公开(公告)号：US20070213902A1

公开(公告)日：2007-09-13

申请号：US11372808

申请日：2006-03-10

申请人： Kwang-Keun Shin ,  Shih-Ken Chen

发明人： Kwang-Keun Shin ,  Shih-Ken Chen

IPC分类号： B62D6/00

CPC分类号： B62D6/007

摘要： An active front-wheel vehicle steering control system that employs closed-loop control includes an adaptive compensation sub-system that compensates for changes in vehicle dynamic parameters. The control system includes a dynamic parameter estimation sub-system that provides an estimated front cornering compliance and rear cornering compliance based on a steering wheel angle signal, a vehicle lateral acceleration signal, a vehicle yaw rate signal and a vehicle speed signal. The closed-loop control includes active gain for each of vehicle yaw rate, yaw acceleration, side-slip and side-slip rate, all based on the vehicle speed and vehicle dynamic parameter changes for use in generating a steering angle control signal to the front wheels of the vehicle.

摘要翻译： 采用闭环控制的主动式前轮车辆转向控制系统包括补偿车辆动态参数变化的自适应补偿子系统。 控制系统包括动态参数估计子系统，该子系统基于方向盘角度信号，车辆横向加速度信号，车辆横摆角速度信号和车速信号提供估计的前转弯顺从性和后转弯顺从性。 闭环控制包括基于车辆速度和车辆动态参数变化的车辆横摆角速度，偏航加速度，侧滑和侧滑速率中的每一个的主动增益，用于在向前方产生转向角控制信号 车轮。

公开(公告)号：US07130729B2

公开(公告)日：2006-10-31

申请号：US10899446

申请日：2004-07-26

申请人： Kwang-Keun Shin ,  Shih-Ken Chen

发明人： Kwang-Keun Shin ,  Shih-Ken Chen

IPC分类号： B62D6/00 ,  B62D1/02

CPC分类号： B62D7/159

摘要： An active rear-wheel vehicle steering control system that employs both open-loop and closed-loop control, where the open-loop and closed-loop control include adaptive compensation sub-systems that compensate for changes in vehicle dynamic parameters. The control system includes a dynamic parameter estimation sub-system that provides an estimated front-wheel cornering compliance and rear-wheel cornering compliance based on a front-wheel steering angle signal, a rear-wheel steering angle signal, a vehicle lateral acceleration signal, a vehicle yaw rate signal and a vehicle speed signal. The closed-loop control includes active gain for each of vehicle yaw rate, vehicle yaw rate acceleration, side-slip velocity and side-slip velocity rate, all based on the vehicle speed and vehicle dynamic parameter changes.

公开(公告)号：US06856885B2

公开(公告)日：2005-02-15

申请号：US10404371

申请日：2003-04-01

申请人： William C. Lin ,  Shih-Ken Chen

发明人： William C. Lin ,  Shih-Ken Chen

IPC分类号： B62D6/00 ,  B60R16/02 ,  B60T8/172 ,  B60T8/1755 ,  B62D101/00 ,  B62D111/00 ,  B62D113/00 ,  B62D137/00 ,  G06F19/00

CPC分类号： B60T8/17551 ,  B60T8/172 ,  B60T2230/02 ,  Y10T477/60 ,  Y10T477/675

摘要： A side-slip velocity estimation module for a vehicle stability enhancement control system includes a side-slip acceleration estimation module that determines an estimated side-slip acceleration of a vehicle. A limited-frequency integrator integrates the estimated side-slip acceleration to determine an estimated side-slip velocity of the vehicle. A reset logic module clears an output of the limited-frequency integrator when a first condition occurs. The first condition is one of a straight-driving condition, a speed condition, and a sensor bias condition. The estimated side-slip velocity is compared to a desired side-slip velocity to produce a side-slip control signal. The side-slip control signal is combined with a yaw rate control signal to produce an actuator control signal. The actuator control signal is received by one of at least one brake actuator and a rear-wheel steering actuator to create a yaw moment to correct a dynamic behavior of the vehicle.

