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61. 发明申请

US20040186647A1 Vehicle control method and vehicle control apparatus 失效
标题翻译：车辆控制方法和车辆控制装置
公开(公告)号：US20040186647A1
公开(公告)日：2004-09-23
申请号：US10767283
申请日：2004-01-30
申请人： KABUSHIKI KAISHA TOYOTA CHUO KENKYUSHO
发明人： Eiichi Ono
IPC分类号： G06G007/76 , G06F007/70
CPC分类号： B60W10/04 , B60T8/1755 , B60T2260/02 , B60T2260/022 , B60W10/18 , B60W10/20 , B60W30/02 , B60W40/064 , B60W40/068 , B62D6/002 , B62D6/006
摘要： A target resultant force to be applied to a vehicle body is calculated, the magnitude of a critical friction circle of each wheel is estimated, and a critical resultant force is estimated from the estimated magnitude of the critical friction circle. Subsequently, a ratio of the target resultant force to a critical resultant force is set as an effective road friction, and the magnitude of a tire force is set by using the magnitude of the critical friction circle and the effective road friction. The direction of the tire force of each wheel to be controlled is set based on the sum of products, which are calculated for all other wheels, of a distance from the position of the wheel to be controlled to the position of the other wheel in a direction of the resultant force, and the magnitude of the tire force of the other wheel. Cooperative control of steering and braking or steering and driving of each wheel to be controlled is performed based on the magnitude and direction of the tire force which have been set.
摘要翻译：计算要施加到车身的目标合力，估计每个车轮的临界摩擦圈的大小，并根据估计的关键摩擦圈的大小来估计临界合力。随后，将目标合力与临界合力的比率设定为有效道路摩擦，并且通过使用临界摩擦圈的大小和有效道路摩擦来设定轮胎力的大小。要控制的每个车轮的轮胎力的方向是基于对于所有其他车轮计算的乘积之和与从被控制车轮的位置到另一车轮的位置的距离的总和来设定的合力的方向和另一个车轮的轮胎力的大小。基于所设定的轮胎力的大小和方向，进行对要控制的各车轮的转向和制动或转向和驾驶的协同控制。

62. 发明授权

US06591937B2 Adaptive variable effort power steering system 失效
标题翻译：自适应变量动力转向系统
公开(公告)号：US06591937B2
公开(公告)日：2003-07-15
申请号：US10007647
申请日：2001-12-05
申请人： Scott Wilson Badenoch , Raymond Kurt Schubert , Todd A. Belvo
发明人： Scott Wilson Badenoch , Raymond Kurt Schubert , Todd A. Belvo
IPC分类号： B62D504
CPC分类号： B62D6/006 , B60G2400/104 , B60G2400/822 , B60G2800/212 , B60G2800/24 , B60G2800/702 , B60G2800/95 , B60G2800/96 , B60W30/18172 , B60W40/064 , B60W2510/105 , B60W2510/20 , B60W2510/202 , B60W2520/125 , B60W2710/20 , B60W2720/125
摘要： A variable power steering system for a motor vehicle is responsive to an activity signal from a vehicle stability enhancement (VSE) system and a lateral surface coefficient of friction estimator to modify steering assist in an amount dependent on the estimated surface coefficient when the vehicle stability enhancement system is active. The modification is phased in and out with slew limiting in steps also determined by the estimated lateral surface coefficient, with both the maximum modification and the step size varying inversely with lateral surface coefficient. The system preferably determines offset current values for the VSE system and estimated lateral acceleration, as well as for any other vehicle traction limit handling systems such as anti-lock braking (ABS) or traction control (TCS) and chooses the greatest in magnitude as a road surface adaptation offset current for addition to a vehicle speed offset current to provide a total current signal for the modification.
摘要翻译：用于机动车辆的可变动力转向系统响应来自车辆稳定性增强（VSE）系统的活动信号和侧表面摩擦估计器系数，以在车辆稳定性增强时根据估计的表面系数修改一定量的转向辅助系统处于活动状态。该修改由步进的压摆限制进入和退出，也由估计的侧面系数确定，最大修改和步长与侧面系数成反比变化。系统优选地确定VSE系统的偏移电流值和估计的横向加速度，以及用于任何其它车辆牵引极限处理系统，例如防抱死制动（ABS）或牵引力控制（TCS），并选择最大幅度为道路表面自适应偏移电流，用于添加车辆速度偏移电流，以提供用于修改的总电流信号。

