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81. 发明授权

US06631317B2 Attitude sensing system for an automotive vehicle 有权
公开(公告)号：US06631317B2
公开(公告)日：2003-10-07
申请号：US09967038
申请日：2001-10-01
申请人： Jianbo Lu , Todd Allen Brown
发明人： Jianbo Lu , Todd Allen Brown
IPC分类号： G06F700
CPC分类号： B60R21/01336 , B60G17/016 , B60G17/01908 , B60G2400/0511 , B60G2400/0512 , B60G2400/0513 , B60G2400/0521 , B60G2400/0522 , B60G2400/0523 , B60G2400/104 , B60G2400/106 , B60G2400/204 , B60G2600/02 , B60G2600/082 , B60G2600/14 , B60G2600/16 , B60G2600/1877 , B60G2600/1885 , B60G2600/60 , B60G2800/012 , B60G2800/014 , B60G2800/016 , B60G2800/702 , B60G2800/912 , B60G2800/9124 , B60R16/0233 , B60R21/0132 , B60R2021/0018 , B60R2021/01327 , B60T8/172 , B60T2230/03 , B60W2050/0052 , B60W2510/20 , B60W2520/105 , B60W2520/14 , B60W2520/16 , B60W2520/18 , B62D6/00 , B62D7/159
摘要： A stability control system (18) for an automotive vehicle includes a plurality of sensors (28-39) sensing the dynamic conditions of the vehicle. The sensors may include a speed sensor (20), a lateral acceleration sensor (32), a roll rate sensor (34), a yaw rate sensor (20) and a longitudinal acceleration sensor (36). The controller (26) is coupled to the speed sensor (20), the lateral acceleration sensor (32), the roll rate sensor (34), the yaw rate sensor (28) and a longitudinal acceleration sensor (36). The controller (26) has an anti-integration drift filter and a steady state recovery filter. The controller determines a roll attitude angle, a pitch attitude angle and a yaw attitude angle in response to the roll angular rate signal, the yaw angular rate signal, the lateral acceleration signal, the longitudinal acceleration signal, the wheel speed signal, the anti-integration drift filter and the steady state recovery filter.

82. 发明授权

US5864768A Vehicle suspension control system 失效
标题翻译：车辆悬架控制系统
公开(公告)号：US5864768A
公开(公告)日：1999-01-26
申请号：US709704
申请日：1996-09-09
申请人： Martin Bieber , Sam Mike Mackool , Douglas Scott Rhode
发明人： Martin Bieber , Sam Mike Mackool , Douglas Scott Rhode
IPC分类号： B60G17/018 , B60G17/015
CPC分类号： B60G17/0182 , B60G2600/02 , B60G2600/122 , B60G2600/16 , B60G2600/17 , B60G2600/184 , B60G2600/1874 , B60G2600/60 , B60G2600/70
摘要： A method and apparatus for controlling continuously variable dampers in a vehicle suspension system is provided. A microcontroller receives sensor signals from the vehicle and generates heave, pitch and roll acceleration signals, heave, pitch and roll actual velocity signals, and heave, pitch and roll velocity level signals based on the received sensor signals. Heave, pitch and roll control signals are then calculated based on the acceleration, actual velocity, and velocity level signals, and the continuously variable dampers are adjusted in accordance with the calculated heave, pitch and roll control signals. A deadband schedule function is provided for adjusting the control signals in accordance with the significance of the particular ride event.
摘要翻译：提供了一种用于控制车辆悬架系统中的连续可变阻尼器的方法和装置。微控制器从车辆接收传感器信号，并且基于接收到的传感器信号产生起伏，俯仰和侧倾加速度信号，起伏，俯仰和滚动实际速度信号以及起伏，俯仰和俯仰速度等级信号。然后，基于加速度，实际速度和速度水平信号计算出上下拖曳和俯仰控制信号，并根据计算出的上升，俯仰和摇摆控制信号调整连续可变阻尼器。提供死区时间表功能，用于根据特定乘坐事件的重要性来调节控制信号。

