公开(公告)号：US09050871B2

公开(公告)日：2015-06-09

申请号：US12580281

申请日：2009-10-16

申请人： Yunjun Li ,  John X. Cui ,  Steven A. Opiteck ,  Jonathan Darab ,  Nikolai K. Moshchuk

发明人： Yunjun Li ,  John X. Cui ,  Steven A. Opiteck ,  Jonathan Darab ,  Nikolai K. Moshchuk

IPC分类号： G06F17/00 ,  B60G17/019 ,  B60G17/052

CPC分类号： B60G17/019 ,  B60G17/052 ,  B60G2400/842 ,  B60G2500/30

摘要： A method for temperature compensating an air spring of an air spring suspension of a motor vehicle after engine shut-off. A desired trim height is obtained. At engine shut-off, the ambient temperature is measured and the temperature of air in the air spring determined. After a wait time (for loading/unloading), a start trim height is measured. A predicted trim height is determined for when the air in the air spring is at the ambient temperature. Finally, the volume of the air in the air spring is selectively adjusted so that when the air in the air spring arrives at the ambient temperature, the trim height will be about the desired trim height.

摘要翻译： 一种用于在发动机关闭之后对机动车辆的空气弹簧悬架的空气弹簧进行温度补偿的方法。 获得期望的修剪高度。 在发动机关闭时，测量环境温度，确定空气弹簧中的空气温度。 等待时间（加载/卸载）后，测量起始装配高度。 当空气弹簧中的空气处于环境温度时，确定预测的调整高度。 最后，选择性地调节空气弹簧中的空气的体积，使得当空气弹簧中的空气达到环境温度时，装饰高度将在约所需的装饰高度上。

公开(公告)号：US08898033B2

公开(公告)日：2014-11-25

申请号：US13271530

申请日：2011-10-12

申请人： Nikolai K. Moshchuk ,  Ivan Fadeev

发明人： Nikolai K. Moshchuk ,  Ivan Fadeev

IPC分类号： G01P15/00 ,  G01P15/08 ,  G06F15/00 ,  G01P3/44 ,  G01C19/56

CPC分类号： G06F15/00 ,  G01C19/56 ,  G01P3/44 ,  G01P15/08

摘要： Systems and methods for determining angular velocity of a vehicle. Systems include an array of accelerometers and a computing unit configured to determine angular velocity as a function of acceleration measured by the array of accelerometers. Angular velocity can then be used, for example, by stability systems to control the vehicle.

摘要翻译： 用于确定车辆角速度的系统和方法。 系统包括加速度计阵列和计算单​​元，该计算单元被配置为根据由加速度计阵列测量的加速度来确定角速度。 然后可以使用角速度，例如通过稳定系统来控制车辆。

公开(公告)号：US08890747B2

公开(公告)日：2014-11-18

申请号：US12392277

申请日：2009-02-25

申请人： Flavio Nardi ,  Nikolai K. Moshchuk ,  Jihan Ryu ,  Kevin A. O'Dea

发明人： Flavio Nardi ,  Nikolai K. Moshchuk ,  Jihan Ryu ,  Kevin A. O'Dea

IPC分类号： G01S19/53 ,  B60T8/172 ,  G01S19/40 ,  G01S19/45 ,  G01S19/52

CPC分类号： B60T8/172 ,  B60T2210/36 ,  B60T2230/02 ,  G01S19/52 ,  G01S19/53

摘要： A system and method is provided for determining a lateral velocity and a longitudinal velocity of a vehicle equipped. The vehicle includes only one antenna for a GPS receiver and a magnetic compass. A magnitude of a velocity vector of the vehicle is determined. A course angle with respect to a fixed reference using the single antenna GPS receiver is determined. A yaw angle of the vehicle is measured with respect to the fixed reference using a magnetic compass. A side slip angle is calculated as a function of the course angle and the yaw angle. The lateral velocity and longitudinal velocity is determined as a function of the magnitude of the velocity vector and the side slip angle.

