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41. 发明授权

US09376095B2 Methods and apparatus for determining tire/road coefficient of friction 有权
标题翻译：确定轮胎/路面摩擦系数的方法和装置
公开(公告)号：US09376095B2
公开(公告)日：2016-06-28
申请号：US12841769
申请日：2010-07-22
申请人： Chad T. Zagorski , Aamrapali Chatterjee , Nikolai K. Moshchuk , Shih-Ken Chen
发明人： Chad T. Zagorski , Aamrapali Chatterjee , Nikolai K. Moshchuk , Shih-Ken Chen
IPC分类号： B60R22/00 , E05F15/00 , B60T7/12 , G05D1/00 , G06F7/00 , G06F17/00 , B60T8/172
CPC分类号： B60T8/172 , B60T2210/12
摘要： A vehicle control method includes iteratively modifying a level of braking of the vehicle until it is determined that the vehicle has substantially lost traction with respect to the road surface, then determining the coefficient of friction between the road surface and the tire based on the level of braking at the time the vehicle substantially lost fraction. In one embodiment, previous ABS or other vehicle control events are used as a basis for estimating an initial level of braking to be applied during the friction measurement procedure. Such a deterministic maneuver can also function as a collision warning to the driver of the vehicle.
摘要翻译：车辆控制方法包括迭代地修改车辆的制动水平，直到确定车辆相对于路面基本上失去牵引力，然后基于路面的水平来确定路面和轮胎之间的摩擦系数在车辆大大损失分数时制动。在一个实施例中，先前的ABS或其他车辆控制事件用作估计在摩擦测量过程期间施加的制动初始水平的基础。这种确定性机动也可以作为对车辆驾驶员的碰撞警告。

42. 发明授权

US08998353B2 Hybrid brake control 有权
标题翻译：混合制动控制
公开(公告)号：US08998353B2
公开(公告)日：2015-04-07
申请号：US12876422
申请日：2010-09-07
申请人： Shih-Ken Chen , Valery Pylypchuk , Youssef A. Ghoneim , Weiwen Deng , Nikolai K. Moshchuk , Bakhtiar Brian Litkouhi
发明人： Shih-Ken Chen , Valery Pylypchuk , Youssef A. Ghoneim , Weiwen Deng , Nikolai K. Moshchuk , Bakhtiar Brian Litkouhi
IPC分类号： B60T8/64 , B60T8/26 , B60W10/08 , B60W10/184 , B60W30/02 , B60W30/18 , B60T13/74 , B60W10/188 , B60W10/192
CPC分类号： B60T8/267 , B60T2201/16 , B60T2270/60 , B60T2270/604 , B60W10/08 , B60W10/184 , B60W10/188 , B60W10/192 , B60W30/02 , B60W30/18127 , B60W30/18145 , B60W2510/244 , B60W2540/18 , B60W2710/182 , B60W2720/28 , B60W2720/30 , B60Y2300/89
摘要： A method to control a vehicle including control of regenerative brakes and friction brakes includes monitoring a desired corner force and moment distribution, monitoring real-time actuator constraints including a braking torque limit of each of the regenerative brake, determining a regenerative braking torque for each of the regenerative brakes based upon the desired corner force and moment distribution and the real-time actuator constraints, determining a friction braking torque for each of the friction brakes based upon the desired corner force and moment distribution and the determined regenerative braking torque for each of the regenerative brakes, and controlling the vehicle based upon the determined regenerative braking torques and the determined friction braking torques.
摘要翻译：一种控制车辆的方法，包括再生制动器和摩擦制动器的控制，包括监测所需的角力和力矩分布，监测包括每个再生制动器的制动转矩极限的实时致动器约束，确定每个的再生制动转矩基于期望的角力和力矩分布的再生制动和实时致动器约束，基于期望的角力和力矩分布来确定每个摩擦制动器的摩擦制动转矩，并且确定每个再生制动器，并且基于所确定的再生制动转矩和确定的摩擦制动转矩来控制车辆。