83. 发明授权

US5802478A Automotive vehicle suspension control system 失效
标题翻译：汽车悬架控制系统
公开(公告)号：US5802478A
公开(公告)日：1998-09-01
申请号：US598941
申请日：1996-02-09
申请人： Katsuya Iwasaki
发明人： Katsuya Iwasaki
IPC分类号： B60G17/018 , B60G17/08 , B60G17/015
CPC分类号： B60G17/08 , B60G17/018 , B60G2202/24 , B60G2400/102 , B60G2400/204 , B60G2400/206 , B60G2400/82 , B60G2400/91 , B60G2500/10 , B60G2500/11 , B60G2600/02 , B60G2600/60 , B60G2600/602 , B60G2600/604 , B60G2800/16 , B60G2800/916
摘要： A suspension control system for use with an automotive vehicle supported on front and rear road pairs of road wheels. Shock absorbers are provided between sprung and unsprung masses of the vehicle at the front and rear road wheel side tower positions for providing variable damping force characteristics. First behaviors of the vehicle at the front road wheel side tower positions are sensed. A predetermined transfer function is used to calculate second behaviors of the vehicle at the rear road wheel side tower positions based, on the sensed first vehicle behaviors. The damping force characteristics of the shock absorbers mounted at the front road wheel side tower positions are controlled based on the sensed first vehicle behaviors. The damping force characteristics of the shock absorbers mounted at the rear road wheel side tower positions are controlled based on the calculated second vehicle behaviors.
摘要翻译：一种悬挂控制系统，用于与前轮和后车道对的车轮相连的机动车辆。在前轮和后轮侧塔架位置处，在车辆的簧上和非悬挂质量之间提供减震器，以提供可变的阻尼力特性。检测前车轮侧塔位置的车辆的第一行为。根据感测到的第一车辆行为，使用预定的传递函数来计算在后轮侧塔位置处的车辆的第二行为。基于感测到的第一车辆行为来控制安装在前轮侧塔架位置处的减震器的阻尼力特性。基于计算出的第二车辆行为来控制安装在后轮侧塔架位置处的减震器的阻尼力特性。

84. 发明授权

US5684698A Vehicle attitude and average height control apparatus 失效
标题翻译：车辆姿态和平均高度控制装置
公开(公告)号：US5684698A
公开(公告)日：1997-11-04
申请号：US422328
申请日：1995-04-13
申请人： Kazushi Fujii , Hisashi Kuriya , Kazuo Ishikawa , Yoshitaka Kouketsu , Shunichi Shibasaki
发明人： Kazushi Fujii , Hisashi Kuriya , Kazuo Ishikawa , Yoshitaka Kouketsu , Shunichi Shibasaki
IPC分类号： B60G17/018 , F16F9/18 , B60G17/00
CPC分类号： B60G17/018 , F16F9/18 , B60G2400/10 , B60G2400/106 , B60G2400/204 , B60G2400/252 , B60G2400/41 , B60G2400/51 , B60G2500/30 , B60G2600/60 , B60G2800/012 , B60G2800/014
摘要： An attitude control apparatus, for a vehicle having a body and a plurality of wheels, has an actuator operated by a fluid for expanding each suspension of the vehicle to control the stroke of each wheel. A first detecting device detects a variation of incline of the body of the vehicle when the body inclines from a horizontal position. A second detecting device detects the vertical position of each wheel relative to the body. A third detecting device detects the load applied to each wheel. A first control device controls the volume and direction of the fluid to be supplied to the actuator. A calculating device calculates the vertical displacement of each wheel, the current average height of the body, and the variation of the load on the wheel based on the variation of the inclined angle of the body, the vertical position of each wheel, and the load on each wheel. A setting device sets a target value for the average height. A second control device controls the actuator via the first control device in response to results calculated by the calculating device to cause the current average height to approach the target value and to cause the variation of the load on each wheel to approach substantially zero.
摘要翻译：一种用于具有主体和多个车轮的车辆的姿态控制装置具有由用于扩展车辆的每个悬架的流体的致动器，以控制每个车轮的行程。当身体从水平位置倾斜时，第一检测装置检测车身的倾斜变化。第二检测装置检测每个车轮相对于车身的垂直位置。第三检测装置检测施加到每个车轮的负载。第一控制装置控制要供应到致动器的流体的体积和方向。计算装置基于身体的倾斜角度，每个车轮的垂直位置和负载的变化来计算每个车轮的垂直位移，车身的当前平均高度和车轮上的负载的变化在每个车轮上。设置设备设置平均高度的目标值。第二控制装置响应于由计算装置计算出的结果，经由第一控制装置控制致动器，以使当前平均高度接近目标值，并使每个车轮上的负载变化基本为零。