摘要翻译： 提供了一种用于确定装备的车辆的横向速度和纵向速度的系统和方法。 该车辆仅包括用于GPS接收器和磁罗盘的一个天线。 确定车辆的速度矢量的大小。 确定相对于使用单个天线GPS接收机的固定参考的航向角度。 使用磁罗经测量相对于固定基准的车辆的偏航角。 作为行程角和偏航角的函数计算侧滑角。 横向速度和纵向速度被确定为速度矢量和侧滑角的大小的函数。

公开(公告)号：US20130116854A1

公开(公告)日：2013-05-09

申请号：US13289517

申请日：2011-11-04

申请人： Nikolai K. Moshchuk ,  Shuqing Zeng ,  Xingping Chen ,  Bakhtiar Brian Litkouhi

发明人： Nikolai K. Moshchuk ,  Shuqing Zeng ,  Xingping Chen ,  Bakhtiar Brian Litkouhi

IPC分类号： G06F7/00

CPC分类号： B60W30/12 ,  B60W2420/42

摘要： A lane tracking system for tracking the position of a vehicle within a lane includes a camera configured to provide a video feed representative of a field of view and a video processor configured to receive the video feed from the camera and to generate latent video-based position data indicative of the position of the vehicle within the lane. The system further includes a vehicle motion sensor configured to generate vehicle motion data indicative of the motion of the vehicle, and a lane tracking processor. The lane tracking processor is configured to receive the video-based position data, updated at a first frequency; receive the sensed vehicle motion data, updated at a second frequency; estimate the position of the vehicle within the lane from the sensed vehicle motion data; and fuse the video-based position data with the estimate of the vehicle position within the lane using a Kalman filter.

摘要翻译： 用于跟踪车道在车道内的位置的车道跟踪系统包括被配置为提供表示视野的视频馈送的照相机和被配置为从照相机接收视频馈送并且产生潜在视频的位置的视频处理器 指示车辆在车道内的位置的数据。 该系统还包括被配置为产生指示车辆的运动的车辆运动数据的车辆运动传感器和车道跟踪处理器。 车道跟踪处理器被配置为接收以第一频率更新的基于视频的位置数据; 接收以第二频率更新的感测车辆运动数据; 从感测的车辆运动数据估计车道在车道内的位置; 并使用卡尔曼滤波器将基于视频的位置数据与车道内的车辆位置的估计融合。

公开(公告)号：US08050838B2

公开(公告)日：2011-11-01

申请号：US12276978

申请日：2008-11-24

申请人： Jihan Ryu ,  Flavio Nardi ,  Nikolai K. Moshchuk ,  Kevin A. O'Dea

发明人： Jihan Ryu ,  Flavio Nardi ,  Nikolai K. Moshchuk ,  Kevin A. O'Dea

IPC分类号： G01P3/00 ,  G05D1/08

CPC分类号： B60W40/103 ,  B60W2520/125 ,  B60W2520/14

摘要： 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.

摘要翻译： 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。

公开(公告)号：US20100082202A1

公开(公告)日：2010-04-01

申请号：US12243080

申请日：2008-10-01

申请人： Nikolai K. Moshchuk ,  Flavio Nardi

发明人： Nikolai K. Moshchuk ,  Flavio Nardi

IPC分类号： G06F17/00

CPC分类号： B60G17/0182 ,  B60G2400/0521 ,  B60G2400/0522 ,  B60G2400/202 ,  B60G2400/206 ,  B60G2400/252 ,  B60G2600/14 ,  B60G2600/1872 ,  B60G2600/1875 ,  B60G2600/60 ,  B60G2800/01 ,  B60G2800/16 ,  B60G2800/70 ,  B60G2800/912 ,  B60G2800/916

摘要： A system and method for facilitating ride and stability control of a vehicle. The system includes a plurality of suspension displacement sensors, with each of the plurality of suspension displacement sensors positioned proximate to a suspension element of the vehicle. The system further includes a nonlinear filter for filtering out a wheel hop frequency from the suspension velocity corresponding to at least one of the plurality of suspension displacement sensors to obtain a resultant suspension velocity. The resultant suspension velocity is used by a control unit to determine the pitch velocity, roll velocity and the heave velocity of the vehicle.