43. 发明授权

US08849515B2 Steering assist in driver initiated collision avoidance maneuver 有权
标题翻译：驾驶员驾驶辅助引导碰撞避免机动
公开(公告)号：US08849515B2
公开(公告)日：2014-09-30
申请号：US13556471
申请日：2012-07-24
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： B62D6/00 , B62D5/00
CPC分类号： B62D15/0265 , G08G1/165 , G08G1/166 , G08G1/167
摘要： A collision avoidance system for assisting a driver in avoiding a collision between a host vehicle and obstacle. A processor recursively calculates a time-to-collision with the obstacle and an optimal collision avoidance path for avoiding the collision. The optimum collision avoidance path is recursively generated based on a position and speed of the host vehicle relative to the obstacle and an updated calculated time-to-collision. A sensing device determines whether the driver of the vehicle has initiated a steering maneuver to avoid the obstacle. A steering assist mechanism maintains the host vehicle along the optimum collision avoidance path. The steering assist mechanism applies a steering assist torque for producing steering adjustments to assist in guiding the host vehicle along the optimum collision avoidance path to the target lane. The steering assist torque generated by the steering assist mechanism is recursively adjusted based on a recent updated optimum collision avoidance path.
摘要翻译：一种用于辅助驾驶员避免主车和障碍物之间的碰撞的防撞系统。处理器递归地计算与障碍物的碰撞时间和避免碰撞的最佳碰撞避免路径。基于主车辆相对于障碍物的位置和速度以及更新的计算出的碰撞时间递归地产生最佳碰撞避免路径。感测装置确定车辆的驾驶员是否已经开始转向操纵以避免障碍物。转向辅助机构沿着最佳的避碰路径来维持主车辆。转向辅助机构施加用于产生转向调节的转向辅助转矩，以帮助沿着目标车道的最佳碰撞避免路径引导主车辆。基于最近更新的最佳碰撞避免路径递归地调整由转向辅助机构产生的转向辅助转矩。

44. 发明申请

US20130030651A1 COLLISION AVOIDANCE MANEUVER THROUGH DIFFERENTIAL BRAKING 审中-公开
标题翻译：碰撞避免通过差速制动
公开(公告)号：US20130030651A1
公开(公告)日：2013-01-31
申请号：US13190111
申请日：2011-07-25
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： G08G1/16 , B60T8/1763 , B62D6/00
CPC分类号： G08G1/166 , B60T7/22 , B60T8/17558 , B60T8/246 , B60T2260/02 , B60T2270/402 , B60W10/184 , B60W10/20 , B60W30/09 , B60W50/0205 , B60W50/029 , B60W2050/0295 , B60W2520/26 , B60W2530/10 , B60W2550/148
摘要： A collision avoidance system in a host vehicle that provides automatic steering control using differential braking in the event that the normal steering control fails. The system determines whether a collision with an object, such as a target vehicle, in front of the host vehicle is imminent, and if so, determines an optimal path for the host vehicle to travel along to avoid the object if the collision is imminent. The collision avoidance system may determine that automatic steering is necessary to cause the vehicle to travel along the optimal path to avoid the target. If the collision avoidance system does determine that automatic steering is necessary and detects that normal vehicle steering has failed, the system uses differential braking to steer the vehicle along the path.
摘要翻译：在主车辆中的碰撞避免系统，在正常转向控制失败的情况下，使用差速制动提供自动转向控制。系统确定与本车辆前方的目标车辆的碰撞是否即将到来，如果是，则如果碰撞即将发生，则确定主车辆行驶的最佳路径以避免物体。碰撞避免系统可以确定自动转向是必要的，以使车辆沿着最佳路径行进以避免目标。如果碰撞避免系统确实需要自动转向并检测到正常的车辆转向失败，则系统使用差速制动来沿车道转向车辆。

45. 发明申请

US20120152639A1 SYSTEM AND METHOD FOR ENHANCING VEHICLE HANDLING AND TRACTION 有权
标题翻译：用于增强车辆处理和跟踪的系统和方法
公开(公告)号：US20120152639A1
公开(公告)日：2012-06-21
申请号：US12968345
申请日：2010-12-15
申请人： Steven W. Holland , Nikolai K. Moshchuk
发明人： Steven W. Holland , Nikolai K. Moshchuk
IPC分类号： B62D57/00 , G06F19/00 , B60R16/08
CPC分类号： B60T1/14 , B60W10/18 , B60W10/20 , B60W10/22 , B60W10/30 , B60W30/02 , B60W2520/105 , B60W2520/125
摘要： A vehicle includes a suspension system operatively connecting a vehicle body to a plurality of wheels for maintaining contact between the wheels and a road surface, and for maintaining handling of the vehicle. A system for steering the vehicle and a braking system for decelerating the vehicle are also included. The vehicle additionally includes a plurality of thrusters, wherein at least one of the thrusters is arranged relative to each wheel and each of the plurality of thrusters is configured to generate a force. Furthermore, the vehicle additionally includes a controller configured for regulating the force generated by each of the thrusters to assist the suspension system with maintaining contact between the wheels and the road surface and maintaining handling, assist the steering system with steering, and assist the braking system with decelerating the vehicle. A method of assisting the vehicle suspension, steering, and braking systems is also disclosed.
摘要翻译：一种车辆包括将车体可操作地连接到多个车轮的悬架系统，用于保持车轮与路面之间的接触，并且用于维持车辆的处理。还包括用于转向车辆的系统和用于使车辆减速的制动系统。车辆还包括多个推进器，其中至少一个推进器相对于每个车轮布置，并且多个推进器中的每一个构造成产生力。此外，车辆还包括控制器，其构造成用于调节由每个推进器产生的力以辅助悬架系统保持车轮与路面之间的接触并维持操纵，辅助转向系统进行转向，并且辅助制动系统使车辆减速。还公开了一种辅助车辆悬架，转向和制动系统的方法。

