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1.发明申请公开(公告)号：US20170021689A1
公开(公告)日：2017-01-26
申请号：US15039889
申请日：2014-11-20
IPC分类号： B60G17/0185 , B60G17/018 , G07C5/08
CPC分类号： B60G17/0185 , B60G17/0182 , B60G2300/12 , B60G2400/106 , B60G2400/25 , B60G2400/252 , B60G2401/25 , B60G2500/106 , B60G2600/08 , B60G2600/084 , B60G2600/1871 , B60G2600/82 , B62K2025/044 , G07C5/0808
摘要： A method is described for determining multiplicative faults of a sensor installed in a system comprising a plurality of sensors, comprising the steps of:—detecting an effective target signal (s) from a target sensor, representative of a target quantity of the system;—detecting one or more auxiliary signals respectively from one or more auxiliary sensors of the system besides the target sensor, representative of auxiliary quantities of the system;—determining an estimated target signal (s*) representative of the target quantity from the one or more auxiliary signals;—determining a first quadratic difference (r+) between the effective target signal (s) multiplied by a multiplicative positive factor (cr+) greater than 1, and the estimated target signal (s*);—determining a second quadratic difference (r) between the effective target signal (s) and estimated target signal (s*);—determining a third quadratic difference (r−) between the effective target signal (s) multiplied by a positive multiplicative factor (c−) smaller than 1, and the estimated target signal (s*);—determining a first ratio (r/r+) between the second (r) and lirst quadratic differences (r+);—determining a second ratio (r/r−) between the second (r) and third quadratic differences (r−);—comparing the first (r/r+) and second ratios (r/r−) with a first comparison factor (Kf);—determining the square of the effective target signal (s); determining the square of the estimated target signal (s*); comparing the square of the effective target signal (s) and square of estimated target signatl (s*) with a second comparison factor (Ke); establishing the presence of multiplicative faults of target sensor if at least one between the first (r/r+) and second ratios (r/r−) is greater than the first comparison factor (Kf), and at least one between the square of the effective target signal (s) and square of the estimated target signal (s*) is greater than said second comparison factor (Ke).
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公开(公告)号：US20030074118A1
公开(公告)日：2003-04-17
申请号：US10268866
申请日：2002-10-10
发明人： Andreas Rogg , Frank Manken
IPC分类号： G06F019/00
CPC分类号： G07C5/085 , B60G2600/084 , B60G2600/086 , B60W50/00 , B60W2050/021 , B60W2050/0292 , G05B19/0428
摘要： An industrial truck having a first and a second controller, each of which has an apparatus for a self-diagnosis of sensors and actuators of the controller, including one or more data lines between the first and the second controller for a transmission of operating and diagnostic data of the controllers wherein the operating and diagnostic data are transmitted on one or more interfaces with a common protocol, and a translation device for diagnostic data of the first controller for an interface of the second controller to which the diagnostic data of the second controller is applied, wherein the translation device translates the diagnostic data of the first controller into the same protocol in which the diagnostic data of the second controller is applied to the interface and both the interface and protocol are suited for exchanging diagnostic and operating data to communicate with additional controllers.
摘要翻译： 一种具有第一和第二控制器的工业车辆，每个控制器具有用于自动诊断控制器的传感器和致动器的装置，包括在第一和第二控制器之间的一个或多个数据线，用于传送操作和诊断 控制器的数据，其中操作和诊断数据在具有公共协议的一个或多个接口上传输，以及用于第二控制器的接口的第一控制器的诊断数据的翻译设备，第二控制器的诊断数据是 应用，其中所述翻译设备将所述第一控制器的诊断数据转换为将所述第二控制器的诊断数据应用于所述接口的相同协议，并且所述接口和协议都适于交换诊断和操作数据以与附加的通信 控制器
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公开(公告)号：US20150046034A1
公开(公告)日：2015-02-12
申请号：US14386838
申请日：2013-05-13
发明人： Hironobu Kikuchi
IPC分类号： B60W30/02 , B60T7/12 , B60G17/0195
CPC分类号： B60W30/02 , B60G17/018 , B60G17/0182 , B60G17/0185 , B60G17/0195 , B60G17/06 , B60G2400/204 , B60G2400/41 , B60G2400/64 , B60G2600/08 , B60G2600/084 , B60G2600/604 , B60G2800/70 , B60G2800/802 , B60G2800/916 , B60T7/12 , B60W10/06 , B60W10/184 , B60W10/22 , B60W2030/206 , B60W2520/14 , B60W2540/18 , B60W2710/0666 , B60W2710/223 , B60W2710/226
摘要： A vehicle control device includes a sensor and a controller. The sensor detects wheel speed. The controller estimates sprung mass state based on detected information in a prescribed frequency range. The controller controls a variable-damping force shock absorber to bring the estimated sprung mass state to a target sprung mass state. The controller estimates wheel rim braking/drive torque acting on a wheel. The controller determines the estimation accuracy of the sprung mass state has deteriorated when a rate of change of a stationary component extracted from components of wheel rim braking/drive torque acting on a wheel is detected to equal or exceed a prescribed value. The controller controls the variable-damping force shock absorber to a more limited extent than when the estimation accuracy has not deteriorated.
