公开(公告)号：US11772679B2

公开(公告)日：2023-10-03

申请号：US16999875

申请日：2020-08-21

Applicant: Hyundai Motor Company ,  Kia Motors Corporation

Inventor： Jun Mo Lee

IPC: B60W60/00 ,  B60W30/02 ,  B60W40/13 ,  B60W40/103 ,  B60W10/18 ,  B60W10/20 ,  B60W40/109 ,  B60W40/107 ,  B60W40/114

CPC classification number: B60W60/001 ,  B60W10/18 ,  B60W10/20 ,  B60W30/02 ,  B60W40/103 ,  B60W40/107 ,  B60W40/109 ,  B60W40/114 ,  B60W40/13 ,  B60W2040/1315 ,  B60W2510/20

Abstract: A method is provided for steering control of a vehicle by using lateral velocity of two know points (or lateral velocity of one known point and yaw rate), longitudinal velocity and steer angle information. These factors are used to calculate a target steer angle based on the track angle based on yaw decomposition to thus adjust a current steer angle of the vehicle based on the target steer angle.

公开(公告)号：US11745706B2

公开(公告)日：2023-09-05

申请号：US17436778

申请日：2020-01-30

Applicant: Hitachi Astemo, Ltd.

Inventor： Satoshi Nakagawa

IPC: B60W60/00 ,  B60T8/1755 ,  B60W10/188 ,  B60W10/20 ,  B60W30/045 ,  B60W30/12 ,  B60W30/14 ,  B60W40/103 ,  B60W40/109 ,  B60W40/114

CPC classification number: B60T8/17552 ,  B60W10/188 ,  B60W10/20 ,  B60W30/045 ,  B60W30/12 ,  B60W30/143 ,  B60W40/103 ,  B60W40/109 ,  B60W40/114 ,  B60W60/001 ,  B60T2230/02 ,  B60T2250/03 ,  B60W2520/125 ,  B60W2520/14 ,  B60W2520/20

Abstract: In motion control in the present invention, operation amounts relating to braking and drive are set as a control command when a difference between a physical quantity relating to a target vehicle attitude which is based on a target trajectory and a physical quantity relating to a linear model vehicle attitude which is based on a linear model of a vehicle exceeds a threshold value, operation amounts relating to braking and steering are set as the control command when the difference is equal to or smaller than the threshold value, and an attitude of the vehicle in a yaw direction is controlled based on the control command.

公开(公告)号：US11731638B2

公开(公告)日：2023-08-22

申请号：US17372766

申请日：2021-07-12

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA ,  DENSO TEN Limited

Inventor： Hidetsugu Higuchi ,  Hiromi Tonegawa ,  Kenji Tsumura ,  Hideaki Miyazaki

IPC: B60W40/103 ,  B60W40/068 ,  B60W40/105 ,  H04L12/40

CPC classification number: B60W40/103 ,  B60W40/068 ,  B60W40/105 ,  H04L12/40 ,  B60W2552/40 ,  B60W2555/20 ,  B60W2556/45 ,  H04L2012/40215 ,  H04L2012/40273

Abstract: A driving assistance apparatus includes a processor having hardware. The processor is configured to acquire vehicle speed data before an ABS of a vehicle is activated and vehicle speed data when the ABS of the vehicle is stopped, calculate a coefficient of sliding friction based on the vehicle speed data before the ABS is activated and the vehicle speed data when the ABS is stopped, determine whether the coefficient of sliding friction is equal to or smaller than a threshold, and detect that a slip due to road freezing has occurred when the coefficient of sliding friction is equal to or smaller than the threshold.

公开(公告)号：US20180037222A1

公开(公告)日：2018-02-08

申请号：US15228869

申请日：2016-08-04

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： SEYEDALIREZA KASAIEZADEH MAHABADI ,  BAKHTIAR B. LITKOUHI ,  SHIH-KEN CHEN ,  NIKOLAI K. MOSHCHUK

IPC: B60W30/02 ,  B60W50/14 ,  B60W50/00 ,  B60W40/103 ,  B60W40/101

CPC classification number: B60W30/02 ,  B60W40/101 ,  B60W40/103 ,  B60W50/0097 ,  B60W50/14 ,  B60W2050/143 ,  B60W2050/146 ,  B60W2510/202 ,  B60W2520/10 ,  B60W2520/125 ,  B60W2520/14 ,  B60W2520/18

Abstract: Methods and systems are provided for determining vehicle spin-out conditions including conditions indicative of a vehicle spin-out ahead of the vehicle actually spinning-out. The methods and systems receive motion parameters of a vehicle based on sensed signals from at least one vehicle sensor of an electronic power steering system and an inertial measurement unit. The method and systems estimate pneumatic trail based on a rate of change of self-aligning torque with respect to axle lateral force. The methods and systems determine vehicle spin-out conditions based on the estimated pneumatic trail. The methods and systems control at least one feature of a vehicle in response to the determined vehicle spin-out conditions.

