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1. 发明授权

US08509993B2 Systems and methods for controlling a vehicle along a road with a road bank 有权
标题翻译：用于控制沿着道路的道路的车辆的系统和方法
公开(公告)号：US08509993B2
公开(公告)日：2013-08-13
申请号：US12762468
申请日：2010-04-19
申请人： Jihan Ryu , Flavio Nardi , Kevin A. O'Dea , Hualin Tan
发明人： Jihan Ryu , Flavio Nardi , Kevin A. O'Dea , Hualin Tan
IPC分类号： B60W40/06 , B62D133/00 , B60W40/076
CPC分类号： B60W40/076 , B60T8/17551 , B60T2210/22 , B60T2230/02 , B60W30/10 , B60W40/112 , B60W2520/125 , B60W2520/14 , B60W2540/18 , B60W2550/142 , B60W2710/202 , B62D6/04
摘要： Systems and methods for detecting road bank and determining road bank angle include determining a road bank angle as a function of difference in slip angle where the difference in slip angle is a function of difference in course angle and difference in yaw angle.
摘要翻译：用于检测路堤和确定道路坡度角的系统和方法包括确定作为滑行角差的函数的道路坡度角，其中滑移角的差是航向角差和偏航角的差的函数。

2. 发明授权

US5357798A Process for determining a safety margin for a traveling motor vehicle 失效
标题翻译：确定行驶机动车辆的安全余量的过程
公开(公告)号：US5357798A
公开(公告)日：1994-10-25
申请号：US6841
申请日：1993-01-21
申请人： Alfred Weinzerl , Jurgen Holzinger , Wolfgang Hirschberg
发明人： Alfred Weinzerl , Jurgen Holzinger , Wolfgang Hirschberg
IPC分类号： B62D6/00 , B60T8/1755 , B60W30/02 , B60W40/06 , B62D103/00 , B62D105/00 , B62D111/00 , B62D113/00 , B62D133/00 , B62D137/00 , G01N19/02 , E01C23/00 , G01M17/02
CPC分类号： B60W40/101 , B60T8/17551 , B60W30/045 , G01N19/02 , B60T2210/12
摘要： A process for determining a safety margin with respect to adhesion between tires and roadway of a travelling motor vehicle comprises, detecting longitudinal and transverse acceleration values (ax, ay), a rotational wheel acceleration value (Phi), and a dynamic steering angle value, and producing signals indicative thereof. A longitudinal adhesion value (Six) is determined as a function of the longitudinal acceleration (ax) and the rotational wheel acceleration (Phi), while a transverse adhesion value (Siy) is determined as a function of the transverse acceleration (ay) and the dynamic steering angle. Maximum attainable longitudinal and transverse acceleration values (axLIM, ayLIM) are next determined by multiplying the longitudinal and transverse acceleration values (Six, Siy) by vehicle specific coefficients (Kx, Ky) and a limit curve (aLIM), e.g., an ellipse, is established. Next a current vehicle movement state vector (AF) is formed by a vectorial combination of the longitudinal and transverse acceleration values (ax, ay). A safety margin value (SAFLIM) is obtained by comparing the lengths of the vehicle movement state vector (AF) with a collinear limit vector (AMAX) which reaches the limit curve (aLIM), and the safety margin value (SAFLIM) is displayed to the driver. Desirably, if the safety margin value (SAFLIM) exceeds predetermined threshold values, perceptible warning signals, e.g., a yellow light and then a red light, are triggered.
摘要翻译：用于确定相对于行驶的机动车辆的轮胎和车道之间的附着力的安全裕度的过程包括：检测纵向和横向加速度值（ax，ay），旋转车轮加速度值（Phi）和动态转向角度值，并产生指示其的信号。纵向粘附值（Six）被确定为纵向加速度（ax）和旋转轮加速度（Phi）的函数，而横向粘附值（Siy）被确定为横向加速度（ay）的函数，并且动态转向角。通过将纵向和横向加速度值（Six，Siy）乘以车辆特定系数（Kx，Ky）和极限曲线（aLIM）（例如椭圆）来确定最大可达到的纵向和横向加速度值（axLIM，ayLIM）成立接下来，通过纵向和横向加速度值（ax，ay）的矢量组合形成当前的车辆运动状态矢量（AF）。通过将车辆移动状态向量（AF）的长度与达到极限曲线（aLIM）的共线极限矢量（AMAX）进行比较，并将安全余量值（SAFLIM）显示为司机。理想地，如果安全余量值（SAFLIM）超过预定阈值，则触发可见警报信号，例如黄灯，然后红灯。

