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公开(公告)号：US20070162202A1
公开(公告)日：2007-07-12
申请号：US11330640
申请日：2006-01-12
申请人： Nikolai Moshchuk , Shih-Ken Chen , Cheng-Foo Chen
发明人： Nikolai Moshchuk , Shih-Ken Chen , Cheng-Foo Chen
IPC分类号： G06F17/00 , B60G17/016
CPC分类号： B60W30/04 , B60G2800/9124 , B60W40/11 , B60W40/112 , B60W40/114 , B60W2720/18
摘要： A system and method for providing a vehicle roll stability indicator that estimates the propensity for vehicle rollover. The system determines vehicle kinematics from vehicle sensors, such as roll rate, yaw rate, lateral acceleration, vehicle speed, etc. From these kinematic values, the system estimates a roll angle of the vehicle and a bank angle of the vehicle. From the estimated bank angle, the system provides a corrected roll angle. From the corrected roll angle, the system determines a roll energy of the vehicle and a roll energy rate of the vehicle. From the roll energy and the roll energy rate, the system calculates a roll stability indicator that defines the potential that the vehicle will tip-up or roll over. From the roll stability indicator, vehicle stability control systems can take suitable action.
摘要翻译： 一种用于提供估计车辆翻车倾向的车辆侧倾稳定性指示器的系统和方法。 该系统从车辆传感器确定车辆运动学，例如滚转速率，横摆角速度，横向加速度，车辆速度等。从这些运动学值，系统估计车辆的侧倾角和车辆的倾斜角度。 从估计的倾斜角度，系统提供校正的滚动角度。 根据校正的滚动角度，系统确定车辆的滚动能量和车辆的滚动能量速率。 根据滚动能量和滚动能量速率，系统计算出一个滚动稳定性指标，该指标定义了车辆翻倒或翻转的潜力。 从滚动稳定性指标出发，车辆稳定性控制系统可以采取适当的行动。
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2.发明申请Estimation of vehicle roll rate and roll angle using suspension deflection sensors 有权使用悬架偏转传感器估计车辆滚动速率和滚动角度公开(公告)号：US20070239320A1
公开(公告)日：2007-10-11
申请号：US11400844
申请日：2006-04-10
申请人： Jihan Ryu , Shih-Ken Chen , Nikolai Moshchuk
发明人： Jihan Ryu , Shih-Ken Chen , Nikolai 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。
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公开(公告)号：US20070162204A1
公开(公告)日：2007-07-12
申请号：US11685833
申请日：2007-03-14
申请人： Nikolai Moshchuk , Shih-Ken Chen , Flavio Nardi
发明人： Nikolai Moshchuk , Shih-Ken Chen , Flavio Nardi
IPC分类号： B60G17/016
CPC分类号： B60W30/04 , B60G2800/9124 , B60W40/11 , B60W40/112 , B60W40/114 , B60W2720/18
摘要： A system and method for providing a vehicle roll stability indicator that dynamically estimates the probability for vehicle rollover. The system determines vehicle kinematics from various vehicle sensors. From these kinematic values, the system estimates a roll angle of the vehicle and a bank angle of the vehicle. The estimated bank angle is used to correct the roll angle. The system determines a roll energy of the vehicle and a roll energy rate of the vehicle from the corrected roll angle. The system also calculates a tire lateral load transfer of the relative forces on the vehicle tires, and the duration that any of the tires have been off of the ground. From the roll energy, the roll energy rate, the tire lateral load transfer and the wheel airborne duration, the system calculates the roll stability indicator.