63. 发明授权

US06480102B1 Method and apparatus for activating a crash countermeasure in response to the road condition 失效
标题翻译：响应道路状况激活碰撞对策的方法和装置
公开(公告)号：US06480102B1
公开(公告)日：2002-11-12
申请号：US09683588
申请日：2002-01-23
申请人： Ronald Hugh Miller , Irving Toivo Salmeen , David Michael DiMeo , Anya Lynn Tascillo
发明人： Ronald Hugh Miller , Irving Toivo Salmeen , David Michael DiMeo , Anya Lynn Tascillo
IPC分类号： G01S1393
CPC分类号： G01S5/0072 , B60W30/09 , B60W40/064 , B60W2510/20 , B60W2520/125 , B60W2520/14 , B60W2520/26 , B60W2550/147 , B60W2550/20 , B60W2550/402 , G01S2013/9357 , G08G1/161 , H01Q1/3233
摘要： A system for sensing a potential collision of a first vehicle (11) with a second vehicle (72) that transmits a second position signal. The first vehicle has a pre-crash sensing system (10) includes a memory (14) that stores vehicle data and generates a vehicle data signal. A first global positioning system (18) generates a first position signal corresponding to a position of the first vehicle. A first sensor (20) generating sensor data signals from the first vehicle. A receiver (22) receives a second position signal and a road condition signal from the second vehicle. A countermeasure system (40) is also coupled within the first vehicle. A controller (12) is coupled to the memory (14), the global positioning receiver (18) the first sensor (20) and the counter measure system (40). The controller (12) determines a distance to the second vehicle in as a function of the second position signal. The controller determines a first vehicle trajectory from the sensor data signals and the position signal. The controller (12) determines a threat level as a function of the distance, the first vehicle trajectory and the road condition signal and activates the counter-measure system in response to the threat level.
摘要翻译：一种用于感测第一车辆（11）与发射第二位置信号的第二车辆（72）的潜在碰撞的系统。第一车辆具有预碰撞感测系统（10），其包括存储车辆数据并产生车辆数据信号的存储器（14）。第一全球定位系统（18）产生对应于第一车辆的位置的第一位置信号。产生来自第一车辆的传感器数据信号的第一传感器（20）。接收器（22）从第二车辆接收第二位置信号和道路状况信号。对策系统（40）也耦合在第一车辆内。控制器（12）耦合到存储器（14），全球定位接收器（18），第一传感器（20）和对抗测量系统（40）。控制器（12）根据第二位置信号确定到第二车辆的距离。控制器根据传感器数据信号和位置信号确定第一车辆轨迹。控制器（12）根据距离，第一车辆轨迹和道路状况信号确定威胁级别，并且响应于威胁级别来激活对抗系统。

