公开(公告)号：US08428807B2

公开(公告)日：2013-04-23

申请号：US12160358

申请日：2007-01-10

Applicant: Andreas Gärtner ,  Eberhard Hees ,  Stefan Rappelt

Inventor： Andreas Gärtner ,  Eberhard Hees ,  Stefan Rappelt

IPC: G01M17/00 ,  G06F7/00 ,  G06F11/30 ,  G06F19/00 ,  C07C5/00

CPC classification number: B60G17/0165 ,  B60G17/018 ,  B60G17/019 ,  B60G2204/11 ,  B60G2204/416 ,  B60G2400/102 ,  B60G2400/202 ,  B60G2400/206 ,  B60G2400/252 ,  B60G2400/821 ,  B60G2400/91 ,  B60G2600/14 ,  B60G2600/16 ,  B60G2800/162 ,  B60G2800/702 ,  B60G2800/916

Abstract: Process for determining at least one state of motion of a vehicle body (10) of a vehicle (1), which has at least one wheel (2) spring-mounted on the vehicle body (10) via a wheel suspension (6), wherein an inward deflection (zrel) of the wheel (2) is measured by means of a path or angle sensor (21), an inward deflection velocity (żrel) of the wheel (2) is determined by differentiating the inward deflection (zrel) of the wheel (2) over time, a vertical acceleration ({umlaut over (z)}wheel) of the wheel (2) is measured by means of an acceleration sensor (22), a vertical velocity (żwheel) of the wheel (2) is determined by integrating the vertical acceleration ({umlaut over (z)}wheel) of the wheel (2) over time, and a vertical velocity (żbody) of the vehicle body (10) is calculated by forming a difference of the vertical velocity (żwheel) of wheel (2) and the inward deflection velocity (żrel) of wheel (2).

Abstract translation: 用于确定车辆（1）的车身（10）的至少一个运动状态的过程，所述车辆（1）具有经由车轮悬架（6）弹簧安装在所述车体（10）上的至少一个轮（2） 其中通过路径或角度传感器（21）测量车轮（2）的向内偏转（zrel），通过区分向内偏转（zrel）来确定车轮（2）的向内偏转速度（zrel） 随着时间的推移，轮（2）的垂直加速度（{umlaut over（z）}轮）通过加速度传感器（22），车轮的垂直速度（z轮） 2）通过随时间积分车轮（2）的垂直加速度（{umlaut over（z）}轮）而确定，并且通过形成车体（10）的差异来计算车身（10）的垂直速度（zbody） 车轮（2）的垂直速度（zwheel）和车轮（2）的向内偏转速度（zrel）。

公开(公告)号：US20100228422A1

公开(公告)日：2010-09-09

申请号：US12160358

申请日：2007-01-10

Applicant: Andreas Gärtner ,  Eberhard Hees ,  Stefan Rappelt

Inventor： Andreas Gärtner ,  Eberhard Hees ,  Stefan Rappelt

IPC: B60G17/0165 ,  B60G17/018 ,  B60G17/019

CPC classification number: B60G17/0165 ,  B60G17/018 ,  B60G17/019 ,  B60G2204/11 ,  B60G2204/416 ,  B60G2400/102 ,  B60G2400/202 ,  B60G2400/206 ,  B60G2400/252 ,  B60G2400/821 ,  B60G2400/91 ,  B60G2600/14 ,  B60G2600/16 ,  B60G2800/162 ,  B60G2800/702 ,  B60G2800/916

Abstract: Process for determining at least one state of motion of a vehicle body (10) of a vehicle (1), which has at least one wheel (2) spring-mounted on the vehicle body (10) via a wheel suspension (6), wherein an inward deflection (zrel) of the wheel (2) is measured by means of a path or angle sensor (21), an inward deflection velocity (żrel) of the wheel (2) is determined by differentiating the inward deflection (zrel) of the wheel (2) over time, a vertical acceleration ({umlaut over (z)}wheel) of the wheel (2) is measured by means of an acceleration sensor (22), a vertical velocity (żwheel) of the wheel (2) is determined by integrating the vertical acceleration ({umlaut over (z)}wheel) of the wheel (2) over time, and a vertical velocity (żbody) of the vehicle body (10) is calculated by forming a difference of the vertical velocity (żwheel) of wheel (2) and the inward deflection velocity (żrel) of wheel (2).