摘要翻译： 用于车辆稳定性增强控制系统的侧滑速度估计模块包括确定车辆的估计侧滑加速度的侧滑加速度估计模块。 有限频率积分器将估计的侧滑加速度整合以确定车辆的估计侧滑速度。 当第一个状态发生时，复位逻辑模块清除有限频率积分器的输出。 第一个条件是直行驱动条件，速度条件和传感器偏置条件之一。 将估计的侧滑速度与期望的侧滑速度进行比较以产生侧滑控制信号。 侧滑控制信号与偏航率控制信号组合以产生致动器控制信号。 致动器控制信号由至少一个制动器致动器和后轮转向致动器之一接收以产生偏航力矩以校正车辆的动态特性。

公开(公告)号：US07809484B2

公开(公告)日：2010-10-05

申请号：US12547467

申请日：2009-08-25

申请人： Kwang-Keun Shin ,  Shih-Ken Chen

发明人： Kwang-Keun Shin ,  Shih-Ken Chen

IPC分类号： A01B69/00

CPC分类号： B62D6/007

摘要： An active front-wheel vehicle steering control system that employs closed-loop control includes an adaptive compensation sub-system that compensates for changes in vehicle dynamic parameters. The control system includes a dynamic parameter estimation sub-system that provides an estimated front cornering compliance and rear cornering compliance based on a steering wheel angle signal, a vehicle lateral acceleration signal, a vehicle yaw rate signal and a vehicle speed signal. The closed-loop control includes active gain for each of vehicle yaw rate, yaw acceleration, side-slip and side-slip rate, all based on the vehicle speed and vehicle dynamic parameter changes for use in generating a steering angle control signal to the front wheels of the vehicle.

摘要翻译： 采用闭环控制的主动式前轮车辆转向控制系统包括补偿车辆动态参数变化的自适应补偿子系统。 控制系统包括动态参数估计子系统，该子系统基于方向盘角度信号，车辆横向加速度信号，车辆横摆角速度信号和车速信号提供估计的前转弯顺从性和后转弯顺从性。 闭环控制包括基于车辆速度和车辆动态参数变化的车辆横摆角速度，偏航加速度，侧滑和侧滑速率中的每一个的主动增益，用于产生到前方的转向角控制信号 车轮。

公开(公告)号：US07546191B2

公开(公告)日：2009-06-09

申请号：US11017420

申请日：2004-12-20

申请人： William C. Lin ,  Shih-Ken Chen ,  Robert R. Bolio

发明人： William C. Lin ,  Shih-Ken Chen ,  Robert R. Bolio

IPC分类号： B62D5/00 ,  B62D6/00

CPC分类号： B62D6/008 ,  B62D5/008

摘要： An active front steering (AFS) system that provides hand-wheel damping. The AFS system includes a damping control sub-system that determines a hand-wheel angular velocity based on the rate of change of a hand-wheel angle signal. The damping control sub-system determines the damping control signal by multiplying the angular velocity of the hand-wheel angle signal with a control gain. The damping control signal is added to a steering signal from a variable gear ratio control sub-system to generate a steering command signal. The damping control sub-system sets to the damping control signal to zero if a signal from a vehicle stability enhancement sub-system is activated.

摘要翻译： 提供手轮阻尼的主动前转向（AFS）系统。 AFS系统包括基于手轮角度信号的变化速率确定手轮角速度的阻尼控制子系统。 阻尼控制子系统通过将手轮角度信号的角速度与控制增益相乘来确定阻尼控制信号。 阻尼控制信号被添加到来自可变齿轮比控制子系统的转向信号，以产生转向指令信号。 如果来自车辆稳定性增强子系统的信号被激活，则阻尼控制子系统将阻尼控制信号设置为零。

公开(公告)号：US20060020382A1

公开(公告)日：2006-01-26

申请号：US10899446

申请日：2004-07-26

申请人： Kwang-Keun Shin ,  Shih-Ken Chen

发明人： Kwang-Keun Shin ,  Shih-Ken Chen

IPC分类号： B62D5/04

CPC分类号： B62D7/159

摘要： An active rear-wheel vehicle steering control system that employs both open-loop and closed-loop control, where the open-loop and closed-loop control include adaptive compensation sub-systems that compensate for changes in vehicle dynamic parameters. The control system includes a dynamic parameter estimation sub-system that provides an estimated front-wheel cornering compliance and rear-wheel cornering compliance based on a front-wheel steering angle signal, a rear-wheel steering angle signal, a vehicle lateral acceleration signal, a vehicle yaw rate signal and a vehicle speed signal. The closed-loop control includes active gain for each of vehicle yaw rate, vehicle yaw rate acceleration, side-slip velocity and side-slip velocity rate, all based on the vehicle speed and vehicle dynamic parameter changes.

