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1. 发明授权

US08862327B2 Process and device for stabilizing a vehicle 有权
标题翻译：用于稳定车辆的过程和装置
公开(公告)号：US08862327B2
公开(公告)日：2014-10-14
申请号：US11630735
申请日：2005-06-24
申请人： Dirk Waldbauer , Thomas Alban , Jürgen Kröber
发明人： Dirk Waldbauer , Thomas Alban , Jürgen Kröber
IPC分类号： A01B69/00 , B62D6/00 , B62D11/00 , B62D12/00 , B63H25/04 , B63G8/20 , G05D1/00 , G06F7/00 , G06F17/00 , G06F19/00 , B60T8/1755 , B60T8/17
CPC分类号： B60T8/1755 , B60T8/1708 , B60T2230/06
摘要： A method for stabilizing a vehicle including a trailer drawn by the vehicle including the steps of: determining the yaw rate of the vehicle; determining the reference yaw rate in a vehicle model; producing a difference value from the yaw rate and the reference yaw rate; weighting the difference value with a signal describing the steering dynamics; producing a signal to determine the side of intervention and/or the wheel of intervention and/or the steering angle direction of the vehicle from the tendency to change of the weighted difference value, and applying a counteracting moment depending on the amplitude and the tendency to change of the weighted difference value.
摘要翻译：一种用于稳定车辆的方法，包括由车辆牵引的拖车，包括以下步骤：确定车辆的横摆率; 确定车辆模型中的参考横摆角速度; 产生与偏航率和基准横摆率的差值; 用描述转向动力学的信号加权差值; 产生信号以根据加权差值的变化趋势确定干预侧和/或干涉车轮和/或车辆的转向角方向，并根据振幅和倾向施加反作用力矩改变加权差值。

2. 发明申请

US20090210112A1 PROCESS AND DEVICE FOR STABILISING A VEHICLE 有权
标题翻译：用于稳定车辆的过程和装置
公开(公告)号：US20090210112A1
公开(公告)日：2009-08-20
申请号：US11630735
申请日：2005-06-24
申请人： Dirk Waldbauer , Thomas Alban , Jürgen Kröber
发明人： Dirk Waldbauer , Thomas Alban , Jürgen Kröber
IPC分类号： B62D37/00
CPC分类号： B60T8/1755 , B60T8/1708 , B60T2230/06
摘要： A method for stabilizing a vehicle including a trailer drawn by the vehicle including the steps of: determining the yaw rate of the vehicle; determining the reference yaw rate in a vehicle model; producing a difference value from the yaw rate and the reference yaw rate; weighting the difference value with a signal describing the steering dynamics; producing a signal to determine the side of intervention and/or the wheel of intervention and/or the steering angle direction of the vehicle from the tendency to change of the weighted difference value, and applying a counteracting moment depending on the amplitude and the tendency to change of the weighted difference value.
摘要翻译：一种用于稳定车辆的方法，包括由车辆牵引的拖车，包括以下步骤：确定车辆的横摆率; 确定车辆模型中的参考横摆角速度; 产生与偏航率和基准横摆率的差值; 用描述转向动力学的信号加权差值; 产生信号以根据加权差值的变化趋势确定干预侧和/或干涉车轮和/或车辆的转向角方向，并根据振幅和倾向施加反作用力矩改变加权差值。

3. 发明申请

US20060204347A1 Method and device for stabilizing a vehicle combination 审中-公开
标题翻译：用于稳定车辆组合的方法和装置
公开(公告)号：US20060204347A1
公开(公告)日：2006-09-14
申请号：US10534096
申请日：2003-11-07
申请人： Dirk Waldbauer , Jurgen Krober
发明人： Dirk Waldbauer , Jurgen Krober
IPC分类号： B61D45/00
CPC分类号： B60T8/248 , B60T7/20 , B60T8/1708 , B60T8/1755 , B60T2230/06
摘要： Method and Device for Stabilizing a Car-Trailer Combination A method and device for stabilizing a car-trailer combination, including a towing vehicle and a trailer moved by the towing vehicle, is disclosed. The rolling motions of the towing vehicle are monitored and measures that stabilize driving are preformed upon detection of an actual or expected unstable driving condition of the towing vehicle or the car-trailer combination. In order to insure a proper intervention, the yaw velocity of the towing vehicle or the car-trailer combination is detected and the measures that stabilize driving conditions are controlled dependent upon the detected yaw velocity.
摘要翻译：用于稳定车载拖车组合的方法和装置公开了一种用于稳定包括牵引车辆和由牵引车辆移动的拖车的拖车组合的方法和装置。监测牵引车辆的滚动运动，并且在检测到牵引车辆或拖车组合的实际或预期的不稳定驾驶状况时，执行稳定行驶的措施。为了确保适当的干预，检测牵引车辆或车辆 - 拖车组合的偏转速度，并且根据检测到的横摆速度来控制稳定驾驶状况的措施。

