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    Real-time allocation of actuator torque in a vehicle
    21.
    发明授权
    Real-time allocation of actuator torque in a vehicle 有权
    在车辆中实时分配执行器扭矩

    公开(公告)号：US08655528B2

    公开(公告)日：2014-02-18

    申请号：US13017117

    申请日：2011-01-31

    申请人： Youssef A. Ghoneim ,  Shih-Ken Chen ,  Valery Pylypchuk ,  Nikolai K. Moshchuk ,  Bakhtiar Brian Litkouhi

    发明人： Youssef A. Ghoneim ,  Shih-Ken Chen ,  Valery Pylypchuk ,  Nikolai K. Moshchuk ,  Bakhtiar Brian Litkouhi

    IPC分类号： G06F19/00

    CPC分类号： B60W10/08 ,  B60K7/0007 ,  B60K2007/0092 ,  B60W10/184 ,  B60W30/18145 ,  B60W50/0098 ,  B60W50/023 ,  B60W2050/0031 ,  B60W2720/403 ,  B60W2720/406 ,  Y02T10/7258

    摘要： A method for allocating forces among the corners of a vehicle having a redundant actuator suite includes determining a set of desired forces at the center of gravity of the vehicle, and allocating the set of desired forces among the corners of the vehicle as virtual control commands using a controller. The method also includes mapping the virtual control commands at the corners to actual or true control commands at the corners, and controlling a plurality of actuators at the corners using the actual or true control commands. The actuators may include friction brakes and wheel motors. Mapping the virtual control commands may include using a Least Squares formulation. Control of the actuators may be prioritized with respect to each other using weighting matrices. A vehicle includes a controller having actuators and a controller configured for executing the above method.

    摘要翻译： 一种用于在具有冗余致动器套件的车辆角部之间分配力的方法包括确定在车辆重心处的一组期望的力，并且在车辆的角部之间分配所需的力集合作为虚拟控制命令，使用 一个控制器 该方法还包括将角落处的虚拟控制命令映射到角落处的实际或真实控制命令，并且使用实际或真实的控制命令来控制拐角处的多个致动器。 致动器可以包括摩擦制动器和轮式电动机。 映射虚拟控制命令可以包括使用最小二乘公式。 致动器的控制可以使用加权矩阵相对于彼此来优先。 车辆包括具有致动器的控制器和被配置为执行上述方法的控制器。

    Autonomous parking strategy of the vehicle with rear steer
    23.
    发明授权
    Autonomous parking strategy of the vehicle with rear steer 有权
    具有后转向车辆的自动停车策略

    公开(公告)号：US08095273B2

    公开(公告)日：2012-01-10

    申请号：US12578616

    申请日：2009-10-14

    申请人： Nikolai K. Moshchuk ,  Shih-Ken Chen

    发明人： Nikolai K. Moshchuk ,  Shih-Ken Chen

    IPC分类号： A01B69/00

    CPC分类号： B62D15/0285 ,  B62D7/159

    摘要： A method includes parallel parking a vehicle between a first object and a second object in response to an available parking distance therebetween. The vehicle includes front steerable wheels and rear steerable wheels. A distance between the first object and the second object is remotely sensed determining whether to apply a one or two cycle parking strategy. An autonomous one cycle parking strategy includes pivoting the front and rear steerable wheels in respective directions for steering the vehicle in a first reverse arcuate path of travel and then cooperatively pivoting the steerable wheels in a counter direction for steering the vehicle in a second reverse arcuate path of travel to a final park position. The autonomous two cycle parking strategy includes performing the one cycle parking maneuver and then changing a transmission gear to a drive gear and pivoting the front and rear steerable wheels in the first direction for moving the vehicle forward to a final park position.

    摘要翻译： 一种方法包括响应于它们之间的可用停车距离而将车辆平行停泊在第一物体和第二物体之间。 车辆包括前可转向轮和后可转向轮。 遥测第一物体和第二物体之间的距离，确定是否应用一个或两个循环停车策略。 自主的单循环停车策略包括使前后可转向轮在各个方向上枢转，以便在第一反向弓形运动路径中转向车辆，然后在相对方向上协调地枢转可转向的车轮，以便在第二反向弧形路径 的旅行到最后的公园位置。 自主的两周期停车策略包括执行一个周期的停车操作，然后将传动齿轮改变为驱动齿轮，并使第一方向上的前后可转向轮转动，以将车辆向前移动到最后的停放位置。

    DIRECTING VEHICLE INTO FEASIBLE REGION FOR AUTONOMOUS AND SEMI-AUTONOMOUS PARKING
    26.
    发明申请
    DIRECTING VEHICLE INTO FEASIBLE REGION FOR AUTONOMOUS AND SEMI-AUTONOMOUS PARKING 有权
    指导车辆进入自动和半自动停车场的可行区域