摘要翻译： 一种用于提供车辆侧倾稳定性指示器的系统和方法，其动态地估计车辆翻车的可能性。 该系统从各种车辆传感器确定车辆运动学。 从这些运动学值，系统估计车辆的侧倾角和车辆的倾斜角。 估计的倾斜角用于校正滚动角度。 系统根据校正的滚动角度确定车辆的滚动能量和车辆的滚动能量速率。 该系统还计算车辆轮胎上的相对力的轮胎横向载荷传递以及任何轮胎已经离开地面的持续时间。 从滚动能量，滚动能量速率，轮胎侧向载荷传递和车轮空中持续时间，系统计算滚动稳定性指标。
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公开(公告)号：US20070112474A1
公开(公告)日：2007-05-17
申请号：US11280943
申请日：2005-11-16
申请人： Shih-Ken Chen , Jihan Ryu , Nikolai Moshchuk
发明人： Shih-Ken Chen , Jihan Ryu , Nikolai 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。
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公开(公告)号：US20070185623A1
公开(公告)日：2007-08-09
申请号：US11346948
申请日：2006-02-03
申请人： Shih-Ken Chen , Jihan Ryu , Cheng-Foo Chen
发明人： Shih-Ken Chen , Jihan Ryu , Cheng-Foo Chen
IPC分类号： G06F17/00
CPC分类号： B60W30/04 , B60G2400/104 , B60G2400/208 , B60G2400/252 , B60W2510/22 , B60W2520/125 , B60W2520/14
摘要： A system and method for detecting vehicle wheel lift. The system includes wheel speed sensors for measuring the speed of each wheel of the vehicle, and suspension sensors for measuring the position of the vehicle suspension at each wheel of the vehicle. A controller determines whether any of the wheels are off the ground by using a kinematic relationship that uses the wheel speed signals and independently determines whether any of the wheels are off the ground by using damper spring displacement from the suspension sensors.
摘要翻译： 一种用于检测车轮升降的系统和方法。 该系统包括用于测量车辆每个车轮的速度的车轮速度传感器和用于测量车辆每个车轮处的车辆悬架的位置的悬架传感器。 控制器通过使用使用车轮速度信号的运动学关系来确定任何车轮是否离开地面，并且通过使用来自悬架传感器的阻尼弹簧位移来独立地确定任何车轮是否离开地面。
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公开(公告)号：US07788007B2
公开(公告)日：2010-08-31
申请号：US11330640
申请日：2006-01-12
IPC分类号： B60G17/16
CPC分类号： B60W30/04 , B60G2800/9124 , B60W40/11 , B60W40/112 , B60W40/114 , B60W2720/18
摘要： A system and method for providing a vehicle roll stability indicator that estimates the propensity for vehicle rollover. The system determines vehicle kinematics from vehicle sensors, such as roll rate, yaw rate, lateral acceleration, vehicle speed, etc. From these kinematic values, the system estimates a roll angle of the vehicle and a bank angle of the vehicle. From the estimated bank angle, the system provides a corrected roll angle. From the corrected roll angle, the system determines a roll energy of the vehicle and a roll energy rate of the vehicle. From the roll energy and the roll energy rate, the system calculates a roll stability indicator that defines the potential that the vehicle will tip-up or roll over. From the roll stability indicator, vehicle stability control systems can take suitable action.
摘要翻译： 一种用于提供估计车辆翻车倾向的车辆侧倾稳定性指示器的系统和方法。 该系统从车辆传感器确定车辆运动学，例如滚转速率，横摆角速度，横向加速度，车辆速度等。从这些运动学值，系统估计车辆的侧倾角和车辆的倾斜角度。 从估计的倾斜角度，系统提供校正的滚动角度。 从校正的滚动角度，系统确定车辆的滚动能量和车辆的滚动能量速率。 根据滚动能量和滚动能量速率，系统计算出一个滚动稳定性指标，该指标定义了车辆翻倒或翻转的潜力。 从滚动稳定性指标出发，车辆稳定性控制系统可以采取适当的行动。
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公开(公告)号：US07571039B2
公开(公告)日：2009-08-04
申请号：US11463052
申请日：2006-08-08
IPC分类号： B60G17/016 , B60G23/00 , B62K25/00
CPC分类号： B60G17/0162 , B60G17/0152 , B60G2202/20 , B60G2400/0521 , B60G2400/0523 , B60G2400/104 , B60G2400/204 , B60G2800/0124 , B60G2800/9124 , Y10S180/901
摘要： A rollover avoidance system for changing the damping characteristics of suspension dampers at each wheel of a vehicle so as to mitigate the potential for vehicle rollover. The system includes a plurality of vehicle parameter sensors for measuring vehicle parameters and providing vehicle parameter signals. The system also includes a controller for generating a damper suspension command signal for each damper using the vehicle parameter signals. The controller considers a roll control factor representing a rollover condition of the vehicle and a yaw stability control factor representing a yaw condition of the vehicle to set the damping of the dampers to mitigate the potential for vehicle rollover.