摘要翻译： 车辆控制装置包括传感器和控制器。 传感器检测车轮速度。 控制器基于在规定频率范围内的检测信息来估计弹簧质量状态。 控制器控制可变阻尼力减震器以将估计的弹簧质量状态带到目标弹簧质量状态。 控制器估计作用在车轮上的轮辋制动/驱动扭矩。 当从轮辋制动/作用在车轮上的驱动转矩的分量提取的静止部件的变化率被检测到等于或超过规定值时，控制器确定弹簧质量状态的估计精度已劣化。 控制器将可变阻尼力减震器控制在比估计精度没有劣化的程度上更有限的程度。
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公开(公告)号：US08463506B2
公开(公告)日：2013-06-11
申请号：US13254357
申请日：2010-03-09
IPC分类号： G06F7/00
CPC分类号： B62D17/00 , B60G17/0152 , B60G17/0164 , B60G2200/462 , B60G2202/42 , B60G2400/05142 , B60G2400/25 , B60G2400/60 , B60G2400/82 , B60G2500/40 , B60G2600/084 , B60G2800/962 , B62D5/0418 , B62D5/046 , B62D7/146 , B62D7/159
摘要： Provided is a rear wheel toe angle control system that can prevent the impairment of the tracking performance of the electric actuator and enable the rear wheel toe angle control system to ensure the stability of the vehicle even when the electric actuator for steering the rear wheel according to the operating condition of the vehicle is subjected to an axial force. An ECU (12) serving as a rear wheel toe angle control unit for variably controlling the rear wheel toe angle (δr) of the motor vehicle (V) by using an electric actuator (11) is provided with a duty ratio correcting unit (25) that corrects the target duty ratio (Dtgt) for achieving the target rear wheel toe angle (δrtgt) according to the load condition of the electric actuator (11) that depends on the lateral acceleration (Gy) of the motor vehicle (V).
摘要翻译： 提供了一种后轮束角控制系统，其可以防止电动致动器的跟踪性能的损害，并且能够使后轮脚趾角度控制系统确保车辆的稳定性，即使当根据 车辆的运行状态受到轴向力的影响。 作为用于通过使用电致动器（11）可变地控制机动车辆（V）的后轮趾角（Δt）的后轮趾角控制单元的ECU（12）设置有占空比校正单元（25） ），其根据取决于机动车辆（V）的横向加速度（Gy）的电致动器（11）的负载条件来校正用于实现目标后轮束角（deltartgt）的目标占空比（Dtgt）。
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5.发明申请公开(公告)号：US20170213336A1
公开(公告)日：2017-07-27
申请号：US15500317
申请日：2015-07-23
发明人： Lucien GARCIA
IPC分类号： G06T7/00 , B60G17/016 , B60R11/04 , H04N13/02
CPC分类号： G06T7/0004 , B60G11/16 , B60G13/006 , B60G15/063 , B60G17/016 , B60G17/0182 , B60G17/0185 , B60G17/019 , B60G2202/12 , B60G2202/24 , B60G2202/312 , B60G2202/322 , B60G2400/824 , B60G2401/14 , B60G2401/142 , B60G2500/30 , B60G2600/08 , B60G2600/084 , B60G2800/70 , B60G2800/802 , B60R11/04 , B60R2011/0026 , B60R2300/105 , B60R2300/107 , B60R2300/303 , G01M17/04 , G06K9/00201 , G06T2207/30164 , G06T2207/30252 , H04N13/239
摘要： The disclosed method checks the state of degradation of the suspension of a vehicle without having to carry out tests that immobilize the vehicle or to use non-objective expertise. The method processes data provided by at least one front camera in an on-board visual system. The checking method includes steps for periodically acquiring images provided by the camera or cameras, followed by storage of the positional data of the three-dimensional road in relation to a flat road and basic positional parameter data for the path of the vehicle. The error between the ideal values of the suspension parameters of a chosen suspension model and the values of these parameters corresponding to the stored path data from the positional data is then minimized. By iteration, the accuracy ε of the error reaches a predetermined value sufficient to diagnose a state of the suspension.