    公开(公告)号：US20140052336A1

    公开(公告)日：2014-02-20

    申请号：US13586077

    申请日：2012-08-15

    申请人： Nikolai K. Moshchuk ,  Bakhtiar Brian Litkouhi ,  Shih-Ken Chen

    发明人： Nikolai K. Moshchuk ,  Bakhtiar Brian Litkouhi ,  Shih-Ken Chen

    IPC分类号： G06F17/00 ,  B62D6/00

    CPC分类号： B62D5/0463 ,  B62D6/00 ,  B62D15/0285

    摘要： A method of guiding a vehicle to a region for initiating a parallel parking maneuver. A region of feasible starting locations for successfully performing a parallel parking maneuver is determined by a processor. A position of the vehicle relative to the region of feasible starting locations is determined. A determination is made whether the vehicle is in a zero heading position. The vehicle is guided along an initial target path by controlling a steering actuator until the vehicle is in a zero heading position relative to the road of travel in response to the vehicle is not in the zero heading position. A planned path is generated that includes two arc-shaped trajectories extending between the vehicle at the zero heading position and a position within the region of feasible starting locations as determined by the processor. The steering actuator is controlled to follow the planned path to the feasible region.

    摘要翻译： 将车辆引导到用于启动平行停放机动的区域的方法。 用于成功执行平行停车操纵的可行启动位置的区域由处理器确定。 确定车辆相对于可行起始位置的区域的位置。 确定车辆是否处于零行程位置。 通过控制转向执行机构，车辆沿着初始目标路径被引导，直到车辆相对于车辆行驶道路处于零行程位置为止不在零行程位置时。 生成包括两个在零行程位置的车辆之间延伸的两个弧形轨迹和由处理器确定的可行起始位置区域内的位置的计划路径。 控制转向执行器以遵循到可行区域的计划路径。

    LANE TRACKING SYSTEM WITH ACTIVE REAR-STEER
    27.
    发明申请
    LANE TRACKING SYSTEM WITH ACTIVE REAR-STEER 有权
    具有主动后转器的LANE跟踪系统

    公开(公告)号：US20130179036A1

    公开(公告)日：2013-07-11

    申请号：US13348091

    申请日：2012-01-11

    申请人： Jin-Woo Lee ,  Nikolai K. Moshchuk ,  Shih-Ken Chen ,  Bakhtiar Brian Litkouhi

    发明人： Jin-Woo Lee ,  Nikolai K. Moshchuk ,  Shih-Ken Chen ,  Bakhtiar Brian Litkouhi

    IPC分类号： G05D1/00

    CPC分类号： B62D15/0255

    摘要： A lane tracking system for a vehicle includes a front steering controller, a rear steering controller, and a lane tracking processor. The front steering controller is configured to rotate a front wheel of the vehicle through a front steering angle in response to a front steering torque command, and the rear steering controller is configured to rotate a rear wheel of the vehicle through a rear steering angle in response to a rear steering torque command. The lane tracking processor is configured to determine a desired course of the vehicle along a roadway, estimate a trajectory of the vehicle based on sensed vehicle motion, compute an error between the determined desired course and the estimated trajectory, and provide a front steering torque command to the front steering controller, and a rear steering torque command to the rear steering controller to minimize the computed error.

    摘要翻译： 用于车辆的车道跟踪系统包括前转向控制器，后转向控制器和车道跟踪处理器。 前转向控制器构造成响应于前转向转矩指令而通过前转向角旋转车辆的前轮，并且后转向控制器被配置为响应于后转向角来旋转车辆的后轮 到后转向转矩指令。 车道跟踪处理器被配置为确定沿着道路的车辆的期望路线，基于感测的车辆运动来估计车辆的轨迹，计算所确定的期望路线和估计的轨迹之间的误差，并且提供前转向转矩指令 到后转向控制器的后转向转矩指令，以使计算出的误差最小化。

    VEHICLE COLLISION AVOIDANCE AND WARNING SYSTEM
    28.
    发明申请
    VEHICLE COLLISION AVOIDANCE AND WARNING SYSTEM 有权
    车辆碰撞避免和警告系统

    公开(公告)号：US20120101701A1

    公开(公告)日：2012-04-26

    申请号：US12908699

    申请日：2010-10-20

    申请人： Nikolai K. Moshchuk ,  Shih-Ken Chen ,  Chad T. Zagorski ,  Aamrapali Chatterjee

    发明人： Nikolai K. Moshchuk ,  Shih-Ken Chen ,  Chad T. Zagorski ,  Aamrapali Chatterjee

    IPC分类号： B60T7/12

    CPC分类号： B60W30/09 ,  B60W10/184 ,  B60W10/20 ,  B60W50/14 ,  B60W2050/0033 ,  B60W2050/143 ,  B60W2520/10 ,  B60W2520/105 ,  B60W2550/148 ,  B60W2550/302 ,  B60W2550/306 ,  B60W2550/308 ,  B60W2710/182 ,  B60W2710/207 ,  B60W2720/106 ,  B60W2720/14 ,  G08G1/166

    摘要： A collision avoidance system in a host vehicle that employs combined automatic braking and steering. The collision avoidance system defines thresholds that identify a time to collision with a target vehicle by the host vehicle that are based on the speed of the host vehicle, the acceleration of the host vehicle, the speed of the target vehicle, the acceleration of the target vehicle, the distance to the target vehicle from the host vehicle and a coefficient of friction of the roadway. The collision avoidance system provides full automatic collision avoidance braking if the time to collision is less than one threshold and the lane adjacent to the host vehicle is not clear. The collision avoidance system provides both automatic steering and braking of the host vehicle if the time to collision is less than another threshold and the lane adjacent to the host vehicle is clear.