64. 发明申请

US20020156581A1 Vehicle controlling apparatus and method 有权
标题翻译：车辆控制装置及方法
公开(公告)号：US20020156581A1
公开(公告)日：2002-10-24
申请号：US10126651
申请日：2002-04-22
发明人： Munenori Matsuura
IPC分类号： G06F017/00
CPC分类号： B60W40/064 , B60G2400/0523 , B60G2400/104 , B60G2400/106 , B60G2400/41 , B60G2400/822 , B60G2400/823 , B60G2400/824 , B60G2401/142 , B60G2600/044 , B60G2800/019 , B60G2800/242 , B60G2800/702 , B60G2800/704 , B60G2800/922 , B60G2800/952 , B60G2800/96 , B60T7/22 , B60T2201/02 , B60T2260/022 , B60W10/184 , B60W30/09 , B60W2050/143 , B60W2420/42 , B60W2510/20 , B60W2520/105 , B60W2520/125 , B60W2520/14 , B60W2550/00 , B60W2550/142 , B60W2550/20 , B60W2710/105 , B60W2710/207 , B60W2720/30 , B60W2720/403 , B62D1/28 , B62D6/00 , B62D7/159
摘要： An obstacle existing ahead of a vehicle is recognized to detect information on the obstacle. Information on travelling conditions of the vehicle is detected. The steering performance of the vehicle is changed for controlling behaviors of the vehicle. It is determined whether the vehicle can avoid collision with the obstacle only by a driver's braking operation based on at least the information on the obstacle and the vehicle. The vehicle enters into an evasive driving mode in accordance with a driver's steering operation when it is determined that the vehicle cannot avoid collision with the obstacle only by the driver's braking operation. The steering performance of the vehicle is changed for controlling behaviors of the vehicle. It is determined whether the vehicle has been maneuvered for avoiding collision with the obstacle. The vehicle is released from the evasive driving mode when it is determined that the vehicle has not been maneuvered for avoiding collision with the obstacle even though the vehicle has reached the obstacle in the evasive driving mode.
摘要翻译：识别出存在于车辆前方的障碍物以检测障碍物的信息。检测到关于车辆行驶状况的信息。改变车辆的转向性能以控制车辆的行为。至少基于障碍物和车辆上的信息确定车辆是否可以仅通过驾驶员的制动操作来避免与障碍物的碰撞。当确定车辆不能仅通过驾驶员的制动操作而避免与障碍物的碰撞时，车辆根据驾驶员的转向操作进入回避驾驶模式。改变车辆的转向性能以控制车辆的行为。确定车辆是否被操纵以避免与障碍物的碰撞。当确定车辆没有被操纵以避免与障碍物的碰撞时，车辆从回避驾驶模式中被释放，即使车辆已经以回避驾驶模式到达障碍物。

65. 发明申请

US20020153770A1 Vehicle behavior control apparatus 有权
标题翻译：车辆行为控制装置
公开(公告)号：US20020153770A1
公开(公告)日：2002-10-24
申请号：US10132017
申请日：2002-04-22
申请人： Fuji Jukogyo Kabushiki Kaisha
发明人： Koji Matsuno , Katsufumi Ichikawa , Masaru Kogure , Yutaka Hiwatashi , Takayuki Ushijima
IPC分类号： B60T008/60
CPC分类号： B60W10/16 , B60G2400/0523 , B60G2400/104 , B60G2400/106 , B60G2400/208 , B60G2400/30 , B60G2400/39 , B60G2400/412 , B60G2400/61 , B60G2400/63 , B60G2400/822 , B60G2600/044 , B60G2800/016 , B60G2800/702 , B60G2800/704 , B60G2800/952 , B60G2800/954 , B60K23/04 , B60T8/172 , B60T8/1755 , B60T2201/14 , B60T2250/02 , B60W10/14 , B60W30/02 , B60W40/064 , B60W40/068 , B60W40/11 , B60W40/112 , B60W40/114 , B60W40/12 , B60W2510/20 , B60W2520/105 , B60W2520/125 , B60W2530/10 , B60W2550/148 , B60W2710/12 , B60W2720/14
摘要： A vehicle behavior control apparatus is divided into three major parts, sensors for detecting engine and vehicle operating conditions, a target yaw rate establishing section for establishing the rate and differential limiting apparatuses for selectively varying distribution ratios of driving force between front and rear wheels and/or between left and right wheels. The target yaw rate establishing section calculates a target yaw rate based on a vehicle mass, a mass distribution ratio between front and rear axles, front and rear axle mass, distances between front and rear axles and a center of gravity, a steering angle of a front wheel, and front and rearwheels equivalent cornering powers. A steady state yaw rate gain is separately calculated for left and right steering, respectively. A reference yaw rate is calculated by correcting a time constant of lag of yaw rate with respect to steering based on estimated road friction coefficient.
摘要翻译：车辆行为控制装置被分为三个主要部分，用于检测发动机和车辆操作条件的传感器，用于建立速率和差速限制装置的目标横摆速度建立部分，用于选择性地改变前后轮之间的驱动力的分配比和/ 或左右轮之间。目标横摆率建立部基于车辆质量，前后轴的质量分配比，前后轴质量，前后轴的距离和重心来计算目标横摆角速度，转向角前轮，前轮和后轮相当转弯力。分别计算左右转向的稳态偏航率增益。通过基于估计的道路摩擦系数校正横摆率相对于转向的滞后时间常数来计算参考偏航率。