摘要翻译： 一种用于改变车辆每个车轮处的悬挂阻尼器的阻尼特性的翻转避免系统，以便减轻车辆翻车的可能性。 该系统包括多个用于测量车辆参数并提供车辆参数信号的车辆参数传感器。 该系统还包括控制器，用于使用车辆参数信号为每个阻尼器产生阻尼器悬挂指令信号。 控制器考虑表示车辆的翻转状态的滚动控制因素以及表示车辆的偏航条件的偏航稳定性控制因素，以设定阻尼器的阻尼以减轻车辆翻车的可能性。
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公开(公告)号：US20080040000A1
公开(公告)日：2008-02-14
申请号：US11463052
申请日：2006-08-08
IPC分类号： B60G17/016
CPC分类号： B60G17/0162 , B60G17/0152 , B60G2202/20 , B60G2400/0521 , B60G2400/0523 , B60G2400/104 , B60G2400/204 , B60G2800/0124 , B60G2800/9124 , Y10S180/901
摘要： A rollover avoidance system for changing the damping characteristics of suspension dampers at each wheel of a vehicle so as to mitigate the potential for vehicle rollover. The system includes a plurality of vehicle parameter sensors for measuring vehicle parameters and providing vehicle parameter signals. The system also includes a controller for generating a damper suspension command signal for each damper using the vehicle parameter signals. The controller considers a roll control factor representing a rollover condition of the vehicle and a yaw stability control factor representing a yaw condition of the vehicle to set the damping of the dampers to mitigate the potential for vehicle rollover.
摘要翻译： 一种用于改变车辆每个车轮处的悬挂阻尼器的阻尼特性的翻转避免系统，以便减轻车辆翻车的可能性。 该系统包括多个用于测量车辆参数并提供车辆参数信号的车辆参数传感器。 该系统还包括控制器，用于使用车辆参数信号为每个阻尼器产生阻尼器悬挂指令信号。 控制器考虑表示车辆的翻转状态的滚动控制因素以及表示车辆的偏航条件的偏航稳定性控制因素，以设定阻尼器的阻尼以减轻车辆翻车的可能性。
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9.发明授权Directing vehicle into feasible region for autonomous and semi-autonomous parking 有权引导车辆进入可行区域进行自主和半自动停车公开(公告)号：US08862321B2
公开(公告)日：2014-10-14
申请号：US13586077
申请日：2012-08-15
IPC分类号： B60G17/018 , B62C3/00 , B62D5/04
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。
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公开(公告)号：US08775006B2
公开(公告)日：2014-07-08
申请号：US13544689
申请日：2012-07-09
CPC分类号： B60W50/08 , B60W30/09 , B62D15/0265 , G08G1/16 , G08G1/164 , G08G1/165 , G08G1/166 , G08G1/167
摘要： A method and system may determine, in a vehicle, a desired path around an object based on a location of the object relative to the vehicle, relative speed, road parameters and one or more vehicle parameters. The method and system may calculate one or more vehicle control parameter values which minimize a predicted deviation from the desired vehicle path. The method and system may determine whether the one or more vehicle control parameter values would cause the vehicle to exceed one or more vehicle stability constraints. If the one or more vehicle control parameter values would cause the vehicle to exceed one or more vehicle stability constraints, the one or more vehicle control parameter values may be reduced to one or more vehicle control parameter values not causing the vehicle to exceed the one or more vehicle stability constraints. The method and system may output the one or more vehicle control parameter values to a vehicle automated control device.
摘要翻译： 方法和系统可以在车辆中基于物体相对于车辆的位置，相对速度，道路参数和一个或多个车辆参数来确定物体周围的期望路径。 该方法和系统可以计算一个或多个车辆控制参数值，其使预期偏离预期车辆路径最小化。 方法和系统可以确定一个或多个车辆控制参数值是否将导致车辆超过一个或多个车辆稳定性约束。 如果一个或多个车辆控制参数值将导致车辆超过一个或多个车辆稳定性约束，则一个或多个车辆控制参数值可以被减少到一个或多个车辆控制参数值，该车辆控制参数值不会导致车辆超过一个或 更多的车辆稳定性约束。 方法和系统可以将一个或多个车辆控制参数值输出到车辆自动控制装置。
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