    摘要翻译： 在主车辆中采用组合式自动制动和转向的防撞系统。 碰撞避免系统定义阈值，其识别本车辆基于本车辆的速度，本车辆的加速度，目标车辆的速度，目标车辆的加速度与目标车辆碰撞的时间 车辆，从本车辆到目标车辆的距离和道路的摩擦系数。 碰撞避免系统提供全自动碰撞避免制动，如果碰撞时间小于一个阈值，并且与本车辆相邻的车道不清楚。 如果碰撞时间小于另一个阈值并且与主车辆相邻的车道是清晰的，则避碰系统提供主车辆的自动转向和制动。

    Path planning for autonomous parking
    29.
    发明授权
    Path planning for autonomous parking 有权
    道路规划自主停车

    公开(公告)号：US08099214B2

    公开(公告)日：2012-01-17

    申请号：US12367778

    申请日：2009-02-09

    申请人： Nikolai K. Moshchuk ,  Shih-Ken Chen

    发明人： Nikolai K. Moshchuk ,  Shih-Ken Chen

    IPC分类号： G06F19/00

    CPC分类号： B62D15/0285 ,  B62D15/027

    摘要： A method is provided for determining a vehicle path for autonomously parallel parking a vehicle in a space between a first object and a second object. A distance is remotely sensed between the first object and the second object. A determination is made whether the distance is sufficient to parallel park the vehicle between. A first position to initiate a parallel parking maneuver is determined. A second position within the available parking space corresponding to an end position of the vehicle path is determined. A first arc shaped trajectory of travel is determined between the first position and an intermediate position, and a second arc shaped trajectory of travel is determined between the second position and the intermediate position. The first arc shaped trajectory is complementary to the second arc shaped trajectory for forming a clothoid which provides a smoothed rearward steering maneuver between the first position to the second position.

    摘要翻译： 提供一种用于确定用于在第一对象和第二对象之间的空间中自动平行停放车辆的车辆路径的方法。 在第一物体和第二物体之间遥测距离。 确定距离是否足以使车辆平行停放。 确定启动平行停车机动的第一个位置。 确定对应于车辆路径的结束位置的可用停车空间内的第二位置。 在第一位置和中间位置之间确定行进的第一弧形轨迹，并且在第二位置和中间位置之间确定行进的第二弧形轨迹。 第一弧形轨迹与第二弧形轨迹互补，用于形成回旋曲线，其在第一位置与第二位置之间提供平滑的后向转向操纵。

    Feasible region determination for autonomous parking
    30.
    发明授权
    Feasible region determination for autonomous parking 有权
    自主停车的可行区域确定

    公开(公告)号：US08098174B2

    公开(公告)日：2012-01-17

    申请号：US12427929

    申请日：2009-04-22

    申请人： Nikolai K. Moshchuk ,  Shih-Ken Chen

    发明人： Nikolai K. Moshchuk ,  Shih-Ken Chen

    IPC分类号： B60Q1/48

    CPC分类号： B62D15/0285 ,  G01S2013/9314

    摘要： A method is provided for initiating a parking maneuver for parallel parking a vehicle between a first object and a second object. A target parking space is measured. A determination is made whether the measured target parking space is sufficient to allow an autonomous parallel parking maneuver. A region of feasible starting locations is determined to successfully perform the parallel parking maneuver between the first object and the second object if the available parking space is sufficient. A position of a midpoint of a rear axle is determined in relation to the designated region. A determination is made whether the midpoint of the rear axle is within the designated region. A driver of the vehicle is signaled in response to an instantaneous location of the midpoint of the rear axle vehicle being a feasible starting location to initiate the parallel parking maneuver.

    摘要翻译： 提供了一种用于启动用于在第一对象和第二对象之间平行停泊车辆的停车操纵的方法。 测量目标停车位。 确定测量的目标停车位是否足以允许自主的并行停车操纵。 确定可行开始位置的区域，以便如果可用的停车空间足够，则成功地执行第一物体和第二物体之间的平行泊车操纵。 相对于指定区域确定后轴的中点的位置。 确定后桥的中点是否在指定区域内。 响应于后桥车辆的中点的即时位置是可行的起始位置来发出车辆的驾驶员，以启动平行停车操纵。