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1. 发明授权

EP2883771B1 Vehicle tyre to road friction value estimation arrangement 有权
标题翻译：车辆轮胎对道路摩擦价值的估算安排
公开(公告)号：EP2883771B1
公开(公告)日：2018-04-11
申请号：EP13197415.6
申请日：2013-12-16
申请人： Volvo Car Corporation
发明人： Jonasson, Mats , Jacobson, Bengt , Yang, Derong , Gordon, Tim
IPC分类号： B60W40/068 , B60R21/013 , B60R21/0136 , B60T8/172
CPC分类号： B60T8/172 , B60R21/0132 , B60R2021/01304 , B60T2210/12 , B60W40/068
摘要： A vehicle tyre to road friction value estimation arrangement (1) is provided comprising a vehicle impact detecting unit (3), a vehicle wheel axle lateral acceleration estimation unit (5.1, 5.2, 5.3, 5.4), and a processing unit (7). The vehicle impact detecting unit (3) is arranged to detect occurrence of an impact. The vehicle wheel axle lateral acceleration estimation unit (5.1, 5.2, 5.3, 5.4) is arranged to, upon a detected occurrence of an impact, estimate or measure a lateral acceleration of at least one vehicle wheel axle (13.1, 13.2) of the host vehicle (9). The processing unit (7) is arranged to determine an occurrence of a shift in direction of the lateral acceleration, and obtain a subsequent peak lateral acceleration estimate and to calculate an estimate of a host vehicle tyre to road friction value based on the thus obtained peak lateral acceleration estimate. The present invention also relates to a post impact vehicle control system (2), a vehicle (9) comprising a post impact vehicle control system (2) and a method (100) of estimating a vehicle tyre to road friction value.

2. 发明公开

EP3309025A1 METHOD AND SYSTEM FOR COMPUTING A ROAD FRICTION ESTIMATE 有权
标题翻译：用于计算道路摩擦估计的方法和系统
公开(公告)号：EP3309025A1
公开(公告)日：2018-04-18
申请号：EP16193749.5
申请日：2016-10-13
申请人： Volvo Car Corporation
发明人： Sköld, Mats , Jonasson, Mats
IPC分类号： B60T8/176
CPC分类号： B60W40/101 , B60T8/17551 , B60T8/1764 , B60T2210/12 , B60T2210/124 , B60T2230/02 , B60T2270/213 , B60W40/068 , B60W2520/105 , B60W2520/125 , B60W2520/14 , B60W2520/28 , B60W2520/30 , B60W2540/18
摘要： The present invention relates to a method for computing a friction estimate (µ) between a road surface and a tire (101a-d) of a vehicle when said vehicle (100) is in motion along a course, said tire being arranged on a steerable wheel (1 02a-b) of the vehicle, and said vehicle comprising two front wheels (1 02a-b) and two rear wheels (1 02c-d) and an axle rack (104) pivotably attached to a linkage arm (106) connected to said steerable wheel such that a translational motion of said axle rack causes said linkage arm to rotate about a kingpin element (108) such that said linkage arm causes a turning motion of said steerable wheel. The present invention further relates to a corresponding system and vehicle.
摘要翻译：本发明涉及一种用于当所述车辆（100）沿着路线运动时计算车辆的路面和轮胎（101a-d）之间的摩擦估计值（μ）的方法，所述轮胎布置在可操纵的（102a-b），并且所述车辆包括两个前轮（102a-b）和两个后轮（102c-d）以及可枢转地连接到连杆臂（106）的轴架（104）连接到所述可转向轮，使得所述轴架的平移运动使得所述连杆臂围绕主销元件（108）旋转，使得所述连杆臂引起所述可转向轮的转动运动。本发明还涉及相应的系统和车辆。

