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1. 发明授权

US09365196B2 Method for operating a wheel slip control apparatus with compensated wheel speeds 有权
标题翻译：具有补偿车轮速度的车轮打滑控制装置的操作方法
公开(公告)号：US09365196B2
公开(公告)日：2016-06-14
申请号：US14409923
申请日：2013-06-19
申请人： Martin Vorreiter
发明人： Martin Vorreiter
IPC分类号： B60T8/24 , B60T8/171 , B60T8/172 , B60T8/1755 , B60T8/1761 , B60T8/175 , G05D13/66 , G05D15/00
CPC分类号： B60T8/171 , B60T8/172 , B60T8/175 , B60T8/17551 , B60T8/17552 , B60T8/17616 , B60T2201/16 , B60T2210/24 , B60T2230/02 , B60W2510/207 , G05D13/66 , G05D15/00 , Y10T477/10
摘要： A method and device for operating a wheel slip control apparatus, including determining wheel speeds of wheels compensated with respect to wheel speed differences during a turn as input variables for the wheel slip control apparatus, with which a) a neutral steering, understeering or oversteering driving condition of the vehicle is determined from the driving behavior during a turn, b) depending on the determined condition of the vehicle, either the reference or actual yaw rate is used to calculate a turn radius related to a selected point on the vehicle, c) wheel-related turn radii for at least some wheels are determined from the turn radius related to the selected point, d) reference factors are determined from the wheel-related turn radii and a common reference turn radius for at least some wheels, and e) the compensated wheel speeds are each determined from the reference factors and measured wheel speeds for at least some wheels, and f) the compensated wheel speeds are used as input variables for a wheel slip control apparatus.
摘要翻译：一种用于操作车轮打滑控制装置的方法和装置，包括确定在转弯期间相对于车轮速度差补偿的车轮速度，作为用于车轮打滑控制装置的输入变量，a）中性转向，转向不足或过度转向驾驶车辆的状况根据转弯期间的驾驶行为确定，b）取决于车辆的确定条件，使用参考或实际横摆率来计算与车辆上的选定点相关的转弯半径，c）根据与所选择的点相关的转弯半径确定至少一些车轮的车轮相关转弯半径，d）参考因素是根据车轮相关转弯半径和至少一些车轮的公共参考转弯半径确定的，e）补偿的车轮速度各自根据至少一些车轮的参考因素和测量车轮速度来确定，以及f）补偿车轮速度被用作inpu t变量用于车轮滑移控制装置。

2. 发明申请

US20150032335A1 DRIVING FORCE TRANSMISSION CONTROLLER AND VEHICLE CONTROL METHOD 有权
标题翻译：驱动力传动控制器和车辆控制方法
公开(公告)号：US20150032335A1
公开(公告)日：2015-01-29
申请号：US14334093
申请日：2014-07-17
申请人： JTEKT CORPORATION
发明人： Akira KODAMA , Kenta Taniguchi
IPC分类号： B60W10/20 , B60W10/10 , B60W10/04
CPC分类号： B60W10/20 , B60G2800/215 , B60K17/35 , B60K17/3515 , B60K23/0808 , B60K2023/043 , B60K2023/0833 , B60W10/04 , B60W10/10 , B60W30/02 , B60W30/045 , B60W2510/20 , B60W2510/207 , B60W2520/14 , B60W2520/20 , B60W2540/10 , B60W2540/18 , B60W2720/406
摘要： A driving force transmission controller includes: a normal turning control unit that computes command values such that driving force transmitted to an outer wheel in a turning direction is larger than that transmitted to an inner wheel during normal turning; a counter-steering control unit that computes the command values such that the driving force transmitted to the outer wheel is larger than that transmitted to the inner wheel during counter-steering; a counter-steering return control unit that corrects the command values such that a rate of change in each of the driving forces transmitted to the right and left rear wheels is lower than a rate of change in a steered angle of front wheels when a steering velocity is equal to or higher than a prescribed value during the counter-steering; and a driving force transmission control unit that controls a driving force transmission device based on the command values.
摘要翻译：驱动力传递控制器包括：正常转向控制单元，其计算指令值，使得在正常转动期间传递到外轮的转动方向的驱动力大于传递到内轮的驱动力; 反转向控制单元，其计算指示值，使得传递到外轮的驱动力大于在反向转向期间传递到内轮的驱动力; 反向转向返回控制单元，其校正指令值，使得传递到左右后轮的每个驱动力的变化率低于前轮的转向角度的变化率，当转向速度在反向转向期间等于或高于规定值; 以及驱动力传递控制单元，其基于所述命令值来控制驱动力传递装置。

