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1. 发明申请

US20190009708A1 DETERMINING A STEERING ANGLE FOR AN AUTOMOBILE APPLICATION 审中-公开
公开(公告)号：US20190009708A1
公开(公告)日：2019-01-10
申请号：US16024249
申请日：2018-06-29
申请人： FORD GLOBAL TECHNOLOGIES, LLC
发明人： Sebastian SIEGLING , Sebastian LEITERMANN
IPC分类号： B60Q1/12 , B62D15/02
CPC分类号： B60Q1/12 , B60Q1/085 , B60Q2300/112 , B60Q2300/122 , B60Q2300/134 , B62D15/024 , B62D15/0245
摘要： A method to operate a motor vehicle having a number of wheels is described. The method determines a steering angle for an automotive application. A steering angle δ is estimated using a yaw rate ω, a revolution rate of at least one wheel, a wheelbase L and a characteristic speed of the vehicle vch based on a single-track model. Preferably, the steering angle is calculated using the yaw rate ω, the selected gear i, the wheelbase L, the speed v and the characteristic speed of the vehicle vch according to the formula δ=[ω*i*L*(1+v2/vch2)]/v. An application, such as adaptive light control during turns, that requires knowledge of the steering angle of the motor vehicle is carried out based on an estimated steering angle.

2. 发明申请

US20180162446A1 Parking Assistance Device and Parking Assistance Method 有权
公开(公告)号：US20180162446A1
公开(公告)日：2018-06-14
申请号：US15736546
申请日：2015-06-19
申请人： Nissan Motor Co., Ltd.
发明人： Yutaka Mikuriya , Akinobu Goto , Satoshi Tange
IPC分类号： B62D15/02
CPC分类号： B62D15/0285 , B60R21/00 , B62D15/024 , B62D15/027 , B62D15/028
摘要： A parking assistance device generates a route along which a vehicle is to travel to a parking spot via a reversing position. The parking assistance device looks up attitude angles of the vehicle at the reversing position based on the width of the vehicle passage to enable generation of the route in which a front portion of the vehicle will not interfere at the reversing position with an obstacle adjacent to the vehicle passage in a width direction thereof.

3. 发明授权

US09988085B2 Method for assisting a driver in maneuvering a motor-vehicle combination 有权
公开(公告)号：US09988085B2
公开(公告)日：2018-06-05
申请号：US15319536
申请日：2015-04-08
申请人： Robert Bosch Automotive Steering GmbH
发明人： Roland Greul , Nicolas Boos
IPC分类号： B62D13/06 , B62D13/00 , B62D15/02
CPC分类号： B62D13/06 , B60T2230/08 , B62D13/00 , B62D13/005 , B62D15/024 , B62D15/025 , B62D15/027 , B62D15/029 , B62D15/0295
摘要： The invention relates to a method for assisting a driver in maneuvering a motor-vehicle combination (1) comprising, as vehicles, at least one tractor motor vehicle (2) and at least two trailers (3a, 3b) coupled thereto, wherein a target articulation angle (γ2) at least between two of the vehicles (3a, 3b) is externally specified and is adjusted by means of at least one steering actuator (5a, 5b) of at least one of the vehicles (2). The method comprises at least the following steps: a) dividing the motor-vehicle combination (1) into at least two sub-combinations (1a, 1b) in such a way that adjacent vehicles (2, 3a, 3b) form a sub-combination (1a, 1b) in pairs, in which sub-combination a first vehicle is used as a trailer unit (3a, 3b) and a second vehicle is used as a tractor vehicle unit (2, 3a), at least virtually; b) repeatedly determining a target angle (α, γ1, γ2) for a number of consecutive sub-combinations (1a, 1b) from a specified target articulation angle (γ1, γ2) between the tractor vehicle unit (2, 3a) and the trailer unit (3a, 3b), beginning with the sub-combination (1a) whose target articulation angle (γ2) was specified externally, wherein: —the determined target angle is adjusted as a target steering angle (α) for the tractor vehicle unit (2) of the sub-combination (1b) by means of the at least one steering actuator (5a, 5b) of the associated vehicle (2) if the tractor vehicle unit (2) has the at least one steering actuator (5a, 5b), or —the determined target angle is specified as the target articulation angle (γ1) for the next sub-combination (1b).

