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    GPS-enhanced vehicle velocity estimation
    1.
    发明授权
    GPS-enhanced vehicle velocity estimation 有权
    GPS增强车速估计

    公开(公告)号：US09285485B2

    公开(公告)日：2016-03-15

    申请号：US12616933

    申请日：2009-11-12

    申请人： Kevin A. O'Dea ,  Jihan Ryu ,  Flavio Nardi ,  Hualin Tan

    发明人： Kevin A. O'Dea ,  Jihan Ryu ,  Flavio Nardi ,  Hualin Tan

    IPC分类号： G05D1/02 ,  G01S19/52 ,  G01C21/16

    CPC分类号： G01S19/52 ,  G01C21/165

    摘要： A method is provided for estimating vehicle velocity for a vehicle using a single-antenna global positioning system (GPS). An absolute speed and a course angle of the vehicle is measured using the single-antenna GPS. The yaw rates of the vehicle are measured independently of the GPS. An integrated yaw rate of the vehicle is calculated as a function of the measured yaw rates over a period of time. A yaw angle is determined as a function of a reference yaw angle and the integrated yaw rate. Aside slip angle is calculated as a function of the estimated yaw angle and the course angle provided by the GPS. The vehicle velocity is determined as a function of the absolute speed and the side slip angle. The vehicle velocity is provided to a vehicle dynamic control application.

    摘要翻译： 提供一种用于使用单天线全球定位系统（GPS）估计车辆的车速的方法。 使用单天线GPS测量车辆的绝对速度和行驶角度。 独立于GPS测量车辆的偏航率。 根据一段时间内的测量的横摆角速度来计算车辆的积分横摆角速度。 偏航角被确定为参考偏航角和积分横摆角速度的函数。 作为由GPS提供的估计的偏航角和航向角的函数计算侧滑角。 车速是绝对速度和侧滑角的函数。 车辆速度被提供给车辆动态控制应用。

    Method and system for detecting a vibration level of a wheel within a resonating frequency range of a vehicle suspension
    3.
    发明授权
    Method and system for detecting a vibration level of a wheel within a resonating frequency range of a vehicle suspension 有权
    用于检测在车辆悬架的谐振频率范围内的车轮的振动水平的方法和系统

    公开(公告)号：US07991529B2

    公开(公告)日：2011-08-02

    申请号：US12144027

    申请日：2008-06-23

    申请人： Flavio Nardi ,  Nikolai K. Moshchuk

    发明人： Flavio Nardi ,  Nikolai K. Moshchuk

    IPC分类号： B60G17/016

    CPC分类号： B60G17/018 ,  B60G17/08 ,  B60G2400/202 ,  B60G2400/252 ,  B60G2400/91 ,  B60G2401/10 ,  B60G2500/10

    摘要： A method that detects whether the vibration level of the wheel is within the resonating frequency range by utilizing discrete velocity measurements. The method includes continuously measuring velocity levels of a wheel relative to a sprung mass vehicle component. These measurements are continuously recorded over a period of time. A periodic algorithm is provided, and the periodic algorithm and the velocity measurements are utilized to determine an output value. The output value is utilized to determine whether the vibration level of the wheel is within the resonating frequency range.

    摘要翻译： 通过利用离散速度测量来检测车轮的振动水平是否在谐振频率范围内的方法。 该方法包括连续测量车轮相对于悬挂质量车辆部件的速度水平。 这些测量在一段时间内连续记录。 提供周期性算法，利用周期算法和速度测量来确定输出值。 输出值用于确定车轮的振动水平是否在谐振频率范围内。

    DYNAMIC OBSERVER FOR THE ESTIMATION OF VEHICLE LATERAL VELOCITY
    4.
    发明申请
    DYNAMIC OBSERVER FOR THE ESTIMATION OF VEHICLE LATERAL VELOCITY 有权
    用于车辆侧向速度估计的动态观测

