公开(公告)号：US20090235724A1

公开(公告)日：2009-09-24

申请号：US12051391

申请日：2008-03-19

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

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

IPC分类号： G01M1/00

CPC分类号： G01M1/122 ,  G01G19/086 ,  G01M17/007

摘要： A system and method for determining vehicle CG height and mass in real-time. The method includes selecting a set of vehicle parameters to be considered that includes the vehicle mass and the center of gravity height of the vehicle. Frequency responses are generated using the dynamic model and a plurality of different values for the selected vehicle parameters. During vehicle operation, frequency responses are calculated from a measured vehicle lateral acceleration to a roll angle and/or a roll rate of the vehicle. The generated frequency responses and the calculated frequency responses are compared to determine which of the generated frequency responses more closely matches the calculated frequency responses. The generated frequency responses that most closely match the calculated frequency responses are used to determine the center of gravity height and the vehicle mass from the values for the vehicle parameters.

摘要翻译： 实时确定车辆CG高度和质量的系统和方法。 该方法包括选择要被认为包括车辆质量和车辆重心高度的一组车辆参数。 使用动态模型和所选择的车辆参数的多个不同值来生成频率响应。 在车辆操作期间，从测量的车辆横向加速度到滚动角度和/或车辆的滚动速度计算频率响应。 比较产生的频率响应和计算出的频率响应，以确定哪个产生的频率响应与计算出的频率响应更紧密地匹配。 与计算出的频率响应最接近的产生的频率响应用于根据车辆参数值确定重心高度和车辆质量。

公开(公告)号：US07440824B2

公开(公告)日：2008-10-21

申请号：US11280943

申请日：2005-11-16

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

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

IPC分类号： G06F19/00

CPC分类号： B60T8/172 ,  B60T8/17551 ,  B60T2230/02

摘要： A system and method for estimating vehicle side-slip velocity that includes measuring the lateral acceleration of the vehicle, measuring the yaw rate of the vehicle, measuring the longitudinal speed of the vehicle and measuring the steering angle of the vehicle. The measured longitudinal speed is corrected to provide a true longitudinal speed using a filter factor based on the vehicle-dependent parameters and a steering angle. A constant is defined based on the measured longitudinal speed and a function is defined based on the combination of the vehicle-dependent parameters and the lateral acceleration. Side-slip acceleration is calculated using the measured lateral acceleration, the true longitudinal speed, the yaw rate, the constant and the function.

摘要翻译： 一种用于估计车辆侧滑速度的系统和方法，包括测量车辆的横向加速度，测量车辆的横摆角速度，测量车辆的纵向速度并测量车辆的转向角。 使用基于车辆相关参数和转向角的滤波因子来校正所测量的纵向速度以提供真实的纵向速度。 基于测量的纵向速度来定义常数，并且基于车辆相关参数和横向加速度的组合来定义功能。 侧滑加速度使用测量的横向加速度，真实纵向速度，横摆角速度，常数和功能计算。

公开(公告)号：US07865296B2

公开(公告)日：2011-01-04

申请号：US12051391

申请日：2008-03-19

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

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

IPC分类号： G06F17/10 ,  G01M1/00 ,  G05D1/00

CPC分类号： G01M1/122 ,  G01G19/086 ,  G01M17/007

摘要： A system and method for determining vehicle CG height and mass in real-time. The method includes selecting a set of vehicle parameters to be considered that includes the vehicle mass and the center of gravity height of the vehicle. Frequency responses are generated using the dynamic model and a plurality of different values for the selected vehicle parameters. During vehicle operation, frequency responses are calculated from a measured vehicle lateral acceleration to a roll angle and/or a roll rate of the vehicle. The generated frequency responses and the calculated frequency responses are compared to determine which of the generated frequency responses more closely matches the calculated frequency responses. The generated frequency responses that most closely match the calculated frequency responses are used to determine the center of gravity height and the vehicle mass from the values for the vehicle parameters.