Abstract translation: 用于确定车辆（1）的车身（10）的至少一个运动状态的过程，所述车辆（1）具有经由车轮悬架（6）弹簧安装在所述车体（10）上的至少一个轮（2） 其中通过路径或角度传感器（21）测量车轮（2）的向内偏转（zrel），通过对向内偏转（zrel）的微分来确定车轮（2）的向内偏转速度（żrel） 随着时间的推移，轮（2）的垂直加速度（{umlaut over（z）}轮）通过加速度传感器（22），车轮的垂直速度（ż轮） 2）通过随着时间积分车轮（2）的垂直加速度（{umlaut over（z）}轮）而确定，并且通过形成车体（10）的差异来计算车体（10）的垂直速度 车轮（2）的垂直速度（ż轮）和车轮（2）的向内偏转速度（żrel）。

公开(公告)号：US07333882B2

公开(公告)日：2008-02-19

申请号：US11053975

申请日：2005-02-10

Applicant: Toru Uchino ,  Nobuyuki Ichimaru ,  Masaaki Uchiyama

Inventor： Toru Uchino ,  Nobuyuki Ichimaru ,  Masaaki Uchiyama

IPC: B60G9/00

CPC classification number: B60G17/08 ,  B60G17/016 ,  B60G17/018 ,  B60G2400/102 ,  B60G2400/206 ,  B60G2400/821 ,  B60G2400/91 ,  B60G2500/10 ,  B60G2600/02 ,  B60G2600/14 ,  B60G2600/16 ,  B60G2600/17 ,  B60G2600/184 ,  B60G2600/1877 ,  B60G2600/60 ,  B60G2600/604 ,  B60G2800/162 ,  B60G2800/916

Abstract: In a suspension control system a sky-hook command signal (B) obtained from velocity data obtained by integrating a sprung mass acceleration (αu) from a sprung mass acceleration sensor (9u) and an unsprung mass vibration damping command signal (C) obtained on the basis of an unsprung mass acceleration (αd) detected by an unsprung mass acceleration sensor (9d) are added together to obtain a control signal (A) for a damping characteristic inverting type shock absorber (6). The control signal (A) reflects the unsprung mass acceleration (αd) that leads in phase by 90° the piston speed. Accordingly, it is possible to compensate for a response delay due to an actuator (11), etc.

Abstract translation: 在悬架控制系统中，从获得的从弹簧质量加速度传感器（9u）的簧上质量加速度（alphau）和非簧下质量减振指令信号（C）获得的速度数据获得的天钩挂指令信号（B） 基于由簧下质量加速度传感器（9d）检测到的非簧载质量加速度（alphad）的基础，被加在一起以获得用于阻尼特性反转型减震器（6）的控制信号（A）。 控制信号（A）反映了活塞速度相位相差90°的非簧载质量加速度（alphad）。 因此，可以补偿由致动器（11）等导致的响应延迟。

公开(公告)号：US07092841B2

公开(公告)日：2006-08-15

申请号：US11003164

申请日：2004-12-03

Applicant: Heinz-Joachim Gilsdorf ,  Achim Thomae ,  Stefan Rappelt ,  Thomas Kutsche

Inventor： Heinz-Joachim Gilsdorf ,  Achim Thomae ,  Stefan Rappelt ,  Thomas Kutsche

IPC: G01C9/00

CPC classification number: B60G17/018 ,  B60G17/019 ,  B60G17/01908 ,  B60G2400/102 ,  B60G2400/252 ,  B60G2500/30 ,  B60G2600/16 ,  B60G2800/702

Abstract: A first acceleration sensor is arranged on a vehicle body for detecting an acceleration signal of the vehicle body and a second acceleration sensor is arranged on a wheel-side axle part for detecting an acceleration signal of the wheel-side axle part, the vehicle body and the wheel-side axle part execute relative movement with respect to each other. The wheel acceleration signal and the body acceleration signal are each integrated twice to form respective distance signals. The difference between the two distance signals at a first time (t0) is determined and stored as a gap value. A second distance signal difference is determined at a second time (t1) for a new gap value. When the wheel-side axle part reaches a reference position with respect to the vehicle body during the relative movement between the axle part on the wheel side and the vehicle body, a switching signal is generated and is used as a reference signal for determining the absolute position of the wheel side axle part along with the difference calculations.