    公开(公告)号：US20100131229A1

    公开(公告)日：2010-05-27

    申请号：US12276965

    申请日：2008-11-24

    申请人： Flavio Nardi ,  Jihan Ryu ,  Nikolai K. Moshchuk ,  Kevin A. O'Dea

    发明人： Flavio Nardi ,  Jihan Ryu ,  Nikolai K. Moshchuk ,  Kevin A. O'Dea

    IPC分类号： G01P3/00 ,  G06F15/00

    CPC分类号： B60T8/172 ,  B60T2210/22 ,  B60T2230/02 ,  B60T2250/04

    摘要： A system and method for estimating vehicle lateral velocity that defines a relationship between front and rear axle lateral forces and front and rear axle side-slip angles. The method includes providing measurements of vehicle yaw-rate, lateral acceleration, longitudinal speed, and steering angle. The method also includes using these measurements to provide a measurement of the front and rear axle forces. The method calculates a front axle lateral velocity and a rear axle lateral velocity, and calculates a front axle side-slip angle based on the rear axle lateral velocity and a rear axle side-slip angle based on the front axle lateral velocity. The method then estimates front and rear axle forces, and selects a virtual lateral velocity that minimizes an error between the estimated and measured lateral axle forces. The method then provides an estimated vehicle lateral velocity using the selected virtual lateral velocity.

    摘要翻译： 一种用于估计车辆横向速度的系统和方法，其限定前后轴向力和前后轴侧滑角之间的关系。 该方法包括提供车辆偏航率，横向加速度，纵向速度和转向角的测量。 该方法还包括使用这些测量来提供前后轴力的测量。 该方法计算前桥横向速度和后桥横向速度，并根据前桥横向速度和基于前桥横向速度的后桥侧滑角计算前轴侧滑角。 然后，该方法估计前轴和后轴力，并且选择使估计和测量的横向轴力之间的误差最小化的虚拟横向速度。 该方法然后使用所选择的虚拟横向速度提供估计的车辆横向速度。

    BANK ANGLE ESTIMATION VIA VEHICLE LATERAL VELOCITY WITH FORCE TABLES
    5.
    发明申请
    BANK ANGLE ESTIMATION VIA VEHICLE LATERAL VELOCITY WITH FORCE TABLES 审中-公开
    银行角度估计通过车辆横向速度与强度表

    公开(公告)号：US20100131141A1

    公开(公告)日：2010-05-27

    申请号：US12275856

    申请日：2008-11-21

    申请人： Jihan Ryu ,  Flavio Nardi ,  Nikolai K. Moshchuk ,  Kevin A. O'dea

    发明人： Jihan Ryu ,  Flavio Nardi ,  Nikolai K. Moshchuk ,  Kevin A. O'dea

    IPC分类号： B60W30/02

    CPC分类号： B60T8/17551 ,  B60T8/172 ,  B60T2210/22 ,  B60W40/06 ,  B60W40/109 ,  B60W40/112

    摘要： A method for road bank detection that has particular application in vehicle stability control systems and vehicle roll-over avoidance systems. The method for detection of a road bank includes obtaining a yaw rate value and a front and/or rear axle force value for a vehicle travelling on the road. It further includes comparing the obtained vehicle yaw rate value with a corresponding predetermined vehicle yaw rate value to obtain a vehicle yaw rate error value and comparing the obtained vehicle front and/or rear axle force value with a corresponding predetermined vehicle front and/or rear axle force value to obtain a vehicle front and/or rear axle force error value, and detecting the road bank based on the obtained vehicle yaw rate error value and the vehicle front and/or rear axle force error value.

    摘要翻译： 一种在车辆稳定性控制系统和车辆翻转避免系统中具有特殊应用的道路堤防检测方法。 用于检测道路堤的方法包括获得在道路上行驶的车辆的横摆率值和前后轴力值。 进一步包括将获得的车辆横摆角速度值与相应的预定车辆横摆角速度值进行比较，以获得车辆横摆角速度误差值，并将获得的车辆前后轴力值与相应的预定车辆前部和/或后桥 力值以获得车辆前部和/或后轴力误差值，并且基于所获得的车辆横摆率误差值和车辆前部和/或后轴力误差值来检测道路堤。

    Suspension System with Optimized Damper Response for Wide Range of Events
    6.
    发明申请
    Suspension System with Optimized Damper Response for Wide Range of Events 有权
    具有优化阻尼器响应的悬挂系统，用于广泛的事件