3. 发明公开

EP3095659A1 METHOD AND SYSTEM FOR PROVIDING A DRIVER BEHAVIOUR ADAPTED EVASIVE MANOEUVRE 审中-公开
标题翻译：用于提供给驾驶员行为的方法和系统安装规避动作
公开(公告)号：EP3095659A1
公开(公告)日：2016-11-23
申请号：EP15168214.3
申请日：2015-05-19
申请人： Volvo Car Corporation
发明人： Jonasson, Mats , Silvlin, Jonatan , Yang, Derong
IPC分类号： B60W30/09 , B62D15/02 , G08G1/16 , B60W10/18 , B60W10/20 , G06K9/00 , B60W30/095 , B60W50/08
CPC分类号： B60W30/09 , B60W10/18 , B60W10/20 , B60W30/0953 , B60W50/087 , B60W50/10 , B60W2540/18 , B60W2550/10 , B62D15/0265 , G05D1/0061 , G06K9/00805 , G08G1/165 , G08G1/166
摘要： The present disclosure relates to a method performed by an evasive manoeuvre system (1) for providing a driver behaviour adapted evasive manoeuvre to a vehicle (2) at risk of an impending or probable collision. The evasive manoeuvre system detects (1001) a driving environment (3). Furthermore, the evasive manoeuvre system determines (1002) that the vehicle is at risk of colliding with an obstacle (5). The evasive manoeuvre system moreover determines (1003) a drivable zone (6) considered safe driving for the vehicle. Further, the evasive manoeuvre system detects (1004) a driver initiated collision avoidance manoeuvre. Moreover, the evasive manoeuvre system intervenes (1005) in control of the vehicle, such that the vehicle is maintained within the drivable zone.
The disclosure also relates to an evasive manoeuvre system in accordance with the foregoing, and a vehicle comprising at least a portion of the evasive manoeuvre system.
摘要翻译：本发明涉及执行者避让操作系统（1）在即将发生的或可能的碰撞的风险提供angepasst避让操作的驾驶员的行为，以在车辆（2）的方法。的避让操纵系统检测（1001）的驱动环境（3）。进一步，所述避让操作系统bestimmt（1002）所做的车辆是在含有障碍物（5）碰撞的危险。该避让操纵系统更超过确定性的地雷（1003）可行驶区域（6）被认为是安全驾驶车辆。此外，避让操纵系统检测（1004）驱动发起避免碰撞策略。更完了，避让操作系统进行干预（1005）在所述车辆的控制，检查并在车辆保持在所述可驱动的区域内。所以本发明涉及在与上述雅舞蹈避让操作系统，以及一种车辆，包括所述避让操作系统的至少一部分。

4. 发明公开

EP3536568A1 METHOD AND SYSTEM FOR ENHANCED YAW RESPONSE FOR A VEHICLE 有权
公开(公告)号：EP3536568A1
公开(公告)日：2019-09-11
申请号：EP18160236.8
申请日：2018-03-06
申请人： Volvo Car Corporation
发明人： Jonasson, Mats , Yang, M Derong
IPC分类号： B60T8/1755 , B60W30/045 , B60W30/18
摘要： The present invention relates to a method and a system for controlling wheel torques of a vehicle (201) to provide a desired vehicle yaw torque during a cornering event. A set of indirect yaw torque parameters (a,k) indicative of the indirect vehicle yaw torque contribution from lateral wheel forces are determined based on the present wheel torque data ( PtTq ) and the lateral acceleration data ( LatAcc ) and a model. A required torque for the front axis wheels (202, 204) and a required torque for the rear axis wheels (206, 208) are calculated such that the desired longitudinal wheel torque and the target vehicle yaw ( M zReq ) is provided, taking into account the set of indirect yaw torque parameters. The calculated torques are applied to the respective individual wheels.

5. 发明授权

EP2923924B1 Driver assist arrangement 有权
标题翻译：驾驶员协助安排
公开(公告)号：EP2923924B1
公开(公告)日：2017-08-16
申请号：EP14161254.9
申请日：2014-03-24
申请人： Volvo Car Corporation
发明人： Gustafsson, Tony , Jonasson, Mats
IPC分类号： B62D15/02 , B60T7/04 , B60W30/09 , B60T7/22 , B60T8/1755 , B60W10/18 , B60W10/20
CPC分类号： B60W30/09 , B60T7/042 , B60T7/22 , B60T8/17558 , B60T2201/022 , B60T2260/02 , B60W10/18 , B60W10/20 , B60W2510/18 , B60W2510/20 , B60W2520/14 , B60W2710/18 , B60W2710/20 , B60W2720/14 , B62D15/0265
摘要： A driver assist arrangement (1) is provided comprising a first yaw rate controller (7), a hazard evaluation unit (9) and a driver intention evaluation unit (13). The first yaw rate controller (7) is configured to control a yaw rate of the hosting vehicle (5), by comparing an expected yaw rate with an actual yaw rate and in response thereto selectively apply brakes of respective wheels of the host vehicle (5). The arrangement (1) further comprises a second yaw rate controller (15), configured to intervene in the control of the first yaw rate controller (7), in case the evaluated risk of an accident is above a threshold value and occurrence of an avoidance manoeuvre initiated by the driver (3) is detected. The present invention also relates to a vehicle (5) comprising a driver assist arrangement (1) and a method of assisting a driver (3) of a vehicle (5).
摘要翻译：提供驾驶员辅助装置（1），其包括第一偏航率控制器（7），危险评估单元（9）和驾驶员意图评估单元（13）。第一偏航角速度控制器（7）被配置为通过比较预期偏航角速度与实际偏航角速度并且响应于此而选择性地施加主车辆（5）的各个车轮的制动器来控制主导车辆（5）的偏航角速度）。装置（1）还包括第二偏航角速度控制器（15），该第二偏航角速度控制器被配置为在所评估的事故风险高于阈值并且避免发生的情况下干预第一偏航角速度控制器（7）的控制检测到由驾驶员（3）启动的操纵。本发明还涉及包括驾驶员辅助装置（1）和辅助车辆（5）的驾驶员（3）的方法的车辆（5）。

