公开(公告)号：US08903607B2

公开(公告)日：2014-12-02

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： G05D1/02

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。

公开(公告)号：US08670903B2

公开(公告)日：2014-03-11

申请号：US13101397

申请日：2011-05-05

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

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

IPC分类号： G06F19/00 ,  B62D5/04

CPC分类号： B60T8/17557 ,  B60T2201/08 ,  B60T2260/02 ,  B60T2270/402 ,  B60W30/12 ,  B60W50/029 ,  B60W2050/0025 ,  B60W2710/182 ,  B60W2720/14 ,  B62D9/005 ,  B62D15/025

摘要： Method, system and non-transitory computer-readable medium for fail-safe performance of a lane centering system. An electrical power steering (EPS) system of a vehicle is monitored for a failure and operation of the lane centering system is switched to a differential braking controller to output differential braking commands to a differential breaking system upon determining that a failure of the EPS system has occurred, where the output braking commands direct the differential braking system to apply force a brake for a wheel of vehicle, such by the applied braking force the vehicle follows a desired path determined for a lane centering operation.

摘要翻译： 用于车道对中系统故障安全性能的方法，系统和非暂时性计算机可读介质。 监测车辆的电动助力转向（EPS）系统的故障，并且车道定心系统的操作被切换到差速制动控制器，以在确定EPS系统的故障具有 发生，其中输出制动指令指示差速制动系统对车辆的车轮施加强制制动，例如通过施加的制动力，车辆遵循为道路对中操作确定的期望路径。

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。

公开(公告)号：US20120101713A1

公开(公告)日：2012-04-26

申请号：US12908689

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： G08G1/16

CPC分类号： G08G1/163 ,  B60W10/184 ,  B60W10/20 ,  B60W30/09 ,  B60W40/064 ,  B60W50/14 ,  B60W2050/0026 ,  B60W2050/0033 ,  B60W2050/143 ,  B60W2520/10 ,  B60W2520/105 ,  B60W2550/148 ,  B60W2550/302 ,  B60W2550/306 ,  B60W2550/308 ,  B60W2710/182 ,  B60W2710/207 ,  B60W2720/106 ,  B60W2720/125 ,  B60W2720/14

摘要： A system and method for providing an optimal collision avoidance path for a host vehicle that may potentially collide with a target vehicle. The method includes providing off-line an optimization look-up table for storing on the host vehicle that includes an optimal vehicle braking or longitudinal deceleration and an optimal distance along the optimal path based on a range of speeds of the host vehicle and coefficients of friction of the roadway surface. The method determines the current speed of the host vehicle and the coefficient of friction of the roadway surface during the potential collision, and uses the look-up table to determine the optimal longitudinal deceleration or braking of the host vehicle for the optimal vehicle path. The method also determines an optimal lateral acceleration or steering of the host vehicle for the optimal vehicle path based on a friction ellipse and the optimal braking.

摘要翻译： 一种用于为主车辆提供可能与目标车辆可能碰撞的最佳碰撞避免路径的系统和方法。 该方法包括基于主车辆的速度范围和摩擦系数提供离线优化查找表，用于在主车辆上存储包括最佳车辆制动或纵向减速和最佳路径的最佳距离 的道路表面。 该方法确定本车辆的当前速度和潜在碰撞期间道路表面的摩擦系数，并且使用查找表来确定用于最佳车辆路径的主车辆的最佳纵向减速度或制动。 该方法还基于摩擦椭圆和最佳制动来确定用于最佳车辆路径的主车辆的最佳横向加速度或转向。

