michael Paul Turski
发明人： Stephen Robert Pastor , William Chin-Woei Lin , Michael Douglas Rizzo , Duane Edward Bassett , Edward John Bedner , Edmund Stanley Browalski , Douglass L. Carson , Hsien Heng Chen , Yuen-Kwok Chin , Youssef Ahmed Ghoneim , Hong Xing Hu , Vivek Jaikamal , Ronald Paul , Steven Lee Tracht , Michael Paul Turski
IPC分类号： B60T8/175 , B60T8/1755 , B60T8/176 , B60T8/58
CPC分类号： B60T8/175 , B60T8/1755 , B60T8/176
摘要： In a vehicle with first and second front vehicle wheels and third and fourth rear vehicle wheels and at least one member of a first group comprising anti-lock brake control and positive acceleration traction control, a brake control method comprising the steps of: determining a desired vehicle yaw rate; determining an actual vehicle yaw rate; responsive to the desired and actual vehicle yaw rates, determining an axle command; responsive to the desired and actual vehicle yaw rates, determining a torque command; applying the axle command during activation of one of the anti-lock brake control and the positive acceleration traction control to one member of a second group comprising (i) the two front wheels and (ii) the two rear wheels, wherein wheel-to-road traction is increased and a difference between desired vehicle yaw rate and actual vehicle yaw rate is minimized; and applying the torque command to at least one of the vehicle wheels independently of the axle command to create a yaw torque moment on the vehicle body, wherein the difference between the desired vehicle yaw rate and the actual vehicle yaw rate is minimized.
摘要翻译：在具有第一和第二前部车轮和第三和第四后部车轮以及包括防抱死制动控制和正加速牵引力控制的第一组的至少一个构件的车辆中，制动控制方法包括以下步骤：确定期望的车辆偏航率; 确定实际车辆横摆率; 响应于期望的和实际的车辆横摆角速度，确定轴指令; 响应于期望的和实际的车辆横摆角速度，确定扭矩指令; 在将所述防抱死制动控制和所述正加速牵引控制中的一个启动期间施加所述轴指令到包括（i）所述两个前轮和（ii）所述两个后轮的第二组的一个构件，道路牵引力增加，期望车辆横摆角速度与实际车辆横摆角速度之间的差异最小化; 以及独立于所述车轴命令将所述转矩命令施加到所述车轮中的至少一个，以在所述车体上产生偏航扭矩矩，其中期望车辆横摆角速度与实际车辆横摆角速度之间的差被最小化。

8. 发明授权

US06175790B1 Vehicle yaw rate control with yaw rate command limiting 失效
标题翻译：车辆横摆率控制与偏航率指令限制
公开(公告)号：US06175790B1
公开(公告)日：2001-01-16
申请号：US09138737
申请日：1998-08-24
申请人： William Chin-Woei Lin , Youssef Ahmed Ghoneim , David Michael Sidlosky , Hsien Heng Chen , Yuen-Kwok Chin
发明人： William Chin-Woei Lin , Youssef Ahmed Ghoneim , David Michael Sidlosky , Hsien Heng Chen , Yuen-Kwok Chin
IPC分类号： B60T832
CPC分类号： B60T8/17555
摘要： An improved closed-loop vehicle yaw control in which a yaw rate limit based on measured lateral acceleration is used during transient steering maneuvers to dynamically limit a desired yaw rate derived from driver steering input. A preliminary yaw rate limit is computed based on the measured lateral acceleration, and a dynamic yaw rate limit having a proper phase relationship with the desired yaw rate is developed based on the relative magnitudes of the desired yaw rate and the preliminary yaw rate limit. A two-stage process is used to develop the dynamic yaw rate limit. A first stage yaw rate limit is determined according the lower in magnitude of the desired yaw rate and the preliminary yaw rate limit, and a second stage yaw rate limit (i.e., the dynamic yaw rate limit) is determined according to the relative magnitudes of (1) the desired yaw rate and the second stage yaw rate limit, and (2) the first stage yaw rate limit and the second stage yaw rate limit. The desired yaw rate, as limited by the dynamic yaw rate limit, is then combined with the actual or estimated yaw rate to form a yaw rate error, which in turn, is used to develop a yaw rate control command for the vehicle.
摘要翻译：一种改进的闭环车辆偏航控制，其中在瞬态转向操纵期间使用基于测量的横向加速度的横摆率极限来动态地限制从驾驶员转向输入导出的期望横摆角速度。基于所测量的横向加速度来计算初步横摆角速度限制，并且基于期望横摆率和初步横摆角速度极限的相对大小来开发具有与期望横摆角速度的适当相位关系的动态偏航速度极限。使用两阶段过程来开发动态偏航速度限制。根据期望的横摆率和初步横摆速度限制的较低的幅度确定第一级横摆率极限，并且根据（a）的相对大小确定第二级横摆角速度极限（即，动态横摆角速度极限） 1）期望的横摆率和第二级横摆率极限，以及（2）第一级横摆率极限和第二级横摆率极限。然后，由动态偏航速度极限限制的所需横摆角速度与实际或估计的横摆角速度相结合，以形成横摆率误差，该偏航率误差又被用于制定车辆的偏航率控制命令。