4. 发明申请

US20060033308A1 Method and system for stabilizing a car-trailer combination 审中-公开
标题翻译：稳定汽车拖车组合的方法和系统
公开(公告)号：US20060033308A1
公开(公告)日：2006-02-16
申请号：US10533857
申请日：2003-11-07
申请人： Dirk Waldbauer , Jurgen Krober
发明人： Dirk Waldbauer , Jurgen Krober
IPC分类号： B60D1/32
CPC分类号： B60D1/32 , B60T7/20 , B60T8/1708 , B60T8/1755 , B60T8/241 , B60T8/243 , B60T8/248 , B60T2230/06
摘要： The invention relates to a method for stabilizing a car-trailer combination, including a towing vehicle and a trailer moved by the towing vehicle. The rolling motions of the towing vehicle are monitored to detect an actual or expected unstable driving performance of the towing vehicle or car-trailer combination. Measures are taken to stabilize the driving performance when an unstable driving performance is detected or expected. These measures may include decelerating the towing vehicle dependent upon the amplitudes of the rolling motions.
摘要翻译：本发明涉及一种用于稳定拖车组合的方法，包括牵引车辆和由牵引车辆移动的拖车。监控牵引车辆的滚动运动以检测牵引车辆或拖车组合的实际或预期的不稳定驾驶性能。当检测到或预期的驾驶性能不稳定时，采取措施来稳定驾驶性能。这些措施可以包括根据滚动运动的振幅减速牵引车辆。

5. 发明授权

US08812193B2 Method for determining a virtual vehicle corridor 有权
标题翻译：确定虚拟车辆走廊的方法
公开(公告)号：US08812193B2
公开(公告)日：2014-08-19
申请号：US13696399
申请日：2011-05-06
申请人： Stefan Lüke , Dirk Waldbauer , Michael Darms , Thomas Berthold , Matthias Komar
发明人： Stefan Lüke , Dirk Waldbauer , Michael Darms , Thomas Berthold , Matthias Komar
IPC分类号： A01B69/00
CPC分类号： G01C21/26 , B60W30/0956 , B60W30/12
摘要： A method for assisting a vehicle driver, wherein a sensor for covering the surroundings covers a pavement in front of the vehicle in order to determine a virtual vehicle corridor for a road vehicle in a complex traffic situation and the virtual vehicle corridor is determined depending on identified traffic lines and raised pavement boundaries.
摘要翻译：一种用于辅助车辆驾驶员的方法，其中用于覆盖周围环境的传感器覆盖车辆前方的路面，以便在复杂交通状况中确定道路车辆的虚拟车辆走廊，并且根据所识别的虚拟车辆走廊来确定交通线路和铺路边界。

6. 发明授权

US08046147B2 Method and driving dynamics control system for stabilizing a car-trailer combination 有权
标题翻译：用于稳定汽车拖车组合的方法和驾驶动力学控制系统
公开(公告)号：US08046147B2
公开(公告)日：2011-10-25
申请号：US12094435
申请日：2006-11-16
申请人： Dirk Waldbauer , Urs Bauer , Lothar Rogowski , Tobias Preusser
发明人： Dirk Waldbauer , Urs Bauer , Lothar Rogowski , Tobias Preusser
IPC分类号： B60T8/24
CPC分类号： B60T8/1708 , B60T8/1755 , B60T2230/06 , B60T2260/02 , B62D6/003 , B62D13/00 , B62D15/025
摘要： When swaying motions of a trailer or semi-trailer of a car-trailer combination are encountered, input signals which are taken into consideration to calculate a reference signal frequently include also oscillation components, due to which driving dynamics control for stabilization of the car-trailer combination can become very unreliable. To enhance the reliability of driving dynamics control of this type, a method is disclosed in which an input signal (Y) is sensed that includes signal oscillations which are due to a swaying motion of the trailer or semi-trailer and are superimposed on a base component (YBasis) of the input signal (Y). A reference signal is calculated from the input signal (Y), in which case the calculation is executed in such a way that the reference signal by approximation corresponds to a reference signal which is determined from the base component (YBasis) of the input signal (Y). A correcting variable for influencing the driving behavior of the towing vehicle of the car-trailer combination is then determined depending on a deviation between the reference signal and a detected actual signal. Furthermore, the invention discloses a driving dynamics control system which is appropriate to implement the method.
摘要翻译：当遇到拖车组合的拖车或半拖车的摇摆运动时，考虑到计算参考信号的输入信号也频繁地包括振动分量，由此驾驶动态控制用于轿车拖车的稳定组合可能变得非常不可靠。为了提高这种类型的驾驶动态控制的可靠性，公开了一种感测输入信号（Y）的方法，该输入信号（Y）包括由拖车或半拖车的摇摆运动引起的并且叠加在基座上的信号振荡输入信号（Y）的分量（YBasis）。从输入信号（Y）计算参考信号，在这种情况下，以通过近似的参考信号对应于从输入信号的基本分量（YBasis）确定的参考信号 Y）。然后根据参考信号和检测到的实际信号之间的偏差来确定用于影响汽车 - 拖车组合的牵引车辆的驾驶行为的校正变量。此外，本发明公开了一种适用于实施该方法的驾驶动态控制系统。