66. 发明授权

US5774821A System for driving stability control 失效
标题翻译：驾驶稳定控制系统
公开(公告)号：US5774821A
公开(公告)日：1998-06-30
申请号：US475389
申请日：1995-06-07
申请人： Alfred Eckert
发明人： Alfred Eckert
IPC分类号： B60T8/1755 , B60T8/00 , G01P3/44 , B06K28/16
CPC分类号： B60W10/184 , B60T8/1755 , B60W30/02 , B60W40/064 , B60G2400/1042 , B60T2210/12 , B60T2230/02 , B60T2270/313 , B60W2422/95 , B60W2520/125 , B60W2520/14 , B60W2520/20 , B60W2720/14 , B60W2720/30
摘要： Apparatus for improving the driving behavior of a vehicle is provided. The vehicle has front and rear axles, each having a plurality of wheels. Each wheel has a brake. Sensor are provided for measuring the rotational speed of each wheel, the vehicle yaw rate and the vehicle lateral acceleration. An anti-lock braking system provides first preset pressure values for controlling each brake, to prevent the wheels from locking during braking. A traction slip control system provides second preset pressure values for controlling each brake, to prevent the wheels from slipping during acceleration. A brake effort proportioning system provides third preset pressure values for distributing braking pressure between the wheels of the front axle and the wheels of the rear axle. A yawing moment controller provides fourth preset pressure values used to control each brake during cornering, to avoid application to the vehicle of an unbalanced moment which would cause the vehicle to understeer or oversteer. The antilock braking system, traction slip control system, brake effort proportioning means and yawing moment control system all operate independently of one another. A prioritizing mechanism applies criteria to determine a desired brake pressure that is applied to each wheel, based on the outputs of the antilock braking, traction slip control, brake effort proportioning, and yawing moment control systems.
摘要翻译：提供了用于改善车辆的驾驶行为的装置。车辆具有前轮和后轴，每个轴具有多个车轮。每个车轮都有制动器。传感器用于测量每个车轮的转速，车辆横摆角速度和车辆横向加速度。防抱死制动系统提供用于控制每个制动器的第一预设压力值，以防止在制动期间车轮被锁定。牵引滑动控制系统提供用于控制每个制动器的第二预设压力值，以防止车轮在加速期间滑倒。制动力配比系统提供第三预设压力值，用于在前轴的车轮和后桥的车轮之间分配制动压力。偏转力矩控制器提供用于在转弯过程中控制每个制动器的第四预设压力值，以避免车辆向车辆施加不平衡力矩，这将导致车辆转向不足或过度转向。防抱死制动系统，牵引滑动控制系统，制动力比例装置和偏航力矩控制系统都彼此独立运行。基于防抱死制动，牵引滑动控制，制动力配比和偏航力矩控制系统的输出，优先机构根据标准来确定施加到每个车轮的期望的制动压力。