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。

公开(公告)号：US07809484B2

公开(公告)日：2010-10-05

申请号：US12547467

申请日：2009-08-25

申请人： Kwang-Keun Shin ,  Shih-Ken Chen

发明人： Kwang-Keun Shin ,  Shih-Ken Chen

IPC分类号： A01B69/00

CPC分类号： B62D6/007

摘要： An active front-wheel vehicle steering control system that employs closed-loop control includes an adaptive compensation sub-system that compensates for changes in vehicle dynamic parameters. The control system includes a dynamic parameter estimation sub-system that provides an estimated front cornering compliance and rear cornering compliance based on a steering wheel angle signal, a vehicle lateral acceleration signal, a vehicle yaw rate signal and a vehicle speed signal. The closed-loop control includes active gain for each of vehicle yaw rate, yaw acceleration, side-slip and side-slip rate, all based on the vehicle speed and vehicle dynamic parameter changes for use in generating a steering angle control signal to the front wheels of the vehicle.

摘要翻译： 采用闭环控制的主动式前轮车辆转向控制系统包括补偿车辆动态参数变化的自适应补偿子系统。 控制系统包括动态参数估计子系统，该子系统基于方向盘角度信号，车辆横向加速度信号，车辆横摆角速度信号和车速信号提供估计的前转弯顺从性和后转弯顺从性。 闭环控制包括基于车辆速度和车辆动态参数变化的车辆横摆角速度，偏航加速度，侧滑和侧滑速率中的每一个的主动增益，用于产生到前方的转向角控制信号 车轮。

公开(公告)号：US07546191B2

公开(公告)日：2009-06-09

申请号：US11017420

申请日：2004-12-20

申请人： William C. Lin ,  Shih-Ken Chen ,  Robert R. Bolio

发明人： William C. Lin ,  Shih-Ken Chen ,  Robert R. Bolio

IPC分类号： B62D5/00 ,  B62D6/00

CPC分类号： B62D6/008 ,  B62D5/008

摘要： An active front steering (AFS) system that provides hand-wheel damping. The AFS system includes a damping control sub-system that determines a hand-wheel angular velocity based on the rate of change of a hand-wheel angle signal. The damping control sub-system determines the damping control signal by multiplying the angular velocity of the hand-wheel angle signal with a control gain. The damping control signal is added to a steering signal from a variable gear ratio control sub-system to generate a steering command signal. The damping control sub-system sets to the damping control signal to zero if a signal from a vehicle stability enhancement sub-system is activated.

摘要翻译： 提供手轮阻尼的主动前转向（AFS）系统。 AFS系统包括基于手轮角度信号的变化速率确定手轮角速度的阻尼控制子系统。 阻尼控制子系统通过将手轮角度信号的角速度与控制增益相乘来确定阻尼控制信号。 阻尼控制信号被添加到来自可变齿轮比控制子系统的转向信号，以产生转向指令信号。 如果来自车辆稳定性增强子系统的信号被激活，则阻尼控制子系统将阻尼控制信号设置为零。

公开(公告)号：US20060020382A1

公开(公告)日：2006-01-26

申请号：US10899446

申请日：2004-07-26

申请人： Kwang-Keun Shin ,  Shih-Ken Chen

发明人： Kwang-Keun Shin ,  Shih-Ken Chen

IPC分类号： B62D5/04

CPC分类号： B62D7/159

摘要： An active rear-wheel vehicle steering control system that employs both open-loop and closed-loop control, where the open-loop and closed-loop control include adaptive compensation sub-systems that compensate for changes in vehicle dynamic parameters. The control system includes a dynamic parameter estimation sub-system that provides an estimated front-wheel cornering compliance and rear-wheel cornering compliance based on a front-wheel steering angle signal, a rear-wheel steering angle signal, a vehicle lateral acceleration signal, a vehicle yaw rate signal and a vehicle speed signal. The closed-loop control includes active gain for each of vehicle yaw rate, vehicle yaw rate acceleration, side-slip velocity and side-slip velocity rate, all based on the vehicle speed and vehicle dynamic parameter changes.