公开(公告)号：US08463498B2

公开(公告)日：2013-06-11

申请号：US12675613

申请日：2008-08-28

Applicant: Amedeo Visconti ,  Martino Cavanna

Inventor： Amedeo Visconti ,  Martino Cavanna

IPC: B60L3/00 ,  B60K28/16

CPC classification number: B60W30/045 ,  B60W10/06 ,  B60W10/20 ,  B60W40/103 ,  B60W2540/10 ,  B60W2720/20 ,  B62D15/025

Abstract: A method for controlling the side slip angle of a rear-wheel drive vehicle when turning; the control method provides for the steps of: detecting the position of an accelerator control which is displaced along a predetermined stroke; using a first initial part of the stroke of the accelerator control for directly controlling the generation of the drive torque so that the generated drive torque depends on the position of the accelerator control; and using a second final part of the stroke of the accelerator control to directly control a side slip angle of the vehicle when turning so that the side slip angle depends on the position of the accelerator control.

Abstract translation: 一种用于在转动时控制后轮驱动车辆的侧滑角的方法; 控制方法提供以下步骤：检测沿预定行程移位的加速器控制的位置; 使用加速器控制的行程的第一初始部分来直接控制驱动转矩的产生，使得所产生的驱动转矩取决于加速器控制的位置; 并且使用加速器控制的行程的第二最后部分直接控制车辆在转动时的侧滑角，使得侧滑角取决于加速器控制的位置。

公开(公告)号：US08255119B2

公开(公告)日：2012-08-28

申请号：US12081550

申请日：2008-04-17

Applicant: Takafumi Komori ,  Shusuke Akazaki ,  Takahide Mizuno

Inventor： Takafumi Komori ,  Shusuke Akazaki ,  Takahide Mizuno

IPC: B60G17/016

CPC classification number: B60T8/172 ,  B60T8/174 ,  B60T2230/02 ,  B60W40/103 ,  B60W2050/0037 ,  B60W2520/14 ,  B60W2540/10

Abstract: A vehicle body slip angle-estimating device which, in estimating a vehicle body slip angle with an algorithm using a nonlinear model, is capable of accurately estimating a vehicle body slip angle irrespective of whether the frequency of occurrence of a state during traveling of the vehicle. A basic value-calculating section calculates a basic value of a vehicle body slip angle with an algorithm using a neural network model. A turning state-determining section determines whether the vehicle is in a predetermined limit turning traveling state. A correction value-calculating section calculates a correction value with an algorithm using a predetermined linear model when the vehicle is in the predetermined state. In the other cases, the correction value is set to 0. A straight traveling-determining section sets the angle to the sum of the basic value and the correction value when the vehicle is in a turning traveling state.

Abstract translation: 一种车体滑移角估计装置，其在使用非线性模型的算法估计车体滑移角时能够精确地估计车体滑移角，而与车辆行驶中的状态的发生频率无关 。 基本值计算部使用神经网络模型来算出车体滑移角的基本值。 转动状态判定部判定车辆是否处于规定的转弯行驶状态。 当车辆处于预定状态时，校正值计算部分使用预定线性模型的算法来计算校正值。 在其他情况下，校正值被设定为0.直行驶确定部分在车辆处于转弯行驶状态时将角度设置为基本值和校正值之和。

公开(公告)号：US08239096B2

公开(公告)日：2012-08-07

申请号：US13339997

申请日：2011-12-29

Applicant: Makoto Yamakado ,  Shinya Imura ,  Masato Abe

Inventor： Makoto Yamakado ,  Shinya Imura ,  Masato Abe

IPC: B60G17/016

CPC classification number: B60W40/064 ,  B60T8/1755 ,  B60T2230/02 ,  B60T2230/04 ,  B60W30/045 ,  B60W40/103 ,  B60W2520/10 ,  B60W2520/125 ,  B60W2520/14 ,  B60W2520/28 ,  B60W2720/14