67. 发明授权

US5735584A Process for driving stability control with control via pressure gradients 失效
标题翻译：通过压力梯度控制驱动稳定性控制的过程
公开(公告)号：US5735584A
公开(公告)日：1998-04-07
申请号：US473708
申请日：1995-06-07
申请人： Alfred Eckert
发明人： Alfred Eckert
IPC分类号： B60T8/1755 , B60T8/58
CPC分类号： B60W10/184 , B60T8/1755 , B60W30/02 , B60W40/064 , B60G2400/1042 , B60T2210/12 , B60T2230/02 , B60T2270/313 , B60W2422/95 , B60W2520/125 , B60W2520/14 , B60W2520/20 , B60W2720/14 , B60W2720/30
摘要： A control process for the driving stability control of a motor vehicle is provided. The signal sent out by a control law unit to generate the necessary additional torque is sent to a distribution logic unit, which subsequently sends the pressure signals used to actuate the individual wheel brakes. The superimposition of these pressure signals and the pressure signal characterizing the driver's desire to brake (as well as the subsequent superimposition of these adjusting signals to adjusting signals arriving from other brake pressure controllers, such as ABS, TSC, EBV) leads to interfaces in which differing physical variables must be compared or superimposed. The necessary conversion of these variables is expensive and increases the inaccuracy of the control system. Simplified interfaces are provided, to achieve improved processing of the brake pressure desired by the driver, and possibly to avoid the conversion of the individual signal variables. Pressure gradient signals are sent, to the output of the distribution logic unit, and are superimposed with corresponding gradient signals from other brake pressure control circuits. A priority circuit processes the pressure signals of the individual wheels such that commands to reduce the pressure are processed first, after which the commands to hold pressure, and finally the commands to build up pressure are processed.
摘要翻译：提供了一种用于机动车辆的驾驶稳定性控制的控制过程。由控制规则单元发出的用于产生必要的附加扭矩的信号被发送到分配逻辑单元，分配逻辑单元随后发送用于致动各个车轮制动器的压力信号。这些压力信号的叠加和表征驾驶员制动欲望的压力信号（以及随后将这些调节信号叠加到从其它制动压力控制器（例如ABS，TSC，EBV）到达的调节信号的后续叠加）导致其中必须比较或叠加不同的物理变量。这些变量的必要转换是昂贵的并且增加了控制系统的不准确性。提供简化的接口，以实现驾驶员期望的制动压力的改进处理，并且可能避免各个信号变量的转换。压力梯度信号被发送到分配逻辑单元的输出，并且与来自其它制动压力控制电路的相应梯度信号叠加。优先电路处理各个车轮的压力信号，使得首先处理降低压力的命令，之后处理保持压力的命令，最后处理建立压力的命令。

68. 发明授权

US5711024A System for controlling yaw moment based on an estimated coefficient of friction 失效
标题翻译：基于估计的摩擦系数来控制横摆力矩的系统
公开(公告)号：US5711024A
公开(公告)日：1998-01-20
申请号：US473120
申请日：1995-06-07
申请人： Peter Wanke
发明人： Peter Wanke
IPC分类号： B60T8/1755 , G01P3/44 , B60T8/00
CPC分类号： B60W10/184 , B60T8/1755 , B60W30/02 , B60W40/064 , B60G2400/1042 , B60T2210/12 , B60T2230/02 , B60T2270/313 , B60W2422/95 , B60W2520/125 , B60W2520/14 , B60W2520/20 , B60W2720/14 , B60W2720/30
摘要： Yaw moment control apparatus is provided for improving the driving behavior of an automotive vehicle tending to oversteering or understeering. The vehicle's velocity, steering angle, measured yaw rate, and lateral acceleration are determined. A yaw controller generates a value representing a desired yaw rate adjustment based on the steering angle, the velocity and the measured yaw rate. An estimated coefficient of friction is calculated based on the vehicle velocity, the lateral acceleration, the measured yaw rate and the steering angle. The estimated coefficent of friction is used by the yaw controller to determined the desired yaw rate adjustment. The mechanism for calculating the estimated coefficient of friction is only enabled while the vehicle is traveling through a curve.
摘要翻译：提供了用于改善倾向于过度转向或转向不足的机动车辆的驾驶行为的偏转力矩控制装置。确定车辆的速度，转向角，测量的横摆角速度和横向加速度。偏航控制器基于转向角，速度和所测量的横摆角速度产生表示期望的横摆角速度调整的值。基于车速，横向加速度，所测量的横摆角速度和转向角度来计算摩擦系数。偏航控制器使用估计的摩擦系数来确定所需的横摆角速度调节。用于计算估计摩擦系数的机构仅在车辆行驶通过曲线时才起作用。