3. 发明申请

US20050200088A1 Vehicle stability control system 有权
标题翻译：车辆稳定性控制系统
公开(公告)号：US20050200088A1
公开(公告)日：2005-09-15
申请号：US11076295
申请日：2005-03-09
申请人： Mamoru Sawada , Toshiki Matsumoto
发明人： Mamoru Sawada , Toshiki Matsumoto
IPC分类号： B60R1/00 , B60K28/16 , B60K31/00 , B60W10/04 , B60W10/06 , B60W10/20 , B60W30/00 , B60W30/02 , B60W30/045 , B62D6/00 , B62D101/00 , B62D109/00 , B62D113/00 , B62D127/00 , B62D131/00 , B62D133/00 , B62D137/00 , F02D29/02 , F02D45/00 , B60G17/005
CPC分类号： B60W10/04 , B60W30/045 , B60W2510/20
摘要： A vehicle stability control system includes a basic request driving force computing unit, a front and rear wheel load computing unit, a virtual turning radius estimating unit, a target value computing unit, and a vibration damping correction controlling unit. The basic request driving force computing unit computes a physical quantity so as to generate the basic request driving force requested by a driver. The front and rear wheel load computing unit detect a load applied to the wheels. The virtual turning radius estimating unit estimates a virtual turning radius. The target value computing unit computes a target value of a stability factor. The vibration damping correction controlling unit corrects the physical quantity so as to follow the target value. The system generates the driving force for the driving wheel.
摘要翻译：车辆稳定性控制系统包括基本请求驱动力计算单元，前后轮负载计算单元，虚拟转弯半径估计单元，目标值计算单元和振动阻尼校正控制单元。基本请求驱动力计算单元计算物理量以产生驾驶员要求的基本请求驱动力。前轮和后轮负载计算单元检测施加到车轮的负载。虚拟转弯半径估计单元估计虚拟转弯半径。目标值计算单元计算稳定系数的目标值。振动阻尼校正控制单元校正物理量以跟随目标值。该系统产生驱动轮的驱动力。

4. 发明授权

US5392214A Control method and device for steering the rear wheel of a vehicle 失效
标题翻译：用于转向车辆后轮的控制方法和装置
公开(公告)号：US5392214A
公开(公告)日：1995-02-21
申请号：US985149
申请日：1992-12-03
申请人： Nobuo Momose , Kiichi Yamada , Hiroaki Yoshida
发明人： Nobuo Momose , Kiichi Yamada , Hiroaki Yoshida
IPC分类号： B62D6/00 , B62D7/14 , B62D7/15 , B62D101/00 , B62D105/00 , B62D111/00 , B62D113/00 , B62D133/00 , B62D5/00
CPC分类号： B62D7/159 , Y10S706/90
摘要： Various steering coefficients (KB, KC, KG) are decided in accordance with a detected car speed (V), while a correction amount (X) and a correction factor (Y) are determined by fuzzy reasoning in accordance with a detected road surface friction coefficient (.mu.), road surface gradient (.alpha.), and lateral acceleration (G). A reference in-phase steering amount (.delta.RB), equal to a product of a reference in-phase steering coefficient (KB) and a detected steering wheel angle (.theta.H), is corrected by an in-phase correction steering amount (.delta.RC), which is equal to a product of an in-phase steering coefficient (KC) and the detected steering wheel angle (.theta.H), with a delay determined by a time constant (T) calculated from the correction amount (X), to thereby determine a corrected in-phase steering amount (.delta.R). A corrected anti-phase steering amount (.delta.G), obtained by multiplying a reference anti-phase steering amount (.delta.GB), equal to a product of the anti-phase correction coefficient (KG) and a detected steering wheel angular velocity (.theta.HA), by the correction factor (Y), is added to the corrected in-phase steering amount (.delta.R), to thereby obtain a rear-wheel steering amount (.delta.) on which the rear wheels are so steered as to match the road surface friction coefficient, road surface gradient, and lateral acceleration.
摘要翻译：根据检测到的车速（V）来决定各种转向系数（KB，KC，KG），同时通过模糊推理根据检测到的路面摩擦来确定校正量（X）和校正因子（Y）系数（μ），路面坡度（α）和横向加速度（G）。参考同相转向量（delta RB）等于参考同相转向系数（KB）和检测到的方向盘角度（θH）的乘积，通过同相校正转向量（delta RC），其等于同相转向系数（KC）和检测到的方向盘角度（θH）的乘积，并且由由校正量（X）计算的时间常数（T）确定的延迟，从而确定校正的同相转向量（ΔR）。通过将参考反相转向量（deltaGB）乘以相等于反相校正系数（KG）与检测到的方向盘角速度（θ）的乘积获得的校正的反相转向量（delta G） HA）通过校正因子（Y）被添加到校正的同相转向量（ΔR）中，从而获得后轮转向量（delta），在后轮转向量（delta）上，后轮被转向以匹配路面摩擦系数，路面坡度和横向加速度。