摘要翻译： 一种用于促进车辆的行驶和稳定性控制的系统和方法。 该系统包括多个悬架位移传感器，多个悬架位移传感器中的每一个位于车辆的悬挂元件附近。 该系统还包括非线性滤波器，用于从与多个悬架位移传感器中的至少一个悬架位移传感器相对应的悬架速度滤除车轮跳频，以获得合成的悬架速度。 所得到的悬架速度由控制单元用于确定车辆的俯仰速度，侧倾速度和起伏速度。

公开(公告)号：US08408351B2

公开(公告)日：2013-04-02

申请号：US12968345

申请日：2010-12-15

申请人： Steven W. Holland ,  Nikolai K. Moshchuk

发明人： Steven W. Holland ,  Nikolai K. Moshchuk

IPC分类号： B60K28/16

CPC分类号： B60T1/14 ,  B60W10/18 ,  B60W10/20 ,  B60W10/22 ,  B60W10/30 ,  B60W30/02 ,  B60W2520/105 ,  B60W2520/125

摘要： A vehicle includes a suspension system operatively connecting a vehicle body to a plurality of wheels for maintaining contact between the wheels and a road surface, and for maintaining handling of the vehicle. A system for steering the vehicle and a braking system for decelerating the vehicle are also included. The vehicle additionally includes a plurality of thrusters, wherein at least one of the thrusters is arranged relative to each wheel and each of the plurality of thrusters is configured to generate a force. Furthermore, the vehicle additionally includes a controller configured for regulating the force generated by each of the thrusters to assist the suspension system with maintaining contact between the wheels and the road surface and maintaining handling, assist the steering system with steering, and assist the braking system with decelerating the vehicle. A method of assisting the vehicle suspension, steering, and braking systems is also disclosed.

摘要翻译： 一种车辆包括将车体可操作地连接到多个车轮的悬架系统，用于保持车轮与路面之间的接触，并且用于维持车辆的处理。 还包括用于转向车辆的系统和用于使车辆减速的制动系统。 车辆还包括多个推进器，其中至少一个推进器相对于每个车轮布置，并且多个推进器中的每一个构造成产生力。 此外，车辆还包括控制器，其构造成用于调节由每个推进器产生的力以辅助悬架系统保持车轮与路面之间的接触并维持操纵，辅助转向系统进行转向，并且辅助制动系统 使车辆减速。 还公开了一种辅助车辆悬架，转向和制动系统的方法。

公开(公告)号：US08234090B2

公开(公告)日：2012-07-31

申请号：US13018671

申请日：2011-02-01

申请人： Flavio Nardi ,  Jihan Ryu ,  Nikolai K. Moshchuk ,  Kevin A. O'Dea

发明人： Flavio Nardi ,  Jihan Ryu ,  Nikolai K. Moshchuk ,  Kevin A. O'Dea

IPC分类号： G06F15/00

CPC分类号： B60T8/172 ,  B60T2210/22 ,  B60T2230/02 ,  B60T2250/04

摘要： A system and method for estimating vehicle lateral velocity that defines a relationship between front and rear axle lateral forces and front and rear axle side-slip angles. The method includes providing measurements of vehicle yaw-rate, lateral acceleration, longitudinal speed, and steering angle. The method also includes using these measurements to provide a measurement of the front and rear axle forces. The method calculates a front axle lateral velocity and a rear axle lateral velocity, and calculates a front axle side-slip angle based on the rear axle lateral velocity and a rear axle side-slip angle based on the front axle lateral velocity. The method then estimates front and rear axle forces, and selects a virtual lateral velocity that minimizes an error between the estimated and measured lateral axle forces. The method then provides an estimated vehicle lateral velocity using the selected virtual lateral velocity.