6. 发明公开

EP3106360A1 METHOD AND ARRANGEMENT FOR TIRE TO ROAD FRICTION ESTIMATION 有权
标题翻译： VERFAHREN UND ANORDNUNG ZURREIBWERTSCHÄTZUNGZWISCHEN REIFEN UND FAHRBAHN
公开(公告)号：EP3106360A1
公开(公告)日：2016-12-21
申请号：EP15172369.9
申请日：2015-06-16
申请人： Volvo Car Corporation
发明人： Jonasson, Mats , Gustafsson, Tony , Albinsson, Anton , Bruzelius, Fredrik
IPC分类号： B60T8/172 , B60W40/068
CPC分类号： B60W40/068 , B60R16/023 , B60T8/172 , B60T2210/12 , B60W2520/28
摘要： The present disclosure relates to a method and arrangement for estimating a friction coefficient (µ i ) between tires of a wheeled two-axis two-track road vehicle (1) and the ground. If the longitudinal velocity v x of the vehicle (1) is above a first threshold v xthres and the wheel angle δ f and/or the yaw rate Ω z is below a second threshold δ thres /Ω zthres , a positive torque is applied to both wheels on a first axle and an and opposite, negative torque, to both wheels on a second axle while following driver requested longitudinal vehicle (1) acceleration ( a x ). Wheel speeds ω i are measured and tire forces ( f i ) estimated. The friction coefficient (µ i ) between the tires and the ground are estimated from the measured wheel speeds ω i and the estimated tire forces ( f i ). The estimated friction coefficient (µ i ) is made available to other vehicle (1) systems.
摘要翻译：本公开涉及一种用于估计轮式双轴双轨道路车辆（1）的轮胎与地面之间的摩擦系数（μi）的方法和装置。如果车辆（1）的纵向速度vx高于第一阈值v xthres，并且车轮角度f和/或横摆角速度z z低于第二阈值thres / zthres，则将正转矩施加到两者在第一轴上的轮子和相反的负转矩到第二轴上的两个车轮，而跟随驾驶员要求纵向车辆（1）加速度（ax）。估计车轮速度和我的轮胎力（f i）。轮胎和地面之间的摩擦系数（μi）根据测量的车轮速度Éi和估计的轮胎力（f i）估算。估计摩擦系数（μi）可用于其他车辆（1）系统。

7. 发明授权

EP3398825B1 METHOD AND SYSTEM FOR COMPUTING A ROAD FRICTION ESTIMATE 有权
公开(公告)号：EP3398825B1
公开(公告)日：2020-03-11
申请号：EP17169229.6
申请日：2017-05-03
申请人： Volvo Car Corporation
发明人： Jonasson, Mats , Albinsson, Anton , Bruzelius, Fredrik
IPC分类号： B60T8/172

8. 发明公开

EP3309024A1 METHOD AND SYSTEM FOR DETERMINING FRICTION BETWEEN THE GROUND AND A TIRE OF A VEHICLE 有权
标题翻译：用于确定车辆的地面和轮胎之间摩擦的方法和系统
公开(公告)号：EP3309024A1
公开(公告)日：2018-04-18
申请号：EP16193753.7
申请日：2016-10-13
申请人： Volvo Car Corporation
发明人： Gustafsson, Tony , Jonasson, Mats
IPC分类号： B60T8/172 , B60W40/068
CPC分类号： B60T8/172 , B60T8/175 , B60T2210/12 , B60T2240/00 , B60T2250/00 , B60T2250/042 , B60W40/068
摘要： There is provided a method for estimating friction between a tire of a vehicle and a road surface, the method comprising acquiring, a front wheel axle torque, a rear wheel axle torque, a vehicle longitudinal acceleration, a vehicle pitch rate and wheel rotational velocities. The method further comprises determining a front wheel normal force and a rear wheel normal force, based on a center of gravity of the vehicle and the longitudinal acceleration; determining a longitudinal tire stiffness, jointly determining a vehicle longitudinal velocity, based on the wheel rotational velocities and vehicle longitudinal acceleration, and a vehicle pitch angle relative to the horizontal plane based on the vehicle pitch rate; and determining a friction coefficient between tires and ground based on the front and rear wheel axle torque, the front wheel normal force and the joint estimation of pitch angle and vehicle longitudinal velocity. There is also provided a system for performing the described method.
摘要翻译：提供了一种用于估计车辆的轮胎和路面之间的摩擦的方法，所述方法包括获取前轮轴扭矩，后轮轴扭矩，车辆纵向加速度，车辆俯仰速率和车轮旋转速度。该方法还包括基于车辆的重心和纵向加速度确定前轮法向力和后轮法向力; 确定纵向轮胎刚度，基于车轮旋转速度和车辆纵向加速度，以及基于车辆俯仰率相对于水平面的车辆俯仰角共同确定车辆纵向速度; 以及基于前后轮轴扭矩，前轮法向力以及俯仰角和车辆纵向速度的联合估计来确定轮胎与地面之间的摩擦系数。还提供了用于执行所述方法的系统。