4. 发明申请

US20180099695A1 STEERING SYSTEM HANDWHEEL ANGLE DETERMINATION 审中-公开
公开(公告)号：US20180099695A1
公开(公告)日：2018-04-12
申请号：US15288026
申请日：2016-10-07
申请人： STEERING SOLUTIONS IP HOLDING CORPORATION
发明人： Carl D. Tarum , Matthew A. Tompkins
IPC分类号： B62D15/02 , B62D5/04 , B62D3/12 , G01P3/00
CPC分类号： B62D15/024 , B62D3/126 , B62D5/0484 , B62D5/0487 , B62D5/049 , G01P3/00
摘要： Technical solutions are described for estimating handwheel angle of a steering wheel of a vehicle based on road wheel rotational speed data. In one or more examples, the technical solutions are used when the vehicle does not have a sensor to measure the handwheel angle, or if the handwheel angle sensor is faulted and unable to provide data on the actual handwheel angle.

5. 发明申请

US20170129535A1 APPARATUS AND METHOD FOR AUTOMATIC STEERING CONTROL IN VEHICLE 审中-公开
公开(公告)号：US20170129535A1
公开(公告)日：2017-05-11
申请号：US15204849
申请日：2016-07-07
申请人： Hyundai Motor Company
发明人： Byung Yong You , Myung Seon Heo , Young Chul Oh
IPC分类号： B62D6/00 , G05D1/00 , B62D15/02 , G05D1/02
CPC分类号： B62D6/002 , B62D1/286 , B62D15/024 , B62D15/025 , G05D1/0088 , G05D1/0246 , G05D2201/0213
摘要： A steering control method and device for autonomous vehicles is provided. The steering control method includes sensing traffic lanes on a road on which a vehicle is being driven and deriving a vanishing point positioned on lines extending from the traffic lanes. A sensitivity of a steering angle that corresponds to a vertical coordinate of the vanishing point in a matrix and an initial steering angle that corresponds to a horizontal coordinate are then determined. Further, a steering control value that corresponds to the initial steering angle and the sensitivity of the steering angle are determined.

6. 发明申请

US20170088173A1 ESTIMATED STEERING ANGLE CALCULATION DEVICE FOR VEHICLE 审中-公开
公开(公告)号：US20170088173A1
公开(公告)日：2017-03-30
申请号：US15278831
申请日：2016-09-28
申请人： HONDA MOTOR CO., LTD.
发明人： Satoshi Kawabe , Shigeki Ehara
IPC分类号： B62D15/02
CPC分类号： B62D15/024 , B62D1/00 , B62D15/021
摘要： There is provided an estimated steering angle calculation device for a vehicle capable of suppressing deterioration in accuracy of an estimated steering angle even if vehicle wheels slips or is locked due to acceleration or deceleration of the vehicle. Although, when being accelerated during turning, tire gripping force of front wheels serving as a driving wheel increases and a difference between wheel speeds of the front wheels decreases so that an estimated steering angle θes relative to an actual steering angle θact tends to decrease, the deterioration in accuracy of the estimated steering angle θes due to this tendency can be suppressed by increasing a second contribution rate relative to the estimated steering angle θes on the rear wheel side and decreasing a first contribution rate on the front wheel side in accordance with an accelerator opening degree.

7. 发明申请

US20160139599A1 DETERMINING TURNING RADIUS OF COUPLED VEHICLES 有权
标题翻译：确定联合车辆的半径
公开(公告)号：US20160139599A1
公开(公告)日：2016-05-19
申请号：US14541399
申请日：2014-11-14
申请人： International Truck Intellectual Property Company, LLC
发明人： Craig Robert Czlapinski , Ilya Sagalovich
IPC分类号： G05D1/02 , B62D53/06 , B62D13/00 , B62D53/08
CPC分类号： G05D1/0212 , B62D13/00 , B62D15/023 , B62D15/024 , B62D53/06 , B62D53/08 , G05D2201/0213
摘要： Turning radius of a tractor-trailer is calculated by certain dimensional relationships in the tractor-trailer and rotational velocities of axle wheel groups.
摘要翻译：拖拉机 - 拖车的转弯半径是通过拖拉机拖车中的某些尺寸关系和轴轮组的旋转速度来计算的。