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公开(公告)号：US09643599B2
公开(公告)日：2017-05-09
申请号：US14386838
申请日：2013-05-13
发明人： Hironobu Kikuchi
IPC分类号： B60G17/016 , B60G17/018 , B60W30/02 , B60G17/0195 , B60G17/06 , B60W10/06 , B60W10/184 , B60W10/22 , B60T7/12 , B60G17/0185 , B60W30/20
CPC分类号： B60W30/02 , B60G17/018 , B60G17/0182 , B60G17/0185 , B60G17/0195 , B60G17/06 , B60G2400/204 , B60G2400/41 , B60G2400/64 , B60G2600/08 , B60G2600/084 , B60G2600/604 , B60G2800/70 , B60G2800/802 , B60G2800/916 , B60T7/12 , B60W10/06 , B60W10/184 , B60W10/22 , B60W2030/206 , B60W2520/14 , B60W2540/18 , B60W2710/0666 , B60W2710/223 , B60W2710/226
摘要： A vehicle control device includes a sensor and a controller. The sensor detects wheel speed. The controller estimates sprung mass state based on detected information in a prescribed frequency range. The controller controls a variable-damping force shock absorber to bring the estimated sprung mass state to a target sprung mass state. The controller estimates wheel rim braking/drive torque acting on a wheel. The controller determines the estimation accuracy of the sprung mass state has deteriorated when a rate of change of a stationary component extracted from components of wheel rim braking/drive torque acting on a wheel is detected to equal or exceed a prescribed value. The controller controls the variable-damping force shock absorber to a more limited extent than when the estimation accuracy has not deteriorated.
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公开(公告)号：US07089098B2
公开(公告)日：2006-08-08
申请号：US10268866
申请日：2002-10-10
申请人： Andreas Rogg , Frank Mänken
发明人： Andreas Rogg , Frank Mänken
CPC分类号： G07C5/085 , B60G2600/084 , B60G2600/086 , B60W50/00 , B60W2050/021 , B60W2050/0292 , G05B19/0428
摘要： An industrial truck having a first and a second controller, each of which has an apparatus for a self-diagnosis of sensors and actuators of the controller, including one or more data lines between the first and the second controller for a transmission of operating and diagnostic data of the controllers wherein the operating and diagnostic data are transmitted on one or more interfaces with a common protocol, and a translation device for diagnostic data of the first controller for an interface of the second controller to which the diagnostic data of the second controller is applied, wherein the translation device translates the diagnostic data of the first controller into the same protocol in which the diagnostic data of the second controller is applied to the interface and both the interface and protocol are suited for exchanging diagnostic and operating data to communicate with additional controllers.
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公开(公告)号：US20040249549A1
公开(公告)日：2004-12-09
申请号：US10856820
申请日：2004-06-01
发明人： Takayuki Kondoh , Tomohiro Yamamura
IPC分类号： G06F017/10
CPC分类号： B60W40/02 , B60G2400/80 , B60G2400/823 , B60G2600/084 , B60G2800/222 , B60G2800/242 , B60G2800/70 , B60G2800/94 , B60K26/021 , B60T7/22 , B60T2201/02 , B60W30/08 , B60W30/09 , B60W30/18172 , B60W50/16 , B60W2540/10 , B60W2540/12 , B60W2550/20 , B60W2710/18
摘要： A risk potential calculating device for a vehicle, comprises a state recognition device that detects vehicle conditions of a subject vehicle and a traveling environment for vehicle surroundings; and a risk potential calculator that calculates a risk potential for the vehicle surroundings based on detection results of the state recognition device. The risk potential calculator calculates the risk potential by respectively calculating a first risk potential expressing a risk in a case where driving conditions of the subject vehicle are in a steady state and a second risk potential expressing a risk for a case where driving conditions of the subject vehicle are in a transient state, and adding the first risk potential weighted by a first coefficient and the second risk potential weighted by the second coefficient.