3. 发明申请

US20120109445A1 UNDERSTEER ASSESSMENT FOR VEHICLES 有权
标题翻译：机动车底层评估
公开(公告)号：US20120109445A1
公开(公告)日：2012-05-03
申请号：US12914691
申请日：2010-10-28
申请人： HUALIN TAN
发明人： HUALIN TAN
IPC分类号： G01M17/06
CPC分类号： B60W40/103 , B60T8/17551 , B60T2270/304 , B60W30/02 , B60W40/114 , B60W2510/207 , B60W2520/105 , B60W2520/28 , B60W2540/12 , B60W2540/18
摘要： Methods and systems are provided for assessing understeer for a vehicle having at least one rear wheel and at least one front wheel. Rear wheel speeds are measured from the rear wheels, and front wheel speeds are measured for the front wheels. A determination is made as to the understeer of the vehicle using a comparison of the front wheel speeds and the rear wheel speeds.
摘要翻译：提供了用于评估具有至少一个后轮和至少一个前轮的车辆的转向不足的方法和系统。从后轮测量后轮速度，并测量前轮速度。使用前轮速度和后轮速度的比较来确定车辆的转向不足。

4. 发明授权

US07093912B2 Control of regenerative braking during a yaw stability control event 有权
标题翻译：在偏航稳定性控制事件期间控制再生制动
公开(公告)号：US07093912B2
公开(公告)日：2006-08-22
申请号：US10932132
申请日：2004-09-01
申请人： Todd Allen Brown , Michael John Schneider
发明人： Todd Allen Brown , Michael John Schneider
IPC分类号： B60T8/60 , B60T8/64
CPC分类号： B60L7/22 , B60K6/445 , B60K6/52 , B60L7/26 , B60L15/2009 , B60L2240/22 , B60L2240/423 , B60T1/10 , B60T8/1755 , B60T13/586 , B60T2270/613 , B60W10/08 , B60W10/18 , B60W10/184 , B60W30/02 , B60W30/18127 , B60W2510/207 , B60W2720/403 , Y02T10/6239 , Y02T10/6265 , Y02T10/645 , Y02T10/72 , Y02T10/7275
摘要： The present invention is a method and system to control regenerative braking during the operation of a yaw stability control system. The method and system use feedback control algorithms to monitor and dynamically modify regenerative and non-regenerative braking. The controller can use a simple proportional-integral-derivative feedback controller. A vehicle yaw stability control system can determine if a vehicle is experiencing an oversteer or understeer condition. The controller compares actual brake balance to a desired brake balance. The controller determines if the front axle wheels are overbraked relative to the rear axle wheels or if the rear axle wheels are overbraked relative to the front axle wheels as compared to the desired brake balance. The controller can adjust regenerative braking and non-regenerative braking levels according to the determinations.
摘要翻译：本发明是一种在偏航稳定性控制系统的操作期间控制再生制动的方法和系统。该方法和系统使用反馈控制算法来监测和动态修改再生和非再生制动。控制器可以使用简单的比例积分微分反馈控制器。车辆偏航稳定性控制系统可以确定车辆是否正在经历过度转向或转向不足的状况。控制器将实际制动平衡与所需制动平衡进行比较。控制器确定前轮车轮相对于后车轮是否过度制动，或者相对于所需的制动平衡相对于前车轮而言后轮车轮是否过度制动。控制器可以根据确定来调节再生制动和非再生制动水平。

5. 发明授权

US09969386B1 Vehicle automated parking system and method 有权
公开(公告)号：US09969386B1
公开(公告)日：2018-05-15
申请号：US15402353
申请日：2017-01-10
申请人： Mitsubishi Electric Research Laboratories, Inc.
发明人： Yebin Wang , Devesh Jha
IPC分类号： B60W30/06 , B62D15/02
CPC分类号： B60W30/06 , B60W2510/207 , B60W2550/10 , B60W2710/20 , B62D15/027 , B62D15/0285
摘要： A method and a system for an automated parking determines, using the geometry of the vehicle and the map of the parking space, a collision free geometric path connecting an initial state of the vehicle with a target state of parked vehicle through a set of waypoints and determines, using a kinematic model of the vehicle, a set of kinematic subgraphs forming a kinematic graph having multiple nodes connected with kinematic edges. Each waypoint defines a position and orientation of the vehicle, each kinematic subgraph connects a pair of neighboring waypoints of the geometric path, each node defines a state of the vehicle, and each kinematic edge connecting two nodes defines a collision free kinematic path connecting the two nodes according to kinematics of the vehicle. A kinematic path is selected form the kinematic graph and a reference trajectory tracking the kinematic path as a function of time is determined using a dynamic model of the vehicle. The motion of the vehicle is according to the reference trajectory.