Abstract translation: 第一加速度传感器配置在车身上，用于检测车体的加速度信号，第二加速度传感器配置在车轮侧车轴部，用于检测车轮侧车轴部，车体和 轮侧轴部相对于彼此执行相对运动。 车轮加速度信号和车身加速度信号各自被组合两次以形成相应的距离信号。 确定第一时间（t 0> 0）处的两个距离信号之间的差异并将其存储为间隙值。 对于新的间隙值，在第二时间（t 1> 1）确定第二距离信号差。 当轮侧轴部在车轮侧的车轴部与车体之间的相对移动期间相对于车身的基准位置到达时，产生切换信号，并将其用作确定绝对值的参考信号 车轮侧轴部分的位置以及差异计算。

公开(公告)号：US06631317B2

公开(公告)日：2003-10-07

申请号：US09967038

申请日：2001-10-01

Applicant: Jianbo Lu ,  Todd Allen Brown

Inventor： Jianbo Lu ,  Todd Allen Brown

IPC: G06F700

CPC classification number: B60R21/01336 ,  B60G17/016 ,  B60G17/01908 ,  B60G2400/0511 ,  B60G2400/0512 ,  B60G2400/0513 ,  B60G2400/0521 ,  B60G2400/0522 ,  B60G2400/0523 ,  B60G2400/104 ,  B60G2400/106 ,  B60G2400/204 ,  B60G2600/02 ,  B60G2600/082 ,  B60G2600/14 ,  B60G2600/16 ,  B60G2600/1877 ,  B60G2600/1885 ,  B60G2600/60 ,  B60G2800/012 ,  B60G2800/014 ,  B60G2800/016 ,  B60G2800/702 ,  B60G2800/912 ,  B60G2800/9124 ,  B60R16/0233 ,  B60R21/0132 ,  B60R2021/0018 ,  B60R2021/01327 ,  B60T8/172 ,  B60T2230/03 ,  B60W2050/0052 ,  B60W2510/20 ,  B60W2520/105 ,  B60W2520/14 ,  B60W2520/16 ,  B60W2520/18 ,  B62D6/00 ,  B62D7/159

Abstract: A stability control system (18) for an automotive vehicle includes a plurality of sensors (28-39) sensing the dynamic conditions of the vehicle. The sensors may include a speed sensor (20), a lateral acceleration sensor (32), a roll rate sensor (34), a yaw rate sensor (20) and a longitudinal acceleration sensor (36). The controller (26) is coupled to the speed sensor (20), the lateral acceleration sensor (32), the roll rate sensor (34), the yaw rate sensor (28) and a longitudinal acceleration sensor (36). The controller (26) has an anti-integration drift filter and a steady state recovery filter. The controller determines a roll attitude angle, a pitch attitude angle and a yaw attitude angle in response to the roll angular rate signal, the yaw angular rate signal, the lateral acceleration signal, the longitudinal acceleration signal, the wheel speed signal, the anti-integration drift filter and the steady state recovery filter.

公开(公告)号：US06202010B1

公开(公告)日：2001-03-13

申请号：US09166077

申请日：1998-10-05

Applicant: Shoichi Shono ,  Atushi Sato ,  Yoshiyuki Hashimoto

Inventor： Shoichi Shono ,  Atushi Sato ,  Yoshiyuki Hashimoto

IPC: B60G2106

CPC classification number: B60G17/017 ,  B60G2400/252 ,  B60G2500/30 ,  B60G2600/16

Abstract: A vehicle height adjust control apparatus and method precisely performs vehicle height adjustment while preventing unnecessary vehicle height adjustment. In the apparatus, a microcomputer compares the amount of shift of a vehicle height detected by a vehicle height sensor with a first predetermined value. If the amount of shift is greater than the first predetermined value, the microcomputer integrates the amount of shift. The integral of the amount of shift is compared with a second predetermined value. If the integral is greater than the second predetermined value, the microcomputer determines that vehicle height adjustment should be started. The first and/or second predetermined values used in an initial period immediately after an engine is started are smaller than the first and/or second predetermined values used after the initial period. The sensitivity to vehicle height shift in determining whether to start vehicle height adjustment is thus enhanced during the initial period immediately after the engine is started, so that vehicle height adjustment is promptly performed during the initial period, during which there is a high likelihood that a vehicle height change occurred during the stop of the vehicle.