9. 发明授权

US6122584A Brake system control 失效
标题翻译：制动系统控制
公开(公告)号：US6122584A
公开(公告)日：2000-09-19
申请号：US253369
申请日：1999-02-22
申请人： William Chin-Woei Lin , Youssef Ahmed Ghoneim , Hsien Heng Chen , Yuen-Kwok Chin , David Michael Sidlosky
发明人： William Chin-Woei Lin , Youssef Ahmed Ghoneim , Hsien Heng Chen , Yuen-Kwok Chin , David Michael Sidlosky
IPC分类号： B60T8/1755 , G06F7/70 , G06F19/00
CPC分类号： B60T8/1755 , B60T2230/02
摘要： A brake system control method, comprising the steps of: measuring a longitudinal speed and steering angle of the vehicle; specifying an un-damped natural frequency and a damping ratio for a linear reference model of said vehicle; determining a first gain parameter relating a desired value of steady state lateral velocity to the vehicle steering angle; computing a desired lateral velocity as a function of said first gain parameter, the measured longitudinal speed, the measured steering angle, and the specified un-damped natural frequency and damping ratio; determining a second gain parameter relating a desired value of steady state yaw rate to the vehicle steering angle; computing a desired yaw rate as a function of said second gain parameter, the measured longitudinal speed and steering angle, and the specified un-damped natural frequency and damping ratio; measuring a lateral acceleration and yaw rate of said vehicle, and forming a yaw rate command for said vehicle based at least part in a first deviation between said desired and measured yaw rates, and a second deviation between said measured lateral acceleration and a desired lateral acceleration based on said desired lateral velocity; and differentially braking wheels of said vehicle to impart a yaw moment corresponding to said yaw rate command.
摘要翻译：一种制动系统控制方法，包括以下步骤：测量车辆的纵向速度和转向角; 指定所述车辆的线性参考模型的非阻尼固有频率和阻尼比; 确定将所述稳态横向速度的期望值与所述车辆转向角相关联的第一增益参数; 计算作为所述第一增益参数，所测量的纵向速度，所测量的转向角以及所规定的非阻尼固有频率和阻尼比的函数的期望横向速度; 确定将所述稳态偏航率的期望值与所述车辆转向角相关联的第二增益参数; 计算作为所述第二增益参数，所测量的纵向速度和转向角以及规定的非阻尼固有频率和阻尼比的函数的期望的偏航速率; 测量所述车辆的横向加速度和偏航率，并且至少部分地基于所述所需和所测量的横摆率之间的第一偏差以及所述测量的横向加速度与期望的横向加速度之间的第二偏差来形成所述车辆的横摆率指令基于所述期望的横向速度; 以及差速地制动所述车辆的车轮以赋予与所述横摆速度命令相对应的横摆力矩。

10. 发明授权

US6056371A Feed-forward active brake control 失效
标题翻译：前馈主动制动控制
公开(公告)号：US6056371A
公开(公告)日：2000-05-02
申请号：US138685
申请日：1998-08-24
申请人： William Chin-Woei Lin , Youssef Ahmed Ghoneim , David Michael Sidlosky , Yuen-Kwok Chin , Cheng-Foo Chen
发明人： William Chin-Woei Lin , Youssef Ahmed Ghoneim , David Michael Sidlosky , Yuen-Kwok Chin , Cheng-Foo Chen
IPC分类号： B60T8/1755 , B60K28/10
CPC分类号： B60T8/17555
摘要： An improved active brake control in which differential braking is used in a feed-forward control to develop vehicle yaw in response to a desired yaw value determined as a function of steering wheel position and vehicle speed. The desired yaw rate value is used to develop a derivative yaw component and a proportional yaw component, which are summed to form a feed-forward yaw command for differential braking. Both proportional and derivative components have limited control authority determined by dead-band and saturation thresholds, and the proportional term is subjected to a diminishing integrator which reduces the yaw command as the desired yaw rate value approaches steady-state.
摘要翻译：改进的主动制动控制，其中在前馈控制中使用差速制动以响应于作为方向盘位置和车辆速度的函数确定的期望的偏航角度来开发车辆偏航。所需的偏航角速度值用于形成导数偏航分量和比例偏航分量，它们相加以形成用于差速制动的前馈偏航指令。比例和微分分量均具有由死区和饱和阈值确定的有限的控制权限，并且比例项受到减小的积分器，当希望的偏航速率值接近稳态时减小偏航指令。

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