69. 发明授权

US5701248A Process for controlling the driving stability with the king pin inclination difference as the controlled variable 失效
标题翻译：用作为控制变量的主销倾斜差控制行驶稳定性的过程
公开(公告)号：US5701248A
公开(公告)日：1997-12-23
申请号：US475677
申请日：1995-06-07
申请人： Peter Wanke
发明人： Peter Wanke
IPC分类号： B60T8/1755 , B60T8/32 , G01P3/44
CPC分类号： B60W10/184 , B60T8/1755 , B60W30/02 , B60W40/064 , B60G2400/1042 , B60T2210/12 , B60T2230/02 , B60T2270/313 , B60W2422/95 , B60W2520/125 , B60W2520/14 , B60W2520/20 , B60W2720/14 , B60W2720/30
摘要： A process for controlling the driving stability of a vehicle is provided. To avoid complicated models for determining the desired value of a variable characteristic of the travel behavior, which variable usually must be calculated by an expensive calculation circuit, a controlled variable is selected, which directly describes the driving stability and is compared with an actual value, which can be calculated in a relatively simple manner. An advantageous embodiment describes comparing an actual value of the variable, which can be determined in a simple manner, with a desired value. The range of tolerance of the variable is set directly by the driving stability limits. Advantageous variants pertain to the suitable scheme of calculation and the selection of a suitable range of tolerance.
摘要翻译：提供了一种用于控制车辆的驾驶稳定性的过程。为了避免用于确定旅行行为的可变特性的期望值的复杂模型，哪个变量通常必须由昂贵的计算电路计算，选择直接描述驾驶稳定性并与实际值进行比较的受控变量，这可以以相对简单的方式计算。有利的实施例描述了将可以以简单方式确定的变量的实际值与期望值进行比较。变量的公差范围由驱动稳定限制直接设定。有利的变体属于合适的计算方案和选择合适的公差范围。

70. 发明授权

US4882693A Automotive system for dynamically determining road adhesion 失效
标题翻译：用于动态确定道路附着力的汽车系统
公开(公告)号：US4882693A
公开(公告)日：1989-11-21
申请号：US137908
申请日：1987-12-28
申请人： W. Trent Yopp
发明人： W. Trent Yopp
IPC分类号： B62D6/00 , B60K31/00 , B60R16/02 , B60T8/00 , B60T8/171 , B60T8/172 , B60T8/1763 , B62D5/00
CPC分类号： B60W40/101 , B60K31/0075 , B60T8/00 , B60T8/171 , B60T8/172 , B60T8/17636 , B60W40/064 , B62D5/00 , B60T2210/12 , B60W2050/0032 , B60W2550/148
摘要： A system for determinng the road adhesion of a tire installed on a road wheel of an automotive vehicle operating on a roadway includes a road wheel turn angle measuring device, a vehicle speed measuring mechanism and a steering force measuring mechanism. Information regarding turn angle, vehicle speed and steering force are fed into a processor which determines the road adhesion of the tire.
摘要翻译：用于确定安装在巷道上行驶的机动车辆的车轮上的轮胎的道路附着力的系统包括车轮转向角测量装置，车速测量机构和转向力测量机构。关于转角，车速和转向力的信息被馈送到确定轮胎的道路附着力的处理器中。

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