7. 发明申请

US20130197804A1 METHOD FOR DETERMINING A VIRTUAL VEHICLE CORRIDOR 有权
标题翻译：用于确定虚拟车辆矫正器的方法
公开(公告)号：US20130197804A1
公开(公告)日：2013-08-01
申请号：US13696399
申请日：2011-05-06
申请人： Stefan Lüke , Dirk Waldbauer , Michael Darms , Thomas Berthold , Matthias Komar
发明人： Stefan Lüke , Dirk Waldbauer , Michael Darms , Thomas Berthold , Matthias Komar
IPC分类号： G01C21/26
CPC分类号： G01C21/26 , B60W30/0956 , B60W30/12
摘要： A method for assisting a vehicle driver, wherein a sensor for covering the surroundings covers a pavement in front of the vehicle in order to determine a virtual vehicle corridor for a road vehicle in a complex traffic situation and the virtual vehicle corridor is determined depending on identified traffic lines and raised pavement boundaries.
摘要翻译：一种用于辅助车辆驾驶员的方法，其中用于覆盖周围环境的传感器覆盖车辆前方的路面，以便在复杂交通状况中确定道路车辆的虚拟车辆走廊，并且根据所识别的虚拟车辆走廊来确定交通线路和铺路边界。

8. 发明授权

US06742851B1 Method and device for detecting a braking situation 有权
标题翻译：用于检测制动情况的方法和装置
公开(公告)号：US06742851B1
公开(公告)日：2004-06-01
申请号：US09463723
申请日：2000-04-28
申请人： Jürgen Woywod , Ralph Gronau , Georg Roll , Dirk Waldbauer
发明人： Jürgen Woywod , Ralph Gronau , Georg Roll , Dirk Waldbauer
IPC分类号： B60T860
CPC分类号： B60T8/1755 , B60T2201/16 , Y10S303/02
摘要： A detection device for detecting braking of a vehicle during cornering on a road surface where the coefficient of friction of the road surface on a wheel on the outside of a curve is lower than on a wheel on the inside of the curve includes a comparison device for comparing the brake force or the brake force reduction of at least one wheel on the outside of a curve with the brake force or the brake force reduction of at least one wheel on the inside of the curve, and a device for generating a detection signal or initiating appropriate measures when the brake force of at least one wheel on the outside of a curve is lower or reduced to a greater degree than the brake force of at least one wheel on the inside of the curve. A device for influencing yaw torques has a so-called detection device and a reduction device which reduces the brake force in a brake of a wheel on the inside of a curve.
摘要翻译：一种检测装置，用于在曲线外侧的车轮上的路面的摩擦系数低于曲线内侧的车轮上的道路面上的转弯期间检测车辆的制动，包括：比较装置，将曲线外侧的至少一个车轮的制动力或制动力减小与曲线内部的至少一个车轮的制动力或制动力减小进行比较，以及用于产生检测信号的装置或当曲线外侧的至少一个车轮的制动力比曲线内侧的至少一个车轮的制动力更小或降低到更大程度时启动适当的措施。用于影响横摆转矩的装置具有所谓的检测装置和减小装置，其减小曲线内侧的车轮的制动器中的制动力。