85. 发明授权

US5598337A Suspension apparatus with driving state feedback for vehicles 失效
标题翻译：具有车辆驾驶状态反馈的悬架装置
公开(公告)号：US5598337A
公开(公告)日：1997-01-28
申请号：US495872
申请日：1995-06-28
申请人： Tetsuro Butsuen , Yasunori Yamamoto , Tohru Yoshioka
发明人： Tetsuro Butsuen , Yasunori Yamamoto , Tohru Yoshioka
IPC分类号： B60G17/015 , B60G13/16 , B60G17/018 , B60G17/08 , G06F7/70
CPC分类号： B60G17/018 , B60G13/16 , B60G17/08 , B60G2400/204 , B60G2400/41 , B60G2400/5182 , B60G2400/82 , B60G2500/10 , B60G2600/60 , B60G2600/90 , B60G2800/916 , Y10S180/902
摘要： A suspension control system for feedback-controlling the sprung mass acceleration signal y.sub.m and a method for introducing the unsprung mass acceleration signal y.sub.L into a tuning circuit to tune gain of an FIR filter. In this system, tuning is performed so as to cancel the road surface input y.sub.m close to a reference frequency (around 10-12 Hz). As a result, the sprung mass acts as a dynamic damper upon the road surface input y.sub.m close to the reference frequency (around 10-12 Hz), however, frequency bands other than the reference frequency band do not receive the contribution of the second term in the equation (6). That is, output from the tuning circuit to an adder becomes almost zero, and normal sky-hook control is performed. Though the sprung mass system acts as a dynamic damper, the unsprung mass system exceeds the sprung mass system in mass, and excessive resonance does not occur.
摘要翻译：用于反馈控制簧上质量加速度信号ym的悬架控制系统以及非调频质量加速度信号yL引入调谐电路以调谐FIR滤波器的增益的方法。在该系统中，执行调谐以抵消接近参考频率（大约10-12Hz）的路面输入ym。结果，悬挂质量作为接近参考频率（大约10-12Hz）的路面输入ym上的动态阻尼器，然而，除了参考频带之外的频带不会接收第二项的贡献在式（6）中。也就是说，从调谐电路到加法器的输出变得几乎为零，并且执行正常的吊钩控制。虽然弹簧质量系统作为动力阻尼器，但簧下质量系统质量超过弹簧质量系统，并且不会发生过度共振。

86. 发明授权

US5559700A Continuously variable damping system 失效
标题翻译：连续变阻尼系统
公开(公告)号：US5559700A
公开(公告)日：1996-09-24
申请号：US409441
申请日：1995-03-27
申请人： Kamal N. Majeed , Scott A. Stacey
发明人： Kamal N. Majeed , Scott A. Stacey
IPC分类号： B60G17/018 , B60G17/00
CPC分类号： B60G17/018 , B60G2500/10 , B60G2600/60 , B60G2600/90
摘要： A method of controlling a vehicle suspension system including a real time continuously variable damper comprising the steps of: (a) determining a present actuator command for controlling damping force of the damper; (b) comparing the present actuator command to a previous actuator command to determine a difference value of the actuator commands; (c) if the difference value is positive, limiting the difference value to a positive threshold; (d) if the difference value is negative, limiting the difference value to a negative threshold, wherein the negative threshold has a magnitude greater than a magnitude of the positive threshold; (e) determining an output actuator command responsive to the difference value; and (f) outputting the output actuator command to the damper to control damper force, wherein the limiting of the difference value to the positive threshold reduces suspension harshness and audible noise and wherein the limiting of the difference value to the negative threshold reduces suspension audible noise.
摘要翻译：一种控制包括实时连续可变阻尼器的车辆悬架系统的方法，包括以下步骤：（a）确定用于控制阻尼器的阻尼力的当前致动器指令; （b）将所述致动器命令与先前的致动器命令进行比较，以确定致动器命令的差值; （c）如果差值为正，则将差值限制为正阈值; （d）如果所述差值为负，则将所述差值限制为负阈值，其中所述负阈值具有大于所述正阈值的幅度的幅度; （e）响应于所述差值确定输出致动器命令; 和（f）将输出致动器命令输出到阻尼器以控制阻尼器力，其中将差值与正阈值的限制减小悬架粗糙度和可听见噪声，并且其中将差值限制到负阈值减小悬架可听噪声。