摘要翻译： 一种用于估计车辆横向速度的系统和方法，其限定前后轴向力和前后轴侧滑角之间的关系。 该方法包括提供车辆偏航率，横向加速度，纵向速度和转向角的测量。 该方法还包括使用这些测量来提供前后轴力的测量。 该方法计算前桥横向速度和后桥横向速度，并根据前桥横向速度和基于前桥横向速度的后桥侧滑角计算前轴侧滑角。 然后，该方法估计前轴和后轴力，并且选择使估计和测量的横向轴力之间的误差最小化的虚拟横向速度。 该方法然后使用所选择的虚拟横向速度提供估计的车辆横向速度。

公开(公告)号：US08108103B2

公开(公告)日：2012-01-31

申请号：US12243080

申请日：2008-10-01

申请人： Nikolai K. Moshchuk ,  Flavio Nardi

发明人： Nikolai K. Moshchuk ,  Flavio Nardi

IPC分类号： B60G17/018

CPC分类号： B60G17/0182 ,  B60G2400/0521 ,  B60G2400/0522 ,  B60G2400/202 ,  B60G2400/206 ,  B60G2400/252 ,  B60G2600/14 ,  B60G2600/1872 ,  B60G2600/1875 ,  B60G2600/60 ,  B60G2800/01 ,  B60G2800/16 ,  B60G2800/70 ,  B60G2800/912 ,  B60G2800/916

摘要： A system and method for facilitating ride and stability control of a vehicle. The system includes a plurality of suspension displacement sensors, with each of the plurality of suspension displacement sensors positioned proximate to a suspension element of the vehicle. The system further includes a nonlinear filter for filtering out a wheel hop frequency from the suspension velocity corresponding to at least one of the plurality of suspension displacement sensors to obtain a resultant suspension velocity. The resultant suspension velocity is used by a control unit to determine the pitch velocity, roll velocity and the heave velocity of the vehicle.

摘要翻译： 一种用于促进车辆的行驶和稳定性控制的系统和方法。 该系统包括多个悬架位移传感器，多个悬架位移传感器中的每一个位于车辆的悬挂元件附近。 该系统还包括非线性滤波器，用于从与多个悬架位移传感器中的至少一个悬架位移传感器相对应的悬架速度滤除车轮跳频，以获得合成的悬架速度。 所得到的悬架速度由控制单元用于确定车辆的俯仰速度，侧倾速度和起伏速度。

公开(公告)号：US08086367B2

公开(公告)日：2011-12-27

申请号：US12276996

申请日：2008-11-24

申请人： Jihan Ryu ,  Flavio Nardi ,  Nikolai K. Moshchuk ,  Kevin A. O'Dea

发明人： Jihan Ryu ,  Flavio Nardi ,  Nikolai K. Moshchuk ,  Kevin A. O'Dea

IPC分类号： G06F7/00

CPC分类号： B60T8/172 ,  B60T2210/12 ,  B60T2230/02 ,  B60T2250/04

摘要： A system and method for estimating vehicle lateral velocity and surface coefficient of friction using front and rear axle lateral force versus side-slip angle tables and sensor measurements. The sensor measurements include lateral acceleration, yaw-rate, longitudinal speed and steering angle of the vehicle. The method includes calculating front and rear axle lateral forces and front and rear side-slip angles on the axles of the vehicle. The method also includes identifying two equations from the calculated lateral forces and the vehicle measurements. The method provides tables that identify a relationship between the calculated front and rear axle lateral forces and the front and rear side-slip angles, and determines the vehicle lateral velocity and surface coefficient of friction from the tables.

摘要翻译： 使用前桥和后桥横向力与侧滑角表和传感器测量值来估计车辆横向速度和表面摩擦系数的系统和方法。 传感器测量包括车辆的横向加速度，偏航速率，纵向速度和转向角。 该方法包括计算前桥和后桥侧向力以及车辆轴上的前后侧滑角。 该方法还包括从所计算的横向力和车辆测量中识别两个方程式。 该方法提供了表示计算出的前轴和后桥侧向力与前后侧滑角之间的关系的表格，并且确定车辆的横向速度和表面摩擦系数。