摘要翻译： 实时确定车辆CG高度和质量的系统和方法。 该方法包括选择要被认为包括车辆质量和车辆重心高度的一组车辆参数。 使用动态模型和所选择的车辆参数的多个不同值来生成频率响应。 在车辆操作期间，从测量的车辆横向加速度到滚动角度和/或车辆的滚动速度计算频率响应。 比较产生的频率响应和计算出的频率响应，以确定哪个产生的频率响应与计算出的频率响应更紧密地匹配。 与计算出的频率响应最接近的产生的频率响应用于根据车辆参数值确定重心高度和车辆质量。

公开(公告)号：US07571030B2

公开(公告)日：2009-08-04

申请号：US11400844

申请日：2006-04-10

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

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

IPC分类号： G06F17/00

CPC分类号： B60T8/172 ,  B60T2230/03 ,  B60T2270/86

摘要： A system and method for estimating vehicle roll rate and roll angle. The system includes a suspension deflection sensor provided at each wheel of the vehicle that provides suspension measurement signals indicative of the roll of the vehicle. The system also includes a roll rate estimator that uses the suspension measurement signals and an estimated tire deflection of the wheels to provide a roll rate estimation signal. The system also includes a vehicle roll angle and a roll rate estimator that uses the roll rate estimation signal and a dynamic model to estimate the roll angle and refine the roll rate. The roll rate estimator calculates the roll rate one way if none of the vehicle wheels are off of the ground and calculates it another way if any of the wheels are off of the ground.

摘要翻译： 一种用于估计车辆滚动速率和滚动角度的系统和方法。 该系统包括设置在车辆的每个车轮处的悬架偏转传感器，其提供指示车辆的滚动的悬架测量信号。 该系统还包括使用悬架测量信号和轮的估计的轮胎偏转以提供滚动速率估计信号的滚动速率估计器。 该系统还包括使用滚动速率估计信号的车辆滚动角度和滚动速率估计器，以及动态模型来估计滚动角度并优化滚动速率。 如果没有车轮离开地面，滚动速率估计器可以单向计算滚动速率，如果任何一个车轮离开地面，则以另一种方式进行计算。

公开(公告)号：US20110125455A1

公开(公告)日：2011-05-26

申请号：US13018671

申请日：2011-02-01

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： G06F15/00 ,  G01P3/00

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。

公开(公告)号：US20100131145A1

公开(公告)日：2010-05-27

申请号：US12276996

申请日：2008-11-24

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： G06F17/00

CPC分类号： B60T8/172 ,  B60T2210/12 ,  B60T2230/02 ,  B60T2250/04

摘要： A system and method for estimating vehicle lateral velocity and surface coefficient of friction using front and rear axle lateral force versus side-slip angle tables and sensor measurements. The sensor measurements include lateral acceleration, yaw-rate, longitudinal speed and steering angle of the vehicle. The method includes calculating front and rear axle lateral forces and front and rear side-slip angles on the axles of the vehicle. The method also includes identifying two equations from the calculated lateral forces and the vehicle measurements. The method provides tables that identify a relationship between the calculated front and rear axle lateral forces and the front and rear side-slip angles, and determines the vehicle lateral velocity and surface coefficient of friction from the tables.

摘要翻译： 使用前桥和后桥横向力与侧滑角表和传感器测量值来估计车辆横向速度和表面摩擦系数的系统和方法。 传感器测量包括车辆的横向加速度，偏航速率，纵向速度和转向角。 该方法包括计算前桥和后桥侧向力以及车辆轴上的前后侧滑角。 该方法还包括从所计算的横向力和车辆测量中识别两个方程式。 该方法提供了表示计算出的前轴和后桥侧向力与前后侧滑角之间的关系的表格，并且确定车辆的横向速度和表面摩擦系数。

公开(公告)号：US20100131144A1

公开(公告)日：2010-05-27

申请号：US12276978

申请日：2008-11-24

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： G06F7/00

CPC分类号： B60W40/103 ,  B60W2520/125 ,  B60W2520/14

摘要： A system and method for estimating vehicle lateral velocity. The method uses a kinematic estimator constructed as a closed-loop Leunberger observer. The kinematic estimator is based on a kinematic relationship between lateral acceleration measurement and rate of change of lateral velocity. The method provides measurement updates based on virtual lateral velocity measurements from front and rear axle lateral force versus axle side-slip angle tables using the lateral acceleration, yaw-rate, longitudinal speed, and steering angle measurements. The method calculates front and rear axle lateral forces from the lateral acceleration and yaw-rate measurements. The method estimates front and rear axle side-slip angles from the calculated front and rear axle lateral forces using the tables. The method calculates multiple virtual lateral velocities from the front and rear side-slip angles and selects one of the virtual lateral velocities that minimizes an error between a measured force and an estimated force as the lateral velocity.