9. 发明授权

US06435627B1 Method and device for detecting unstable braking and controlling braking pressure 有权
标题翻译：用于检测不稳定制动和控制制动压力的方法和装置
公开(公告)号：US06435627B1
公开(公告)日：2002-08-20
申请号：US09529209
申请日：2000-06-16
申请人： Georg Roll , Jürgen Woywod , Dirk Waldbauer , Wolfgang Kling
发明人： Georg Roll , Jürgen Woywod , Dirk Waldbauer , Wolfgang Kling
IPC分类号： B60T872
CPC分类号： B60T8/1755 , B60T2201/16
摘要： Disclosed is a method for identifying a critical braking operation of a two-track vehicle during cornering, which features the steps of detecting the running behaviour of a left-hand side wheel and of a right-hand side wheel, of comparing the running behaviour and/or of evaluating the time variation of at least one left-hand side wheel or right-hand side wheel, and of identifying a critical braking operation on the basis of the result of the comparison and/or of the result of the evaluation. As a reaction, there may ensue the reduction of the braking pressure of a wheel on the inside of the corner in response to identification. A device for identifying a critical braking operation of a two-track vehicle during cornering includes a detecting device (403a, b, 408a, b) for detecting the running behaviour of a left-hand side wheel and of a right-hand side wheel (301a-d), a first comparing device (409-412) for comparing the running behaviour and/or an evaluating device (404-407) for evaluating the time variation of at least one left-hand side wheel or one right-hand side wheel, and an identifying device (413) for identifying a critical braking operation on the basis of the output of the comparing device and/or of the output of the evaluating device. Moreover, a modifying device (315) can be provided for reducing the braking pressure of a wheel on the inside of the corner in response to identification.
摘要翻译：本发明公开了一种在转弯期间识别双轨车辆的关键制动操作的方法，其特征在于检测左侧车轮和右侧车轮的行驶行为，比较行驶行为和或者评估至少一个左侧轮或右侧轮的时间变化，以及基于比较结果和/或评估结果来识别关键制动操作。作为反应，响应于识别，可能导致在拐角内侧的车轮的制动压力的降低。用于在转弯期间识别双轨车辆的关键制动操作的装置包括：检测装置（403a，b，408a，b），用于检测左侧车轮和右侧车轮的行驶行为 301a-d），用于比较运行行为的第一比较装置（409-412）和/或用于评估至少一个左侧轮或一个右手侧的时间变化的评估装置（404-407）车轮，以及用于基于比较装置的输出和/或评估装置的输出来识别临界制动操作的识别装置（413）。此外，可以提供改变装置（315），用于响应于识别而减小角内侧的车轮的制动压力。

10. 发明授权

US06273529B1 Method and device for improving the handling characteristics of a vehicle while braking during cornering 有权
标题翻译：用于在转弯期间制动时改善车辆的操纵特性的方法和装置
公开(公告)号：US06273529B1
公开(公告)日：2001-08-14
申请号：US09581979
申请日：2000-08-10
申请人： Jürgen Woywod , Dirk Waldbauer , Georg Roll
发明人： Jürgen Woywod , Dirk Waldbauer , Georg Roll
IPC分类号： B60T872
CPC分类号： B60T8/1755 , B60T2201/16 , B60T2220/03
摘要： A system including a method for improving the driving performance of a vehicle when braking during cornering comprises the following steps: detecting cornering and the direction of cornering, determining the rolling characteristics of individual wheels, if necessary, influencing the braking pressure of the brake on one wheel or on several wheels according to the rolling characteristics of these wheels, checking the driving condition of the vehicle with respect to whether instability prevails, and modifying the braking pressure of at least one brake of a wheel when an instability is detected during a cornering maneuver extending for a time period that reaches a threshold time period. A device for improving the driving performance of a vehicle while braking during cornering comprises a detection device for detecting a cornering maneuver and the direction of cornering, a determining device for determining the rolling characteristics of individual wheels, an influencing device which optionally influences the braking pressure of the brake on one wheel, a checking device for checking the driving condition of the vehicle as to whether instability prevails, and a modifying device for modifying the braking pressure of at least one brake of a wheel when an instability is detected during cornering extending for a time period which reaches a threshold time period.
摘要翻译：一种包括用于在转弯时制动时改善车辆的驾驶性能的方法的系统包括以下步骤：检测转弯和转弯方向，确定各个车轮的滚动特性，如有必要，将制动器的制动压力影响在一个根据这些轮子的滚动特性，轮子或几个轮子，检查车辆的行驶状况是否不稳定，并且在转弯机动期间检测到不稳定性时修改车轮的至少一个制动器的制动压力延长达到阈值时间段的时间段。用于在转弯期间制动时改善车辆的驾驶性能的装置包括用于检测转弯机动和转弯方向的检测装置，用于确定各个车轮的滚动特性的确定装置，可选地影响制动压力的影响装置一个车轮上的制动器的检查装置，用于检查车辆的行驶状况是否不稳定的检查装置，以及用于在转弯延伸期间检测到不稳定性时修改车轮的至少一个制动器的制动压力的修正装置达到阈值时间段的时间段。

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