    公开(公告)号：US20100042293A1

    公开(公告)日：2010-02-18

    申请号：US12604642

    申请日：2009-10-23

    申请人： Nikolai K. Moshchuk ,  Chandra S. Namuduri ,  Flavio Nardi ,  Jihan Ryu ,  Richard J. Knoll ,  William Golpe

    发明人： Nikolai K. Moshchuk ,  Chandra S. Namuduri ,  Flavio Nardi ,  Jihan Ryu ,  Richard J. Knoll ,  William Golpe

    IPC分类号： G06F17/00

    CPC分类号： B60G17/08 ,  B60G2400/202 ,  B60G2500/104 ,  F16F9/44

    摘要： An analytical methodology for the specification of progressive optimal compression damping of a damper of a suspension system to negotiate a multiplicity of severe events, yet provides very acceptable ride quality and handling during routine events. The damping response of the damper is optimized based upon a progressive optimal constrained events damping function derived from a low envelope curve incorporated with a predetermined damper force acting on the wheel center below a predetermined wheel center velocity, u1, based on ride and handling considerations for a given vehicle or vehicle model according to the prior art methodology, whereby the low envelope curve is constructed utilizing a one degree of freedom nonlinear mechanical system model or a quarter car nonlinear mechanical system model.

    摘要翻译： 用于规范悬架系统阻尼器的渐进最佳压缩阻尼的分析方法，以协商多种严重事件，但在日常事件期间提供非常可接受的乘坐质量和处理。 阻尼器的阻尼响应是基于一个渐进的最优约束事件阻尼函数进行优化的，该阻尼函数是从一个低包络线引出的，该低包络曲线基于一个预定的阻尼力，该预定的阻尼力作用在一个预定的车轮中心速度u1以下， 根据现有技术方法的给定车辆或车辆模型，由此利用一个自由度非线性机械系统模型或四分之一车辆非线性机械系统模型构造低包络线曲线。

    METHOD AND SYSTEM FOR DETECTING A VIBRATION LEVEL OF A WHEEL WITHIN A RESONATING FREQUENCY RANGE OF A VEHICLE SUSPENSION
    7.
    发明申请
    METHOD AND SYSTEM FOR DETECTING A VIBRATION LEVEL OF A WHEEL WITHIN A RESONATING FREQUENCY RANGE OF A VEHICLE SUSPENSION 有权
    用于检测车辆悬架的共振频率范围内的车轮振动水平的方法和系统

    公开(公告)号：US20090319123A1

    公开(公告)日：2009-12-24

    申请号：US12144027

    申请日：2008-06-23

    申请人： Flavio Nardi ,  Nikolai K. Moshchuk

    发明人： Flavio Nardi ,  Nikolai K. Moshchuk

    IPC分类号： B60G17/00

    CPC分类号： B60G17/018 ,  B60G17/08 ,  B60G2400/202 ,  B60G2400/252 ,  B60G2400/91 ,  B60G2401/10 ,  B60G2500/10

    摘要： A method that detects whether the vibration level of the wheel is within the resonating frequency range by utilizing discrete velocity measurements. The method includes continuously measuring velocity levels of a wheel relative to a sprung mass vehicle component. These measurements are continuously recorded over a period of time. A periodic algorithm is provided, and the periodic algorithm and the velocity measurements are utilized to determine an output value. The output value is utilized to determine whether the vibration level of the wheel is within the resonating frequency range.

    摘要翻译： 通过利用离散速度测量来检测车轮的振动水平是否在谐振频率范围内的方法。 该方法包括连续测量车轮相对于悬挂质量车辆部件的速度水平。 这些测量在一段时间内连续记录。 提供周期性算法，利用周期算法和速度测量来确定输出值。 输出值用于确定车轮的振动水平是否在谐振频率范围内。

    Longitudinal and lateral velocity estimation using single antenna GPS and magnetic compass
    8.
    发明授权
    Longitudinal and lateral velocity estimation using single antenna GPS and magnetic compass 有权
    使用单天线GPS和磁罗盘的纵向和横向速度估计

