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    A control system for a vehicle and trailer combination
    8.
    发明公开
    A control system for a vehicle and trailer combination 有权
    Steuersystemfüreine Fahrzeug- undAnhängerkombination

    公开(公告)号：EP2045155A1

    公开(公告)日：2009-04-08

    申请号：EP08164450.2

    申请日：2008-09-16

    申请人： Ford Global Technologies, LLC

    发明人： Getman, Anya ,  MacNeille, Perry ,  Shaffer, Aric

    IPC分类号： B60T8/17 ,  B60T8/174 ,  B60T8/1755

    CPC分类号： B60T8/174 ,  B60T8/1708 ,  B60T8/1755 ,  B60T2230/06

    摘要： A system and method of controlling a vehicle 14 with a trailer 15 comprises determining the presence of a trailer 15, generating an oscillation signal indicative of trailer swaying relative to the vehicle 14, generating an initial weighted dynamic control signal for a vehicle dynamic control system in response to the oscillation signal, operating at least one vehicle dynamic system 104, 106, 108, 110 according to the dynamic control signal and thereafter, iteratively generating a penalty function for the weighted dynamic control signal as a function of the oscillation signal response. One inventive feature of the system is the use of a neural network 50 with an associated trainer 54 to modify the dynamic control signal as a function of trailer sway response.

    摘要翻译： 使用拖车15控制车辆14的系统和方法包括确定拖车15的存在，产生指示相对于车辆14摇摆的拖车的振荡信号，为车辆动态控制系统生成初始加权动态控制信号 响应于所述振荡信号，根据所述动态控制信号操作至少一个车辆动态系统104,106,108,110，此后，根据所述振荡信号响应迭代地产生所述加权动态控制信号的惩罚函数。 系统的一个创造性特征是使用具有相关联的训练器54的神经网络50来修改作为拖车摇摆响应的函数的动态控制信号。

    Vehicle body slip angle-estimating device and method
    9.
    发明公开
    Vehicle body slip angle-estimating device and method 有权
    Vorrichtung und Verfahren zurAbschätzungdesFahrzeugkörper-Rutschwinkels

    公开(公告)号：EP1982883A1

    公开(公告)日：2008-10-22

    申请号：EP08007328.1

    申请日：2008-04-14

    申请人： HONDA MOTOR CO., LTD.

    发明人： Komori, Takafumi ,  Akazaki, Shusuke ,  Mizuno, Takahide

    IPC分类号： B60T8/174 ,  B60W40/10

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

    摘要： A vehicle body slip angle-estimating device (1) which, in estimating a vehicle body slip angle (β) with an algorithm using a nonlinear model, is capable of accurately estimating a vehicle body slip angle (β) irrespective of whether the frequency of occurrence of a state during traveling of the vehicle (3). A basic value-calculating section (30) calculates a basic value (βb) of a vehicle body slip angle with an algorithm using a neural network model. A turning state-determining section (31) determines whether the vehicle (3) is in a predetermined limit turning traveling state. A correction value-calculating section (32) calculates a correction value (βc) with an algorithm using a predetermined linear model when the vehicle (3) is in the predetermined state. In the other cases, the correction value (βc) is set to 0. A straight traveling-determining section (33) sets the angle to the sum of the basic value (βb) and the correction value (βc) when the vehicle is in a turning traveling state.

    摘要翻译： 在使用非线性模型的算法估计车体滑移角（²）的车体滑角估算装置（1）能够精确地估计车体滑移角（²），而不管 在车辆（3）行驶期间发生状态。 基本值计算部（30）使用神经网络模型算出车体滑移角的基本值（b）。 转动状态判定部（31）判定车辆（3）是否处于规定的限制转弯行驶状态。 校正值计算部（32）在车辆（3）处于规定状态时，使用规定的线性模型的算法来计算修正值（²c）。 在其他情况下，将校正值（c）设定为0.直行驶判定部（33）将车辆的基准值（bb）和校正值（c）之和的角度设定为 转弯行驶状态。

    VEHICLE CONTROL DEVICE
    10.
    发明公开
    VEHICLE CONTROL DEVICE 有权
    车辆控制装置

    公开(公告)号：EP1950116A1

    公开(公告)日：2008-07-30

    申请号：EP06835093.3

    申请日：2006-12-21

    申请人： Honda Motor Co., Ltd.

    发明人： TAKENAKA, Toru ,  TOYOSHIMA, Takayuki ,  URABE, Hiroyuki ,  KONO, Hiroshi

    IPC分类号： B60W50/06 ,  B60T8/174 ,  B60T8/1755 ,  B60W10/00 ,  B60W10/04 ,  B60W10/10 ,  B60W10/18 ,  B60W10/20 ,  B60W30/02 ,  B62D6/00 ,  B62D101/00 ,  B62D113/00 ,  B62D137/00

    CPC分类号： B62D6/04 ,  B60T8/1755 ,  B60T2230/02 ,  B60T2270/86 ,  B60W2050/0033 ,  B62D6/003 ,  Y10S903/93

    摘要： A control input for operating an actual vehicle actuator and a control input for operating a vehicle model are determined by an FB distribution law 20 on the basis of a difference between a reference state amount determined by a vehicle model 16 and an actual state amount of an actual vehicle 1 (state amount error) such that the state amount error is approximated to zero, and then an actuator device 3 of the actual vehicle 1 and the model vehicle 16, respectively, are operated on the basis of the control inputs. The FB distribution law 20 estimates an external force acting on the actual vehicle 1 due to a control input for operating an actual vehicle actuator, and determines a control input for operating the vehicle model on the basis of the estimated value and a basic value of a control input for operating the vehicle model for approximating the state amount error to zero. Thus, a vehicle control device capable of enhancing robustness against disturbance factors or their changes while performing operation control of actuators that is suited to behaviors of an actual vehicle as much as possible is provided.

    摘要翻译： 根据由车辆模型16确定的参考状态量与实际车辆执行器的实际状态量 实际车辆1（状态量误差），以使状态量误差接近于零，然后根据控制输入分别操作实际车辆1和模型车辆16的致动装置3。 FB分配规则20根据用于操作实际车辆致动器的控制输入来估计作用在实际车辆1上的外力，并且基于估计值和基本值来确定用于操作车辆模型的控制输入 用于操作车辆模型的控制输入，用于将状态量误差近似为零。 因此，提供了一种车辆控制装置，该车辆控制装置能够在尽可能多地执行适合于实际车辆的行为的致动器的操作控制的同时提高对干扰因素或其变化的稳健性。