8. 发明授权

US09248859B2 Method and device for ascertaining the steering angle of a steerable machine 有权
标题翻译：用于确定可转向机器的转向角的方法和装置
公开(公告)号：US09248859B2
公开(公告)日：2016-02-02
申请号：US14134012
申请日：2013-12-19
申请人： BOMAG GmbH
发明人： Hermann Christ , Irina Hagen , Moritz Nick
IPC分类号： A01B69/00 , B62D15/02
CPC分类号： B62D15/024
摘要： The present invention relates to a device and method for ascertaining the steering angle (α3) of at least one steerable wheel of a set of steerable wheels of a machine that can be directionally controlled, which machine comprises at least said set of steerable wheels and at least one set of drivable wheels showing a specific wheelbase (a1) relative to said steerable wheels and spaced from one another by a specific track width (b1), wherein by means of an ascertained wheel velocity difference of the two driven wheels a yaw rate (ψ) and a real circle radius (r1) of the driven wheel on the inside of the curve are ascertained. It is then possible to ascertain the steering angle (α) from these values by way of the geometrical relationship of wheelbase (a1) and track width (b1) of the machine.
摘要翻译：本发明涉及一种用于确定可以被定向控制的机器的一组可转向轮的至少一个可转向轮的转向角（α3）的装置和方法，该机器至少包括所述一组可转向轮并且在至少一组可驱动轮，其相对于所述可转向轮显示特定轴距（a1），并且通过特定轨道宽度（b1）彼此间隔开，其中通过确定两个从动轮的车轮速度差，偏航率（ ψ）和曲线内侧的从动轮的实圆半径（r1）。然后可以通过轴距（a1）和机器的轨迹宽度（b1）的几何关系从这些值确定转向角（α）。

9. 发明申请

US20140200770A1 SYSTEMS AND METHODS FOR CORRECTING STEERING WHEEL ANGLE ERRORS 有权
标题翻译：用于校正转向轮角误差的系统和方法
公开(公告)号：US20140200770A1
公开(公告)日：2014-07-17
申请号：US14154994
申请日：2014-01-14
申请人： FORD GLOBAL TECHNOLOGIES, LLC
发明人： Miguel BAHENA , Attila BENAK , Andrew BROWN , Sergio CONDONESU , Darrel Alan RECKER , Lodewijk WIJFFELS
IPC分类号： B62D6/10
CPC分类号： B62D6/10 , B62D6/002 , B62D6/008 , B62D15/024
摘要： A system for correcting steering wheel angle errors of a motor vehicle of the present disclosure may include a steering wheel angle sensor, an actuator angle sensor, and at least one of a wheel speed sensor and a lateral acceleration sensor. The system may further include a controller configured to receive signals from the steering wheel angle sensor, actuator angle sensor, and at least one of the wheel speed sensor and lateral acceleration sensor. The controller may be configured to calculate a correction angle based on the signals, and adjust a steering wheel angle of a steering wheel, as observed by a driver of the motor vehicle, based on the correction angle.
摘要翻译：用于校正本公开的机动车辆的方向盘角度误差的系统可以包括方向盘角度传感器，致动器角度传感器以及车轮速度传感器和横向加速度传感器中的至少一个。系统还可以包括被配置为从方向盘角度传感器，致动器角度传感器以及车轮速度传感器和横向加速度传感器中的至少一个接收信号的控制器。控制器可以被配置为基于该信号来计算校正角度，并且基于校正角度来调整由机动车辆的驾驶员观察到的方向盘的方向盘角度。

10. 发明授权

US07477973B2 Vehicle gyro based steering assembly angle and angular rate sensor 有权
标题翻译：基于车辆陀螺仪的转向装置角度和角速度传感器
公开(公告)号：US07477973B2
公开(公告)日：2009-01-13
申请号：US11251743
申请日：2005-10-15
申请人： Douglas E. Brewer , Gregory W. White , John William Peake
发明人： Douglas E. Brewer , Gregory W. White , John William Peake
IPC分类号： B62D6/00
CPC分类号： B62D15/024 , A01B69/008 , G01C21/16 , G01C21/165
摘要： A method for estimation of relative coordinates between at least two parts of a system. The method generally includes two main steps: measuring a set of relevant coordinates for each part of the system; and processing each measurement result to estimate the relative coordinates between at least two parts of the system. The system includes a main body and at least one sub assembly. A first sensor A is configured to measure a movement rate of a sub assembly. A second sensor B is configured to measure a movement rate of a main body. A third absolute measurement sensor C is configured to estimate an integrator offset and a drift rate due to the first sensor A bias and due to the second sensor B bias.
摘要翻译：一种用于估计系统的至少两个部分之间的相对坐标的方法。该方法通常包括两个主要步骤：测量系统的每个部分的一组相关坐标; 并且处理每个测量结果以估计系统的至少两个部分之间的相对坐标。该系统包括主体和至少一个子组件。第一传感器A被配置为测量子组件的移动速率。第二传感器B构成为测量主体的移动速度。第三绝对测量传感器C被配置为估计积分器偏移和由于第一传感器A偏置引起的漂移率，并且由于第二传感器B偏置。

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