摘要翻译： 主动后轮车辆转向控制系统采用开环和闭环控制，其中开环和闭环控制包括补偿车辆动态参数变化的自适应补偿子系统。 控制系统包括基于前轮转向角信号，后轮转向角信号，车辆横向加速度信号，前轮转向角度信号，后轮转向角信号，车辆侧向加速度信号， 车辆偏航率信号和车速信号。 闭环控制包括基于车辆速度和车辆动态参数变化的车辆横摆角速度，车辆横摆角速度加速度，侧滑速度和侧滑速度速率中的每一个的主动增益。

公开(公告)号：US20050234621A1

公开(公告)日：2005-10-20

申请号：US10828074

申请日：2004-04-20

申请人： William Lin ,  Shih-Ken Chen ,  Yuen-Kwok Chin

发明人： William Lin ,  Shih-Ken Chen ,  Yuen-Kwok Chin

IPC分类号： B62D6/00 ,  B62D7/15 ,  B62D37/00

CPC分类号： B62D7/159

摘要： A control system that employs closed-loop control for providing active vehicle rear-wheel steering, where the control system receives longitudinal wheel slip inputs to improve the vehicle directional stability. The longitudinal wheel slip inputs can be from one or more of wheel speed, traction control on and automatic braking system on. The control system includes an open-loop controller for generating an open-loop steering control signal, a yaw rate feedback controller for generating a yaw rate feedback signal, and a side-slip rate controller for generating a side-slip rate feedback signal. The open-loop steering control signal, the yaw rate feedback signal and the side-slip rate feedback signal are combined to generate the steering control signal to steer the vehicle rear wheels.

摘要翻译： 一种控制系统，其采用闭环控制来提供主动的车辆后轮转向，其中控制系统接收纵轮滑移输入以改善车辆方向稳定性。 纵轮滑差输入可以来自一个或多个车轮速度，牵引力控制和自动制动系统。 控制系统包括用于产生开环转向控制信号的开环控制器，用于产生横摆率反馈信号的横摆率反馈控制器和用于产生侧滑速率反馈信号的侧滑速率控制器。 组合开环转向控制信号，横摆率反馈信号和侧滑速率反馈信号以产生转向控制信号以转向车辆后轮。

公开(公告)号：US06856886B1

公开(公告)日：2005-02-15

申请号：US10806674

申请日：2004-03-23

申请人： Shih-Ken Chen ,  William C. Lin ,  Yuen-Kwok S. Chin

发明人： Shih-Ken Chen ,  William C. Lin ,  Yuen-Kwok S. Chin

IPC分类号： B60T8/172 ,  B60T8/1755 ,  B60T8/60 ,  B60W30/02 ,  B62D6/00 ,  B62D7/15 ,  B62D37/00 ,  G01P15/00 ,  G06F19/00

CPC分类号： B60T8/17551 ,  B60T8/172 ,  B60T2230/02 ,  B60T2250/04 ,  B60W10/184 ,  B60W10/20 ,  B60W30/02 ,  B60W40/103 ,  B60W2510/20 ,  B60W2520/10 ,  B60W2520/125 ,  B60W2520/14 ,  B60W2710/207 ,  B60W2720/20 ,  B60W2720/403 ,  B62D7/159 ,  Y10T477/60 ,  Y10T477/675

摘要： A side-slip velocity estimation module for a vehicle stability enhancement control system includes a side-slip acceleration estimation module that determines an estimated side-slip acceleration of a vehicle. A limited-frequency integrator integrates the estimated side-slip acceleration to determine an estimated side-slip velocity of the vehicle. The limited-frequency integrator includes a feedback loop which incorporates a cutoff frequency for the integrator.

摘要翻译： 用于车辆稳定性增强控制系统的侧滑速度估计模块包括确定车辆的估计侧滑加速度的侧滑加速度估计模块。 有限频率积分器将估计的侧滑加速度整合以确定车辆的估计侧滑速度。 有限频率积分器包括一个包含积分器截止频率的反馈回路。

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。

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。