摘要翻译： 主动后轮车辆转向控制系统采用开环和闭环控制，其中开环和闭环控制包括补偿车辆动态参数变化的自适应补偿子系统。 控制系统包括基于前轮转向角信号，后轮转向角信号，车辆横向加速度信号，前轮转向角度信号，后轮转向角信号，车辆侧向加速度信号， 车辆偏航率信号和车速信号。 闭环控制包括基于车辆速度和车辆动态参数变化的车辆横摆角速度，车辆横摆角速度加速度，侧滑速度和侧滑速度速率中的每一个的主动增益。

公开(公告)号：US20050234621A1

公开(公告)日：2005-10-20

申请号：US10828074

申请日：2004-04-20

申请人： William Lin ,  Shih-Ken Chen ,  Yuen-Kwok Chin

发明人： William Lin ,  Shih-Ken Chen ,  Yuen-Kwok Chin

IPC分类号： B62D6/00 ,  B62D7/15 ,  B62D37/00

CPC分类号： B62D7/159

摘要： A control system that employs closed-loop control for providing active vehicle rear-wheel steering, where the control system receives longitudinal wheel slip inputs to improve the vehicle directional stability. The longitudinal wheel slip inputs can be from one or more of wheel speed, traction control on and automatic braking system on. The control system includes an open-loop controller for generating an open-loop steering control signal, a yaw rate feedback controller for generating a yaw rate feedback signal, and a side-slip rate controller for generating a side-slip rate feedback signal. The open-loop steering control signal, the yaw rate feedback signal and the side-slip rate feedback signal are combined to generate the steering control signal to steer the vehicle rear wheels.

摘要翻译： 一种控制系统，其采用闭环控制来提供主动的车辆后轮转向，其中控制系统接收纵轮滑移输入以改善车辆方向稳定性。 纵轮滑差输入可以来自一个或多个车轮速度，牵引力控制和自动制动系统。 控制系统包括用于产生开环转向控制信号的开环控制器，用于产生横摆率反馈信号的横摆率反馈控制器和用于产生侧滑速率反馈信号的侧滑速率控制器。 组合开环转向控制信号，横摆率反馈信号和侧滑速率反馈信号以产生转向控制信号以转向车辆后轮。

公开(公告)号：US06865468B2

公开(公告)日：2005-03-08

申请号：US10305378

申请日：2002-11-26

申请人： William C. Lin ,  Shih-Ken Chen ,  Yuen-Kwok Chin ,  Weiwen Deng ,  David S. Rule ,  David P. Lynch

发明人： William C. Lin ,  Shih-Ken Chen ,  Yuen-Kwok Chin ,  Weiwen Deng ,  David S. Rule ,  David P. Lynch

IPC分类号： B62D6/00 ,  B60W50/00 ,  B62D6/02 ,  B62D6/04 ,  B62D7/14 ,  B62D7/15 ,  B62D101/00 ,  B62D113/00 ,  B62D137/00 ,  G06F17/00 ,  B60K17/34 ,  G06F7/00

CPC分类号： B62D7/159 ,  B60W2050/0024 ,  B60W2520/125 ,  B60W2520/14 ,  B62D6/04

摘要： A vehicle stability enhancement system for a vehicle having at least one vehicle subsystem includes at least one sensor for sensing at least one vehicle parameter, at least one vehicle control system for adjusting the at least one vehicle subsystem wherein the at least one vehicle control system includes a rear wheel steering control system, at least one memory including at least one set of gain factors, and a controller responsive to the at least one sensor and the at least one set of gain factors for controlling the at least one vehicle control system.

摘要翻译： 用于具有至少一个车辆子系统的车辆的车辆稳定性增强系统包括用于感测至少一个车辆参数的至少一个传感器，用于调整至少一个车辆子系统的至少一个车辆控制系统，其中所述至少一个车辆控制系统包括 后轮转向控制系统，包括至少一组增益因子的至少一个存储器，以及响应于所述至少一个传感器的控制器和用于控制至少一个车辆控制系统的至少一组增益因子。