6. 发明申请

US20180079415A1 VEHICLE DRIVING FORCE CONTROL APPARATUS 审中-公开
公开(公告)号：US20180079415A1
公开(公告)日：2018-03-22
申请号：US15635311
申请日：2017-06-28
申请人： SUBARU CORPORATION
发明人： FUMIYUKI MORIYA , HIROSHI IENAGA
IPC分类号： B60W30/188 , B60W10/10 , B60W10/08 , B60W10/119 , B60W30/02 , B60W30/18
CPC分类号： B60W30/188 , B60L3/10 , B60L3/12 , B60L15/2036 , B60L2240/22 , B60L2240/24 , B60L2240/425 , B60L2240/461 , B60L2250/26 , B60W10/08 , B60W10/10 , B60W10/119 , B60W20/10 , B60W30/02 , B60W30/18145 , B60W2050/0026 , B60W2510/20 , B60W2510/207 , B60W2510/244 , B60W2520/14 , B60W2520/26 , B60W2520/266 , B60W2520/28 , B60W2720/403 , Y02T10/7275
摘要： A vehicle driving force control apparatus is mounted in a vehicle that runs by transmitting power from a plurality of drive sources to a plurality of wheels or a plurality of sets of wheels. The vehicle driving force control apparatus includes: a ratio determination unit; and a command unit. The ratio determination unit determines a target ratio at which a required driving force applied to the vehicle is to be distributed to the plurality of wheels or the plurality of sets of wheels. The command unit commands the plurality of drive sources to output power such that driving force distributed in accordance with the target ratio is generated in the plurality of wheels or the plurality of sets of wheels.

7. 发明授权

US07458650B2 Regenerative braking system for motor vehicles 失效
标题翻译：汽车再生制动系统
公开(公告)号：US07458650B2
公开(公告)日：2008-12-02
申请号：US11221681
申请日：2005-09-09
申请人： Hiromitsu Toyota , Masaru Konishi , Tomonaga Sugimoto , Yoichi Isono
发明人： Hiromitsu Toyota , Masaru Konishi , Tomonaga Sugimoto , Yoichi Isono
IPC分类号： B60T8/64
CPC分类号： B60W20/13 , B60K1/02 , B60K6/365 , B60K6/40 , B60K6/445 , B60L7/18 , B60L7/26 , B60L15/2036 , B60T1/10 , B60T2201/16 , B60T2270/604 , B60T2270/608 , B60W10/06 , B60W10/08 , B60W10/184 , B60W20/00 , B60W30/18127 , B60W2510/207 , B60W2520/18 , B60W2520/28 , B60W2540/18 , F16H2037/0866 , Y02T10/6239 , Y02T10/6286 , Y02T10/645 , Y02T10/72 , Y02T10/7275
摘要： A regenerative braking system has a generator connected to at least one wheel set to apply regenerative brake torque to it by generating electricity, a regenerative braking control means controlling a regenerative braking amount, an actual wheel speed variation calculating means calculating an actual wheel speed variation between actual outer-wheel speed of an outer wheel of steerable wheels and actual inner-wheel speed of at least one wheel of front and rear wheel sets, a correspondent wheel speed variation calculating means calculating a correspondent wheel speed variation corresponding to an outer-to-inner wheel speed variation of the steerable wheels with road grip, a steer characteristic judging means judging strength of a steer characteristic based on the correspondent wheel speed variation and the actual wheel speed variation, and a regenerative braking amount compensating means compensating the amount to be more decreased as the steer characteristic becomes stronger.
摘要翻译：再生制动系统具有与至少一个车轮组连接的发电机，通过发电而向其施加再生制动转矩;控制再生制动量的再生制动控制装置;实际车轮速度变动量计算装置，可转向轮的外轮的实际外轮速度和前轮和后轮组的至少一个车轮的实际内轮速度;相应的车轮速度变化计算装置，计算对应于车外速度变化的对应轮速变化，根据相应的车轮速度变化和实际的车轮速度变化来判断转向特性的强度的转向特性判断装置以及补偿量更多的再生制动量补偿装置随着转向特性的增强而下降。