87. 发明授权

US5483448A Adaptive vehicle suspension system with mechanism for varying controller gains in response to changing road roughness conditions 失效
标题翻译：自适应车辆悬架系统，具有响应于变化的道路粗糙度条件改变控制器增益的机构
公开(公告)号：US5483448A
公开(公告)日：1996-01-09
申请号：US26369
申请日：1993-03-04
申请人： Michael K. Liubakka , James R. Winkelman
发明人： Michael K. Liubakka , James R. Winkelman
IPC分类号： B60G17/015 , B60G17/0165 , B60G17/018 , G05B13/04 , B60G25/00 , G05B13/02
CPC分类号： B60G17/0165 , B60G17/0182 , B60K31/047 , G05B13/042 , B60G2400/102 , B60G2400/252 , B60G2400/82 , B60G2500/22 , B60G2600/60 , B60G2600/70 , B60G2600/76 , B60G2800/916 , B60W2510/0604
摘要： An active suspension system uses a closed-loop feedback controller with tunable feedback gains to produce a control signal which minimizes a cost function formed by the weighted sum of system outputs including body acceleration and wheel displacement error. The feedback gains are adaptively varied by incremental amounts which are calculated based on the "pseudo-sensitivities" of those gains to system outputs, the pseudo-sensitivities being generated by a fixed-gain model of the suspension system and being combined using weighting factors which insure convergence in accordance with the predetermined cost function. The weighting factors are combined with the pseudo-sensitivities in a manner in which the trade-off between body acceleration, wheel displacement error and the control signal is altered with varying magnitudes of road inputs to continually minimize the cost function for varying road inputs. The adaptive control provides long-term compensation for varying road conditions, variations from vehicle-to-vehicle, and changes in vehicle performance.
摘要翻译：主动悬架系统使用具有可调谐反馈增益的闭环反馈控制器来产生控制信号，该控制信号使由系统输出的加权和包括身体加速度和车轮位移误差所形成的成本函数最小化。反馈增益由基于系统输出的这些增益的“伪灵敏度”计算的增量量自适应地变化，伪灵敏度由悬挂系统的固定增益模型产生，并使用加权因子根据预定的成本函数确保收敛。加权因子与伪灵敏度结合，其中以车辆加速度，车轮位移误差和控制信号之间的权衡随着道路输入的不同大小而改变，以不断地最小化用于变化道路输入的成本函数的方式。自适应控制为不同的道路条件，车辆对车辆的变化以及车辆性能的变化提供长期的补偿。

88. 发明授权

US5467280A Vehicular suspension system utilizing variable damping force shock absorber 失效
标题翻译：使用可变阻尼力减震器的车辆悬架系统
公开(公告)号：US5467280A
公开(公告)日：1995-11-14
申请号：US99651
申请日：1993-07-30
申请人： Makoto Kimura
发明人： Makoto Kimura
IPC分类号： B60G17/015 , B60G17/016 , B60G17/019 , B60G17/08
CPC分类号： B60G17/019 , B60G17/016 , B60G17/08 , B60G2400/102 , B60G2400/51 , B60G2600/184 , B60G2600/60 , B60G2600/604
摘要： A vehicular suspension system comprises a variable damping force shock absorber utilizing a variable semiactive hydraulic damper having a plurality of different damping characteristics, a sensor for detecting an absolute vertical velocity of a sprung mass of the vehicle, and a control unit responsive to the vertical velocity for generating a control signal based on the vertical velocity to adjust the damping characteristic of the damper. The control unit includes a dead-band controlling circuit for adjusting the damping characteristic to a minimum damping characteristic only when the control signal value is maintained within a dead band for the vertical velocity. The dead-band controlling circuit varies upper and lower thresholds of the dead band depending on the magnitude of the vertical velocity.
摘要翻译：车辆悬挂系统包括利用具有多个不同阻尼特性的可变半主动液压阻尼器的可变阻尼力减震器，用于检测车辆悬挂质量的绝对垂直速度的传感器，以及响应垂直速度的控制单元用于基于垂直速度产生控制信号以调节阻尼器的阻尼特性。只有当控制信号值保持在垂直速度的死区内时，控制单元包括用于将阻尼特性调节到最小阻尼特性的死区控制电路。死区控制电路根据垂直速度的大小改变死区的上限和下限阈值。