5. 发明申请

US20050027402A1 Integrated vehicle motion control system 有权
标题翻译：综合车辆运动控制系统
公开(公告)号：US20050027402A1
公开(公告)日：2005-02-03
申请号：US10499025
申请日：2002-12-22
申请人： Ken Koibuchi , Shouchi Miyago
发明人： Ken Koibuchi , Shouchi Miyago
IPC分类号： B60G17/015 , B60K6/20 , B60K6/54 , B60R16/02 , B60R21/00 , B60T8/00 , B60T8/17 , B60T8/172 , B60T8/1755 , B60T8/58 , B60W10/00 , B60W10/04 , B60W10/06 , B60W10/08 , B60W10/10 , B60W10/103 , B60W10/18 , B60W10/184 , B60W10/20 , B60W10/22 , B60W20/00 , B60W30/00 , B60W40/10 , B60W40/105 , B60W40/109 , B60W50/00 , B62D6/00 , B62D101/00 , B62D111/00 , B62D113/00 , B62D119/00 , B62D127/00 , B62D133/00 , B62D137/00 , F02D29/02 , F02D41/00 , F02D41/26 , F16H61/46 , G06F15/76 , H04L29/06 , H04L29/08 , G06F17/00
CPC分类号： B60W50/00 , B60W30/1819 , B60W2050/0004 , B60W2540/10 , B60W2540/12 , B60W2550/12 , F02D41/26 , H04L29/06 , H04L67/12 , H04L69/329
摘要： An integrated vehicle motion control system is provided in which the software configuration is formed in a hierarchical structure, and includes (a) a command section adapted to determine target vehicle state quantities based on driving related information, and (b) an executing section adapted to receive the target vehicle state quantities as commands from the command section, and execute the commands by means of a plurality of actuators. The command section includes an upper-level command section adapted to determine first target vehicle state quantities based on the driving related information, without taking account of the dynamic behavior of the vehicle, and a lower-level command section adapted to determine second target vehicle state quantities inview of the dynamic behavior of the vehicle.
摘要翻译：提供了一种集成车辆运动控制系统，其中软件配置以分层结构形成，并且包括（a）适于基于驾驶相关信息确定目标车辆状态量的命令部分，以及（b）适于以命令部分的命令接收目标车辆状态量，并通过多个致动器执行命令。命令部分包括适于基于驾驶相关信息确定第一目标车辆状态量而不考虑车辆的动态行为的上级命令部分，以及适于确定第二目标车辆状态的下级命令部分车辆动态行为的数量。