摘要翻译： 一种用于车辆的潜在风险计算装置，包括：检测本车辆的车辆状态和车辆周围环境的状态识别装置; 以及潜在风险计算器，其基于所述状态识别装置的检测结果来计算所述车辆环境的潜在风险。 风险潜在计算器通过分别计算在本车辆的驾驶状态处于稳定状态的情况下分别计算表示风险的第一风险潜力，以及表示对于所述对象的行驶条件的情况的风险的第二风险潜力来计算所述风险潜力 车辆处于暂时状态，并且将由第一系数加权的第一潜在风险加上由第二系数加权的第二风险潜力。
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公开(公告)号：US06687585B1
公开(公告)日：2004-02-03
申请号：US10039636
申请日：2001-11-09
IPC分类号： G06F700
CPC分类号： G01M17/00 , B60G17/0185 , B60G17/0195 , B60G2600/042 , B60G2600/08 , B60G2600/084 , B60G2600/1873 , B60G2600/188 , B60G2600/189 , B60G2600/702 , B60G2800/802 , B60T8/885 , B60T17/22 , B60T2270/402 , B60W2050/021 , B62D5/0481 , B62D15/00
摘要： A model-based Fault Detection and Isolation (FDI) method and system for monitoring the overall performance in a vehicle system based on a hierarchical structure is disclosed. The FDI scheme uses the available sensors in a vehicle system and divides them into subsystems of smaller dimensions containing one or more modules that are related or interconnected. The same module may appear in a different subsystem, but the set of all subsystems does not have to contain all of the modules. For this structure, an FDI scheme comprising several detector units is created. Each detector unit receives information from the sensors and outputs a residual that is sent to a high-level detector unit which processes the data and performs the residual evaluation for the selected subsystem. Finally, each subsystem outputs a decision that is sent to a supervisor hazard detector performing the final diagnosis.
摘要翻译： 公开了一种基于模型的故障检测和隔离（FDI）方法和系统，用于基于层次结构监测车辆系统的整体性能。 FDI方案使用车辆系统中的可用传感器，并将其划分为较小尺寸的子系统，其中包含一个或多个相关或互连的模块。 相同的模块可能出现在不同的子系统中，但是所有子系统的集合不必包含所有模块。 对于该结构，创建包括若干检测器单元的FDI方案。 每个检测器单元从传感器接收信息并输出发送到高级检测器单元的残差，该单元处理该数据并执行所选子系统的残差评估。 最后，每个子系统输出发送给执行最终诊断的主管危险检测器的决定。
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10.发明授权公开(公告)号：US06654648B2
公开(公告)日：2003-11-25
申请号：US09809277
申请日：2001-03-16
申请人： Mitsuhiro Nada , Shinichi Matsumoto
发明人： Mitsuhiro Nada , Shinichi Matsumoto
IPC分类号： G05B1101
CPC分类号： B60W20/11 , B60G2600/084 , B60G2600/086 , B60K1/02 , B60K6/365 , B60K6/445 , B60K6/547 , B60L2240/421 , B60W10/06 , B60W10/08 , B60W20/00 , B60W50/02 , B60W50/04 , B60W2510/081 , B60W2510/244 , G05B19/0428 , G05B2219/24015 , G05B2219/24024 , G05B2219/24108 , G05B2219/2637 , Y02T10/6239 , Y02T10/6286 , Y02T10/642 , Y10S903/947
摘要： The technique of the present invention prevents endless circulation of reset operations of CPUs in a control system including a plurality of CPUs that mutually monitor the opposite CPUs. The plurality of CPUs, which are connected with one another and include a first CPU (272) and a second CPU (262), are utilize to control operations of prime movers. The first CPU (272) has a first reset execution unit that carries out a first reset event, which resets a circuit configuration of a predetermined range including the second CPU (262) in response to input of a reset signal. The second CPU (262) has a second reset execution unit that does not output the reset signal to the first CPU (272) in response to the reset of the second CPU (262) by the first reset event but outputs the reset signal to the first CPU (272) in response to detection of abnormality arising in the first CPU (272).
摘要翻译： 本发明的技术防止CPU在包括相互监视相对CPU的多个CPU的控制系统中的复位操作的循环循环。 使用彼此连接并包括第一CPU（272）和第二CPU（262）的多个CPU来控制原动机的操作。 第一CPU（272）具有执行第一复位事件的第一复位执行单元，其响应于复位信号的输入而复位包括第二CPU（262）的预定范围的电路配置。 第二CPU（262）具有第二复位执行单元，其不响应于第二CPU（262）的复位通过第一复位事件而将复位信号输出到第一CPU（272），而是将复位信号输出到 第一CPU（272）响应于第一CPU（272）中发生的异常的检测。
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