    公开(公告)号：US08890747B2

    公开(公告)日：2014-11-18

    申请号：US12392277

    申请日：2009-02-25

    申请人： Flavio Nardi ,  Nikolai K. Moshchuk ,  Jihan Ryu ,  Kevin A. O'Dea

    发明人： Flavio Nardi ,  Nikolai K. Moshchuk ,  Jihan Ryu ,  Kevin A. O'Dea

    IPC分类号： G01S19/53 ,  B60T8/172 ,  G01S19/40 ,  G01S19/45 ,  G01S19/52

    CPC分类号： B60T8/172 ,  B60T2210/36 ,  B60T2230/02 ,  G01S19/52 ,  G01S19/53

    摘要： A system and method is provided for determining a lateral velocity and a longitudinal velocity of a vehicle equipped. The vehicle includes only one antenna for a GPS receiver and a magnetic compass. A magnitude of a velocity vector of the vehicle is determined. A course angle with respect to a fixed reference using the single antenna GPS receiver is determined. A yaw angle of the vehicle is measured with respect to the fixed reference using a magnetic compass. A side slip angle is calculated as a function of the course angle and the yaw angle. The lateral velocity and longitudinal velocity is determined as a function of the magnitude of the velocity vector and the side slip angle.

    摘要翻译： 提供了一种用于确定装备的车辆的横向速度和纵向速度的系统和方法。 该车辆仅包括用于GPS接收器和磁罗盘的一个天线。 确定车辆的速度矢量的大小。 确定相对于使用单个天线GPS接收机的固定参考的航向角度。 使用磁罗经测量相对于固定基准的车辆的偏航角。 作为行程角和偏航角的函数计算侧滑角。 横向速度和纵向速度被确定为速度矢量和侧滑角的大小的函数。

    Method of operating an electronic stability control
    9.
    发明授权
    Method of operating an electronic stability control 有权
    操作电子稳定控制的方法

    公开(公告)号：US08886434B2

    公开(公告)日：2014-11-11

    申请号：US12365594

    申请日：2009-02-04

    申请人： Kevin A. O'Dea ,  Flavio Nardi ,  Jihan Ryu

    发明人： Kevin A. O'Dea ,  Flavio Nardi ,  Jihan Ryu

    IPC分类号： G06F7/70 ,  G06F19/00 ,  G06G7/00 ,  G06G7/76 ,  B60B39/00 ,  B60T7/12 ,  G05D1/00 ,  G06F17/00 ,  B60T8/24 ,  B60W30/02

    CPC分类号： B60W30/02

    摘要： A method of stabilizing a vehicle is provided. The vehicle is travelling at a forward speed and a lateral speed, and comprises a lateral acceleration sensor, a yaw sensor adapted to detect an actual yaw rate of the vehicle around a central axis, a steering mechanism adapted to steer the vehicle by a steered yaw rate, and an electronic stability control system. The method comprises determining the forward speed of the vehicle with the electronic stability control system, determining a yaw error rate based upon a difference between the actual yaw rate of the vehicle and the steered yaw rate, determining the vehicle is in an unstable condition by comparing the yaw error rate to a first predetermined yaw rate, computing a calculated lateral speed based on acceleration data from the lateral acceleration sensor, the forward speed, and the actual yaw rate in response to determining the vehicle is in the unstable condition, calculating a correction factor based on the calculated lateral speed of the vehicle and the forward speed of the vehicle, and adjusting operation of the electronic stability control system by the correction factor.

    摘要翻译： 提供一种稳定车辆的方法。 车辆以前进速度和横向速度行驶，并且包括横向加速度传感器，适于检测围绕中心轴线的车辆的实际横摆角速度的偏航传感器，适于通过转向偏转来转向车辆的转向机构 速率和电子稳定性控制系统。 该方法包括使用电子稳定性控制系统确定车辆的前进速度，基于车辆的实际横摆角速度与转向偏航率之间的差异来确定偏航误差率，通过比较确定车辆处于不稳定状态 响应于车辆的确定，基于来自横向加速度传感器的加速度数据，前进速度和实际横摆率计算计算出的横向速度的偏航错误率处于不稳定状态，计算校正值 基于计算出的车辆横向速度和车辆前进速度的因子，以及通过校正因子来调整电子稳定性控制系统的操作。