Abstract: In a motion control system for a vehicle including control means for controlling a yaw moment of the vehicle; first detection means for detecting a longitudinal velocity (V) of the vehicle; second detection means for detecting a lateral jerk (Gy_dot) of the vehicle; and third detection means for detecting a yaw angular acceleration (r_dot) of the vehicle, the yaw moment of the vehicle is controlled by the control means so that a difference between the yaw angular acceleration (r_dot) detected by the third detection means and a value (Gy_dot/V) obtained by the lateral jerk (Gy_dot) of the vehicle detected by the second detection means by the longitudinal velocity (V) detected by the first detection means becomes small.

公开(公告)号：US20110046849A1

公开(公告)日：2011-02-24

申请号：US12675613

申请日：2008-08-28

Applicant: Amedeo Visconti ,  Martino Cavanna

Inventor： Amedeo Visconti ,  Martino Cavanna

IPC: G05D17/00 ,  B62D6/00

CPC classification number: B60W30/045 ,  B60W10/06 ,  B60W10/20 ,  B60W40/103 ,  B60W2540/10 ,  B60W2720/20 ,  B62D15/025

Abstract: A method for controlling the side slip angle of a rear-wheel drive vehicle when turning; the control method provides for the steps of: detecting the position of an accelerator control which is displaced along a predetermined stroke; using a first initial part of the stroke of the accelerator control for directly controlling the generation of the drive torque so that the generated drive torque depends on the position of the accelerator control; and using a second final part of the stroke of the accelerator control to directly control a side slip angle of the vehicle when turning so that the side slip angle depends on the position of the accelerator control.

Abstract translation: 一种用于在转动时控制后轮驱动车辆的侧滑角的方法; 控制方法提供以下步骤：检测沿预定行程移位的加速器控制的位置; 使用加速器控制的行程的第一初始部分来直接控制驱动转矩的产生，使得所产生的驱动转矩取决于加速器控制的位置; 并且使用加速器控制的行程的第二最后部分直接控制车辆在转动时的侧滑角，使得侧滑角取决于加速器控制的位置。

公开(公告)号：US07774138B2

公开(公告)日：2010-08-10

申请号：US11730946

申请日：2007-04-05

Applicant: Kazuhiro Matsui

Inventor： Kazuhiro Matsui

IPC: G01C21/00

CPC classification number: B60C11/24 ,  B60T2210/24 ,  B60T2210/36 ,  B60W40/072 ,  B60W40/076 ,  B60W40/103 ,  B60W50/14 ,  B60W2050/0077 ,  B60W2550/12 ,  G07C5/085 ,  G08G1/16

Abstract: A vehicle control device includes: a first memory for storing a road condition data; a position detector for detecting a position of a vehicle; a first controller for detecting and controlling unusual behavior of the vehicle; a driving condition detector for detecting a driving condition; an information acquiring element for acquiring weather information; a second memory for storing a driving data; a data acquiring element for acquiring the driving condition, the road condition data at an attention point, and the weather information; a memory controller for memorizing the attention spot in the second memory; a first optimum mode determining element for determining an optimum vehicle control mode based on the driving condition, the road condition data and the weather information; and a second controller for controlling the vehicle to coincide the driving condition with the optimum vehicle control mode before or at the attention spot.

Abstract translation: 车辆控制装置包括：第一存储器，用于存储道路状态数据; 位置检测器，用于检测车辆的位置; 用于检测和控制车辆异常行为的第一控制器; 用于检测驾驶状况的驾驶状况检测器; 用于获取天气信息的信息获取元件; 用于存储驾驶数据的第二存储器; 用于获取驾驶状况的数据获取元件，注意点处的道路状态数据和天气信息; 用于存储第二存储器中的注意点的存储器控​​制器; 第一最佳模式确定元件，用于基于驾驶条件，道路状态数据和天气信息来确定最佳车辆控制模式; 以及第二控制器，用于控制车辆在驾驶状况与注意点之前或期间的最佳车辆控制模式一致。

公开(公告)号：US20100131144A1

公开(公告)日：2010-05-27

申请号：US12276978

申请日：2008-11-24

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

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

IPC: G06F7/00

CPC classification number: B60W40/103 ,  B60W2520/125 ,  B60W2520/14

Abstract: 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.

Abstract translation: 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。