摘要翻译： 一种用于估计车辆横向速度的系统和方法。 该方法使用构造为闭环Leunberger观测器的运动估计器。 运动学估计器是基于侧向加速度测量与横向速度变化率之间的运动学关系。 该方法使用横向加速度，偏航速率，纵向速度和转向角度测量，基于来自前轴和后桥侧向力与车轴侧滑角表的虚拟侧向速度测量提供测量更新。 该方法从横向加速度和偏航率测量值计算前后轴向力。 该方法从所计算的前轴和后桥侧向力使用表来估计前后轴侧滑角。 该方法从前后侧滑角计算多个虚拟侧向速度，并且选择将被测量的力和估计力之间的误差最小化的虚拟横向速度中的一个作为横向速度。

公开(公告)号：US20090062983A1

公开(公告)日：2009-03-05

申请号：US11939698

申请日：2007-11-14

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

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

IPC分类号： G06F17/00 ,  B62K25/00 ,  F16F9/512

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

摘要： An analytical methodology for the specification of progressive optimal compression damping of a suspension system to negotiate severe events, yet provides very acceptable ride quality and handling during routine events. In a broad aspect, the method provides a progressive optimal unconstrained damping response of the wheel assembly with respect to the body. In a preferred aspect, the method provides a progressive optimal constrained damping response of the wheel assembly with respect to the body, wherein below a predetermined velocity a conventional damper force is retained.

摘要翻译： 用于规范悬架系统的渐进最佳压缩阻尼以协商严重事件的分析方法，但在常规事件期间提供非常可接受的乘坐质量和处理。 在广泛的方面，该方法提供了车轮组件相对于车身的渐进最优无约束阻尼响应。 在一个优选的方面，该方法提供了车轮组件相对于车身的渐进最优约束阻尼响应，其中在预定速度下保持传统的阻尼力。

公开(公告)号：US08428819B2

公开(公告)日：2013-04-23

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： B60G23/00

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。

公开(公告)号：US08078351B2

公开(公告)日：2011-12-13

申请号：US12277027

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： G06F7/00

CPC分类号： B60T8/172 ,  B60T2210/12 ,  B60T2230/02

摘要： A system and method for estimating surface coefficient of friction in a vehicle system. The method includes providing a kinematics relationship between vehicle yaw-rate, vehicle speed, vehicle steering angle and vehicle front and rear axle side-slip angles that is accurate for all surface coefficient of frictions on which the vehicle may be traveling. The method defines a nonlinear function for the front and rear axle side-slip angles relating to front and rear lateral forces and coefficient of friction, and uses the nonlinear function in the kinematics relationship. The method also provides a linear relationship of the front and rear axle side-slip angles and the front and rear lateral forces using the kinematics relationship. The method determines that the vehicle dynamics have become nonlinear using the linear relationship and then estimates the surface coefficient of friction when the vehicle dynamics are nonlinear.

摘要翻译： 一种用于估计车辆系统中的摩擦力表面系数的系统和方法。 该方法包括提供车辆偏航率，车辆速度，车辆转向角度以及车辆前后侧滑角之间的运动学关系，其对于车辆可能在其上行驶的摩擦的所有表面系数是准确的。 该方法定义了与前后侧向力和摩擦系数有关的前轴和后桥侧滑角的非线性函数，并在运动学关系中使用非线性函数。 该方法还使用运动学关系提供前后轴侧滑角与前后侧向力的线性关系。 该方法通过线性关系确定车辆动力学变为非线性，然后估计当车辆动力学是非线性时的摩擦表面系数。