89. 发明授权

US5444621A Suspension control system for controlling suspension of automotive vehicle based on wheel speed data 失效
标题翻译：基于车轮速度数据控制汽车悬架的悬架控制系统
公开(公告)号：US5444621A
公开(公告)日：1995-08-22
申请号：US896930
申请日：1992-06-10
申请人： Eiju Matsunaga , Akira Fukushima , Noriyuki Nakashima , Toshiyuki Murai , Shinya Takemoto , Mikio Tanabe , Hisashi Kinoshita
发明人： Eiju Matsunaga , Akira Fukushima , Noriyuki Nakashima , Toshiyuki Murai , Shinya Takemoto , Mikio Tanabe , Hisashi Kinoshita
IPC分类号： B60G17/015 , B60G17/0165 , F16F9/50 , B60G17/00
CPC分类号： B60G17/0165 , B60G2202/42 , B60G2204/80 , B60G2400/204 , B60G2401/10 , B60G2500/104 , B60G2600/60
摘要： A suspension control system capable of controlling a suspension of an automotive vehicle in such a manner as to improve the riding comfort and maneuverability of the vehicle without the need for many sensors is disclosed, in which a speed difference signal obtained by subtracting an estimated vehicle speed from a wheel speed is filtered with band-pass filters which pass sprung resonance frequency components and unsprung resonance frequency components, respectively. After amplification, the filtered speed difference are compared with a reference value so that a damping force of a shock absorber is set in accordance with a road surface condition. Since the damping force of the shock absorber is shifter by using only information based on the wheel speed detected by a wheel speed sensor, a total number of sensor to be mounted on the vehicle for controlling the suspension can be considerably reduced. The suspension control system is simple in construction and can be manufactured at a relatively low cost.
摘要翻译：公开了一种悬架控制系统，其能够以不需要许多传感器的方式控制机动车辆的悬架，从而提高车辆的乘坐舒适性和机动性，其中，通过将估计车速减去而获得的速度差信号通过带通滤波器对轮速进行滤波，滤波器分别通过簧上共振频率分量和非共振频率分量。放大后，将过滤的速度差与参考值进行比较，使得根据路面状况设定减震器的阻尼力。由于通过仅使用基于由车轮速度传感器检测的车轮速度的信息来移动减震器的阻尼力，因此可以显着地减少要安装在车辆上的用于控制悬架的传感器的总数。悬架控制系统结构简单，可以以较低的成本制造。

90. 发明授权

US5322320A Shock absorber damping force control system for vehicle 失效
标题翻译：车辆减震器阻尼力控制系统
公开(公告)号：US5322320A
公开(公告)日：1994-06-21
申请号：US2843
申请日：1993-01-14
申请人： Toshiyasu Sahashi , Hiroshi Ishikawa , Masayoshi Takeda , Takahiro Kiso , Takayuki Nagai , Tadaki Nakayama
发明人： Toshiyasu Sahashi , Hiroshi Ishikawa , Masayoshi Takeda , Takahiro Kiso , Takayuki Nagai , Tadaki Nakayama
IPC分类号： B60G17/018 , B60G17/08
CPC分类号： B60G17/018 , B60G2400/102 , B60G2400/208 , B60G2400/252 , B60G2500/104 , B60G2600/14 , B60G2600/16 , B60G2600/184 , B60G2600/60 , B60G2600/602 , B60G2600/76
摘要： A shock absorber damping force control system for a vehicle employs at least a high-frequency component included in sprung mass vibration as a factor to control a damping force of a shock absorber. The system provides a lower damping force of the shock absorber with a larger magnitude of the high-frequency component when signs of a sprung mass velocity and a relative velocity between a sprung mass and an unsprung mass coincide with each other. A low-frequency component may also be employed as a factor to control the damping force of the shock absorber. The system provides a lower damping force with a larger ratio of the high-frequency component relative to the low-frequency component when signs of the sprung mass velocity and the relative velocity coincide with each other.
摘要翻译：用于车辆的减震器阻尼力控制系统至少使用包括在弹簧振动中的高频分量作为控制减震器的阻尼力的因素。当弹簧质量速度和弹簧质量与非簧载质量之间的相对速度相互一致时，系统提供具有较大幅度的高频分量的减震器的较低的阻尼力。还可以使用低频分量作为控制减震器的阻尼力的因素。当弹簧质量速度和相对速度的符号彼此相符时，系统提供具有较高比例的高频分量相对于低频分量的较低阻尼力。

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