9. 发明授权

EP3106360B1 METHOD AND ARRANGEMENT FOR TIRE TO ROAD FRICTION ESTIMATION 有权
标题翻译：轮胎摩擦估算的方法和安排
公开(公告)号：EP3106360B1
公开(公告)日：2018-04-11
申请号：EP15172369.9
申请日：2015-06-16
申请人： Volvo Car Corporation
发明人： Jonasson, Mats , Gustafsson, Tony , Albinsson, Anton , Bruzelius, Fredrik
IPC分类号： B60T8/172 , B60W40/068
CPC分类号： B60W40/068 , B60R16/023 , B60T8/172 , B60T2210/12 , B60W2520/28
摘要： The present disclosure relates to a method and arrangement for estimating a friction coefficient (µ i ) between tires of a wheeled two-axis two-track road vehicle (1) and the ground. If the longitudinal velocity v x of the vehicle (1) is above a first threshold v xthres and the wheel angle ´ f and/or the yaw rate © z is below a second threshold ´ thres /© zthres , a positive torque is applied to both wheels on a first axle and an and opposite, negative torque, to both wheels on a second axle while following driver requested longitudinal vehicle (1) acceleration ( a x ). Wheel speeds É i are measured and tire forces ( f i ) estimated. The friction coefficient (µ i ) between the tires and the ground are estimated from the measured wheel speeds É i and the estimated tire forces ( f i ). The estimated friction coefficient (µ i ) is made available to other vehicle (1) systems.

10. 发明公开

EP3090907A1 SECONDARY STEERING SYSTEM UNIT, SECONDARY STEERING SYSTEM, VEHICLE AND A METHOD FOR SECONDARY STEERING 有权转让
标题翻译：二级转向装置辅助转向系统，二次转向车辆和方法
公开(公告)号：EP3090907A1
公开(公告)日：2016-11-09
申请号：EP15166329.1
申请日：2015-05-05
申请人： Volvo Car Corporation
发明人： Jonasson, Mats , Thor, Mikael
IPC分类号： B60T8/1755 , B62D11/08
摘要： A vehicle (50), a method (100), a secondary steering system unit (40) and a secondary steering system (36) are provided. The secondary steering system unit (40) comprises: a fault determination arrangement (41), arranged to determine the presence of a fault in the main steering system and a path controller (42), arranged to generate an upcoming path (P) for the host vehicle (50). The secondary steering system unit (40) is arranged to steer the host vehicle (50) along the path (P) by differential braking upon determination that a fault is present in the main steering system and is arranged to steer the differential braking in dependence of both a yaw torque (T) acting on the host vehicle (50) as a result of the differential braking and a steering angle resulting from a generated alignment torque on a braked steerable wheel (10) caused by the associated wheel suspension scrub radius (27).
摘要翻译：本发明提供一种车辆（50），一种方法（100），辅转向系统单元（40）和次级转向系统（36）。二次转向系统单元（40）包括：布置成确定的矿井中的故障确定装置（41）中的故障的主转向系统的存在和设置在为即将到来的路径（P），以产生路径控制器（42）主车辆（50）。二次转向系统单元（40）被布置成通过在确定差动制动操纵沿路径（P）的主车辆（50）没有故障存在于主转向系统和被布置为操纵所述差动制动中的依赖二者的横摆力矩（T）作用于主车辆（50），作为差动制动的结果和转向角从由所述相关联的车轮悬架擦洗半径引起一个制动转向轮（10）所产生的校准扭矩所得的（27 ）。

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