6. 发明授权

US5311956A Electric control apparatus for rear wheel steering mechanism of wheeled vehicle 失效
标题翻译：轮式车后轮转向机构电控装置
公开(公告)号：US5311956A
公开(公告)日：1994-05-17
申请号：US974421
申请日：1992-11-12
申请人： Mizuho Sugiyama
发明人： Mizuho Sugiyama
IPC分类号： B62D6/00 , B62D7/14 , B62D7/15 , B62D101/00 , B62D113/00 , B62D133/00 , B62D137/00
CPC分类号： B62D7/159 , B62D7/1581
摘要： An electric control apparatus for a rear wheel steering mechanism in a four-wheel steering system of a wheeled vehicle is designed to detect a yaw rate of the vehicle body for determining a target steering amount for steering a set of dirigible rear road wheels in accordance with a magnitude of the detected yaw rate in a direction restraining the yaw rate of the vehicle body and to produce a control signal indicative of the target steering amount for applying it to an electrically operated actuator of the rear wheel steering mechanism. The electric control apparatus is further designed to detect a roll angle and/or a roll angle speed of the vehicle body and to determine a correction amount for steering the rear road wheels in accordance with a magnitude of the detected roll angle and/or roll angle speed in an opposite direction relative to the direction restraining the yaw rate of the vehicle body and adding the correction amount to the target steering amount.
摘要翻译：一种用于轮式车辆的四轮转向系统中的后轮转向机构的电气控制装置被设计成检测用于确定目标转向量的车体的偏航率，以便根据检测到的横摆率的大小在限制车身的横摆率的方向上，并且产生表示目标转向量的控制信号，以将其施加到后轮转向机构的电动致动器。电气控制装置还被设计成检测车体的侧倾角和/或侧倾角速度，并且根据检测到的侧倾角和/或侧倾角的大小来确定用于转向后轮的修正量相对于限制车体的横摆角速度的方向在相反方向上的速度，并将校正量与目标转向量相加。

7. 发明授权

US5205371A Motor-driven servo steering system 失效
标题翻译：电动伺服转向系统
公开(公告)号：US5205371A
公开(公告)日：1993-04-27
申请号：US749876
申请日：1991-08-26
申请人： Dean Karnopp
发明人： Dean Karnopp
IPC分类号： B62D5/00 , B62D5/04 , B62D5/30 , B62D6/00 , B62D6/04 , B62D101/00 , B62D117/00 , B62D133/00 , B62D137/00
CPC分类号： B62D5/008
摘要： The present invention is a motor-driven servo steering system for a motor vehicle having an actuator for superimposing steering intervention on the steering wheel power applied by the driver. Power provided by a power supply, for example an electric motor, is superimposed on the steering wheel power applied by the driver and thereby aids and boosts the steering wheel power. In addition to or instead of the boosting effect, the steering systems of the vehicle can be acted upon through steering signals that increase the road safety and/or the travel comfort. Because the system is responsive to steering wheel velocity, the system has a high inherent safety, where in case of power supply failure the driver has a direct mechanical access to the steering systems, without increasing the steering wheel torque required to be applied by the driver.
摘要翻译：本发明是一种用于机动车辆的电动伺服转向系统，其具有用于将驾驶员施加的方向盘动力上的转向干预重叠的致动器。由电源（例如电动机）提供的电力叠加在由驾驶员施加的方向盘动力上，从而有助于提高方向盘功率。除了或代替增压效果，车辆的转向系统可以通过提高道路安全性和/或行驶舒适度的转向信号来起作用。由于系统响应于方向盘速度，系统具有高的固有安全性，其中在电源故障的情况下，驾驶员可以直接机械地接近转向系统，而不增加由驾驶员施加的方向盘扭矩。

8. 发明授权

US08880288B2 Determining low-speed driving direction in a vehicle 有权
标题翻译：确定车辆中的低速行驶方向
公开(公告)号：US08880288B2
公开(公告)日：2014-11-04
申请号：US12704253
申请日：2010-02-11
申请人： Qingyuan Li , Hsien-cheng (Kevin) Wu , Tim Hoerauf , Jiamu Hu , Timothy Ridley
发明人： Qingyuan Li , Hsien-cheng (Kevin) Wu , Tim Hoerauf , Jiamu Hu , Timothy Ridley
IPC分类号： B60W30/06 , B60W40/10 , B62D103/00 , B62D111/00 , B62D133/00 , G01P13/04 , G05D1/02 , B60T8/172 , B62D15/02 , F16H59/44 , F16H59/66
CPC分类号： B60W40/10 , B60L2240/32 , B60T8/172 , B60T2201/10 , B60W30/06 , B62D15/0285 , F16H59/44 , F16H59/66 , F16H2059/443 , F16H2059/663 , G01P13/04 , G05D1/021
摘要： A method and a system of determining a driving direction of a vehicle traveling at a low speed. The method includes determining whether the vehicle is in one of three states: (1) an uphill state in which the vehicle is located on an upward sloping surface, (2) a downhill state in which the vehicle is located on a downward sloping surface, and (3) a flat surface state in which the vehicle is located on a flat surface. The method also includes obtaining information from a plurality of vehicle sensors and determining a direction of movement of the vehicle based upon the determined state of the vehicle and information from the plurality of vehicle sensors.
摘要翻译：确定以低速行驶的车辆的行驶方向的方法和系统。该方法包括确定车辆是否处于三种状态之一：（1）车辆位于向上倾斜表面上的上坡状态，（2）车辆位于向下倾斜表面上的下坡状态，和（3）车辆位于平坦表面上的平坦表面状态。该方法还包括从多个车辆传感器获得信息，并且基于车辆的确定状态和来自多个车辆传感器的信息确定车辆的移动方向。

