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    IDENTIFICATION OF VEHICLE CG HEIGHT AND MASS FOR ROLL CONTROL
    1.
    发明申请
    IDENTIFICATION OF VEHICLE CG HEIGHT AND MASS FOR ROLL CONTROL 有权
    识别车身高度和质量控制

    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。

    Vehicle stability control with lateral dynamics feedback
    2.
    发明授权
    Vehicle stability control with lateral dynamics feedback 失效
    车辆稳定控制与横向动力反馈

    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。

    Identification of vehicle CG height and mass for roll control
    3.
    发明授权
    Identification of vehicle CG height and mass for roll control 有权
    车辆CG高度和质量的识别

    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。

    Estimation of vehicle roll rate and roll angle using suspension deflection sensors
    4.
    发明授权
    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：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。

    Directing vehicle into feasible region for autonomous and semi-autonomous parking
    5.
    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

    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： 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。

    System and method for enhanced vehicle control
    6.
    发明授权
    System and method for enhanced vehicle control 有权
    用于增强车辆控制的系统和方法

    公开(公告)号：US08775006B2

    公开(公告)日：2014-07-08

    申请号：US13544689

    申请日：2012-07-09

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

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

    IPC分类号： G01C21/00 ,  B60W50/08 ,  B60W30/09 ,  B62D15/02 ,  G08G1/16

    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。

    REAL-TIME ALLOCATION OF ACTUATOR TORQUE IN A VEHICLE
    9.
    发明申请
    REAL-TIME ALLOCATION OF ACTUATOR TORQUE IN A VEHICLE 有权
    车辆执行器扭矩的实时分配

    公开(公告)号：US20120197469A1

    公开(公告)日：2012-08-02

    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： B60L15/20 ,  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的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
    10.
    发明申请
    Autonomous Parking Strategy of the Vehicle with Rear Steer 有权
    后转向车辆自主停车策略

    公开(公告)号：US20110087405A1

    公开(公告)日：2011-04-14

    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： B62D6/00

    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。