8. 发明申请

US20050029863A1 Control of regenerative braking during a yaw stability control event 有权
标题翻译：在偏航稳定性控制事件期间控制再生制动
公开(公告)号：US20050029863A1
公开(公告)日：2005-02-10
申请号：US10932132
申请日：2004-09-01
申请人： Todd Brown , Michael Schnelder
发明人： Todd Brown , Michael Schnelder
IPC分类号： B60T8/17 , B60K6/445 , B60K6/52 , B60L7/22 , B60L7/26 , B60T1/10 , B60T8/1755 , B60T13/58 , B60W10/18 , B60W30/02 , B60W30/18 , B60T8/60
CPC分类号： B60L7/22 , B60K6/445 , B60K6/52 , B60L7/26 , B60L15/2009 , B60L2240/22 , B60L2240/423 , B60T1/10 , B60T8/1755 , B60T13/586 , B60T2270/613 , B60W10/08 , B60W10/18 , B60W10/184 , B60W30/02 , B60W30/18127 , B60W2510/207 , B60W2720/403 , Y02T10/6239 , Y02T10/6265 , Y02T10/645 , Y02T10/72 , Y02T10/7275
摘要： The present invention is a method and system to control regenerative braking during the operation of a yaw stability control system. The method and system use feedback control algorithms to monitor and dynamically modify regenerative and non-regenerative braking. The controller can use a simple proportional-integral-derivative feedback controller. A vehicle yaw stability control system can determine if a vehicle is experiencing an oversteer or understeer condition. The controller compares actual brake balance to a desired brake balance. The controller determines if the front axle wheels are overbraked relative to the rear axle wheels or if the rear axle wheels are overbraked relative to the front axle wheels as compared to the desired brake balance. The controller can adjust regenerative braking and non-regenerative braking levels according to the determinations.
摘要翻译：本发明是一种在偏航稳定性控制系统的操作期间控制再生制动的方法和系统。该方法和系统使用反馈控制算法来监测和动态修改再生和非再生制动。控制器可以使用简单的比例积分微分反馈控制器。车辆偏航稳定性控制系统可以确定车辆是否正在经历过度转向或转向不足的状况。控制器将实际制动平衡与所需制动平衡进行比较。控制器确定前轮车轮相对于后车轮是否过度制动，或者相对于所需的制动平衡相对于前车轮而言后轮车轮是否过度制动。控制器可以根据确定来调节再生制动和非再生制动水平。

9. 发明申请

US20180251151A1 Attitude Control System 审中-公开
公开(公告)号：US20180251151A1
公开(公告)日：2018-09-06
申请号：US15903357
申请日：2018-02-23
申请人： JTEKT CORPORATION
发明人： Shuuji KIMURA
IPC分类号： B62D6/00 , B60W10/04 , B60W10/20 , B60W40/068 , B60W40/064 , B60W40/103 , B60W40/114 , B60W30/045
CPC分类号： B62D6/006 , B60W10/04 , B60W10/20 , B60W30/045 , B60W40/064 , B60W40/068 , B60W40/103 , B60W40/114 , B60W2510/207 , B60W2520/125 , B60W2520/14 , B60W2520/20 , B60W2520/28 , B60W2520/30 , B60W2540/10 , B60W2550/148 , B60W2720/14 , B60W2720/20 , B60W2720/28 , B62D6/005 , B62D7/159
摘要： An object is to provide an attitude control system that can suppress an understeering characteristic when a vehicle such as an automobile travels in a medium-speed or low-speed range. A vehicle drives front wheels, and controls steering angles of the front wheels and steering angles of rear wheels. In an attitude control system to be mounted on the vehicle, a control amount detecting unit detects an operation amount of an accelerator pedal operated by a driver of the vehicle. A driving force estimating unit estimates a driving force generated on the front wheels based on the operation amount of the accelerator pedal. A rear-wheel steering angle determining unit determines a rear-wheel steering angle instruction value for controlling steering angles of the rear wheels based on an estimated front-wheel driving force that is the driving force estimated by the driving force estimating unit.

10. 发明申请

US20180208206A1 SYSTEMS AND METHODS FOR CLASSIFYING DRIVER SKILL LEVEL AND HANDLING TYPE 审中-公开
公开(公告)号：US20180208206A1
公开(公告)日：2018-07-26
申请号：US15412661
申请日：2017-01-23
申请人： GM Global Technology Operations LLC
发明人： Michael G. PETRUCCI , Alexander J. MacDonald , Christopher J. Barber
IPC分类号： B60W40/09 , B62D15/02 , B60R16/023 , B60W30/182
CPC分类号： B60W40/09 , B60R16/0231 , B60W30/182 , B60W2510/207 , B60W2520/105 , B60W2520/125 , B62D6/007 , B62D15/021
摘要： A vehicle control system includes a skill level module that determines a skill level of a driver of the vehicle based on both (i) a lateral acceleration of the vehicle and (ii) a longitudinal acceleration of the vehicle. A handling module determines a handling type based on a rate of change of a steering wheel angle. An actuator control module, based on the skill level of the driver and the handling type, selectively actuates a dynamics actuator of the vehicle.

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