46. 发明申请

US20120055744A1 HYBRID BRAKE CONTROL 有权
标题翻译：混合制动控制
公开(公告)号：US20120055744A1
公开(公告)日：2012-03-08
申请号：US12876422
申请日：2010-09-07
申请人： Shih-Ken Chen , Valery Pylypchuk , Youssef A. Ghoneim , Weiwen Deng , Nikolai K. Moshchuk , Bakhtiar Brian Litkouhi
发明人： Shih-Ken Chen , Valery Pylypchuk , Youssef A. Ghoneim , Weiwen Deng , Nikolai K. Moshchuk , Bakhtiar Brian Litkouhi
IPC分类号： B60T13/74 , B60T1/00 , G06F19/00
CPC分类号： B60T8/267 , B60T2201/16 , B60T2270/60 , B60T2270/604 , B60W10/08 , B60W10/184 , B60W10/188 , B60W10/192 , B60W30/02 , B60W30/18127 , B60W30/18145 , B60W2510/244 , B60W2540/18 , B60W2710/182 , B60W2720/28 , B60W2720/30 , B60Y2300/89
摘要： A method to control a vehicle including control of regenerative brakes and friction brakes includes monitoring a desired corner force and moment distribution, monitoring real-time actuator constraints including a braking torque limit of each of the regenerative brake, determining a regenerative braking torque for each of the regenerative brakes based upon the desired corner force and moment distribution and the real-time actuator constraints, determining a friction braking torque for each of the friction brakes based upon the desired corner force and moment distribution and the determined regenerative braking torque for each of the regenerative brakes, and controlling the vehicle based upon the determined regenerative braking torques and the determined friction braking torques.
摘要翻译：一种控制车辆的方法，包括再生制动器和摩擦制动器的控制，包括监测所需的角力和力矩分布，监测包括每个再生制动器的制动转矩极限的实时致动器约束，确定每个的再生制动转矩基于期望的角力和力矩分布的再生制动和实时致动器约束，基于期望的角力和力矩分布来确定每个摩擦制动器的摩擦制动转矩，并且确定每个再生制动器，并且基于所确定的再生制动转矩和确定的摩擦制动转矩来控制车辆。

47. 发明授权

US09139203B2 Lane tracking system 有权
标题翻译：车道跟踪系统
公开(公告)号：US09139203B2
公开(公告)日：2015-09-22
申请号：US13289517
申请日：2011-11-04
申请人： Nikolai K. Moshchuk , Shuqing Zeng , Xingping Chen , Bakhtiar Brian Litkouhi
发明人： Nikolai K. Moshchuk , Shuqing Zeng , Xingping Chen , Bakhtiar Brian Litkouhi
IPC分类号： G06F19/00 , B60W30/12
CPC分类号： B60W30/12 , B60W2420/42
摘要： A lane tracking system for tracking the position of a vehicle within a lane includes a camera configured to provide a video feed representative of a field of view and a video processor configured to receive the video feed from the camera and to generate latent video-based position data indicative of the position of the vehicle within the lane. The system further includes a vehicle motion sensor configured to generate vehicle motion data indicative of the motion of the vehicle, and a lane tracking processor. The lane tracking processor is configured to receive the video-based position data, updated at a first frequency; receive the sensed vehicle motion data, updated at a second frequency; estimate the position of the vehicle within the lane from the sensed vehicle motion data; and fuse the video-based position data with the estimate of the vehicle position within the lane using a Kalman filter.
摘要翻译：用于跟踪车道在车道内的位置的车道跟踪系统包括被配置为提供表示视野的视频馈送的照相机和被配置为从照相机接收视频馈送并且产生潜在视频的位置的视频处理器指示车辆在车道内的位置的数据。该系统还包括被配置为产生指示车辆的运动的车辆运动数据的车辆运动传感器和车道跟踪处理器。车道跟踪处理器被配置为接收以第一频率更新的基于视频的位置数据; 接收以第二频率更新的感测车辆运动数据; 从感测的车辆运动数据估计车道在车道内的位置; 并使用卡尔曼滤波器将基于视频的位置数据与车道内的车辆位置的估计融合。

48. 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。

49. 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。

50. 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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