9. 发明授权

US06909957B2 Method for controlling yaw and transversal dynamics in a road vehicle 有权
公开(公告)号：US06909957B2
公开(公告)日：2005-06-21
申请号：US10344283
申请日：2001-08-15
申请人： Avshalom Suissa
发明人： Avshalom Suissa
IPC分类号： B62D6/00 , B62D7/14 , B62D7/15 , B62D101/00 , B62D111/00 , B62D113/00 , B62D133/00
CPC分类号： B62D7/159 , B62D6/00
摘要： For the purpose of controlling the yaw dynamics and lateral dynamics in a road vehicle with electrically controlled four-wheel steering, in the case of which the setting of the front axle steer angle δv and of the rear axle steer angle δh is performed by means of mutually decoupled control loops, a desired value δvsoll for the lateral force Sv to be built up at the front axle is determined in the control loop assigned to the front axle and, for this desired value Svsoll, the value of the slip angle, linked to the desired value Svsoll, is determined as desired value αvsoll from an Sv(αv) characteristic representing the dependence of the lateral force Sv, to be built up at the front axle, on the slip angle αv. In the control loop assigned to the rear axle, a desired value Shsoll for the lateral force Sh to be built up at the rear axle is determined in a control process in accordance with a controller law of the form S hsoll = l v · m · v x L · [ Ψ . - β hsoll + k 1 · ( β h - β ⁢ - hsoll ) ] and, for this desired value Shsoll, the value of the slip angle, linked to the desired value Shsoll, is determined as desired value αhsoll from an Sh(αh) characteristic. These desired values αvsoll and αhsoll are used to determine the desired values δvsoll and δhsoll of the steer angle, taking account of an estimated value of the sideslip angle β at the center of gravity of the vehicle, the position of the center of gravity and measured or estimated values of the yaw velocity {dot over (Ψ)} and of the longitudinal speed vx of the vehicle.

10. 发明授权

US5225753A Electric control apparatus for four-wheel steering system 失效
标题翻译：四轮转向系统电控装置
公开(公告)号：US5225753A
公开(公告)日：1993-07-06
申请号：US736977
申请日：1991-07-29
申请人： Shin Koike , Osamu Takeda , Hiroaki Tanaka , Mizuho Sugiyama , Kaoru Ohashi , Hitoshi Iwata , Masaru Ishikawa
发明人： Shin Koike , Osamu Takeda , Hiroaki Tanaka , Mizuho Sugiyama , Kaoru Ohashi , Hitoshi Iwata , Masaru Ishikawa
IPC分类号： B62D6/00 , B62D5/04 , B62D7/14 , B62D7/15 , B62D101/00 , B62D113/00 , B62D133/00 , B62D137/00
CPC分类号： B62D7/1581 , B62D7/159
摘要： In an electric control apparatus for a four-wheel steering system including an electric motor the rotary angle of which is electrically controlled in accordance with a target steering angle of rear road wheels, and a hydro-mechanical tracer mechanism having a fluid control valve the valve element of which is drivingly connected to the electric motor to be displaced in proportion to the rotary angle of the electric motor, the tracer mechanism being arranged to steer the rear road wheels in proportion to a displacement amount of the valve element, the target steering angle is converted into a control value for rotation of the electric motor, and a drive signal indicative of the control value is applied to the electric motor. The electric control apparatus is designed to greatly change the control value to and from zero when the target steering angle is less than a predetermined small angle and to change the control value in proportion to the target steering angle when the target steering angle is more than the predetermined small angle.

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