Abstract translation: 车辆高度调节控制装置和方法精确地执行车辆高度调节，同时防止不必要的车辆高度调节。 在该装置中，微型计算机将由车辆高度传感器检测到的车辆高度的偏移量与第一预定值进行比较。 如果移位量大于第一预定值，则微计算机将移位量积分。 将移位量的积分与第二预定值进行比较。 如果积分大于第二预定值，则微计算机确定应开始车高调整。 在发动机启动之后的初始时段中使用的第一和/或第二预定值小于在初始时段之后使用的第一和/或第二预定值。 因此，在发动机起动之后的初始期间，确定是否开始车高调整的车高偏移的敏感性，从而在初始期间迅速进行车高调整，在此期间， 车辆高度变化发生在车辆停止期间。

公开(公告)号：US5884921A

公开(公告)日：1999-03-23

申请号：US919852

申请日：1997-08-28

Applicant: Takayuki Katsuda

Inventor： Takayuki Katsuda

IPC: B60G17/015 ,  B60G17/0165 ,  B60G17/018 ,  B60G17/08

CPC classification number: B60G17/0165 ,  B60G17/018 ,  B60G2400/102 ,  B60G2400/202 ,  B60G2400/206 ,  B60G2400/252 ,  B60G2400/821 ,  B60G2500/10 ,  B60G2500/102 ,  B60G2600/14 ,  B60G2600/16 ,  B60G2600/184 ,  B60G2800/162 ,  B60G2800/916

Abstract: An electric control apparatus for a damper device in a suspension system of an automotive vehicle, wherein absolute velocity of a sprung mass of the vehicle and relative velocity of the sprung mass to an unsprung mass of the vehicle in vertical movement are detected to determine a target damping coefficient in a predetermined small value when the detected absolute velocity is different from the detected relative velocity in a movement direction and to increase the target damping coefficient in accordance with an increase of a ratio of the detected absolute velocity to the detected relative velocity when the detected absolute velocity coincides with the detected relative velocity in the movement direction, and wherein a magnitude of vertical vibration of the sprung mass is detected to correct the target damping coefficient to a predetermined small value when the detected magnitude of vertical vibration of the sprung mass is less than a predetermined value and to increase the maximum value of the target damping coefficient in accordance with an increase of the detected magnitude of vertical vibration of the sprung mass more than the predetermined value.

Abstract translation: 一种用于汽车悬架系统中的阻尼器装置的电气控制装置，其中检测到车辆的悬挂质量的绝对速度和悬挂质量相对于车辆在垂直运动中的非簧载质量的相对速度以确定目标 当检测到的绝对速度与检测到的移动方向上的相对速度不同时，以预定的小值的阻尼系数，并且根据检测到的绝对速度与检测到的相对速度的比率的增加来增加目标阻尼系数 检测到的绝对速度与检测到的移动方向的相对速度一致，并且其中检测到簧上质量的垂直振动的大小以将目标阻尼系数校正到预定的小值，当检测到的弹簧质量的垂直振动的大小为 小于预定值并增加最大值 根据弹簧质量的垂直振动的检测大小的增加超过预定值的目标阻尼系数的ue。

公开(公告)号：US5864768A

公开(公告)日：1999-01-26

申请号：US709704

申请日：1996-09-09

Applicant: Martin Bieber ,  Sam Mike Mackool ,  Douglas Scott Rhode

Inventor： Martin Bieber ,  Sam Mike Mackool ,  Douglas Scott Rhode

IPC: B60G17/018 ,  B60G17/015

CPC classification number: B60G17/0182 ,  B60G2600/02 ,  B60G2600/122 ,  B60G2600/16 ,  B60G2600/17 ,  B60G2600/184 ,  B60G2600/1874 ,  B60G2600/60 ,  B60G2600/70

Abstract: A method and apparatus for controlling continuously variable dampers in a vehicle suspension system is provided. A microcontroller receives sensor signals from the vehicle and generates heave, pitch and roll acceleration signals, heave, pitch and roll actual velocity signals, and heave, pitch and roll velocity level signals based on the received sensor signals. Heave, pitch and roll control signals are then calculated based on the acceleration, actual velocity, and velocity level signals, and the continuously variable dampers are adjusted in accordance with the calculated heave, pitch and roll control signals. A deadband schedule function is provided for adjusting the control signals in accordance with the significance of the particular ride event.

Abstract translation: 提供了一种用于控制车辆悬架系统中的连续可变阻尼器的方法和装置。 微控制器从车辆接收传感器信号，并且基于接收到的传感器信号产生起伏，俯仰和侧倾加速度信号，起伏，俯仰和滚动实际速度信号以及起伏，俯仰和俯仰速度等级信号。 然后，基于加速度，实际速度和速度水平信号计算出上下拖曳和俯仰控制信号，并根据计算出的上升，俯仰和摇摆控制信号调整连续可变阻尼器。 提供死区时间表功能，用于根据特定乘坐事件的重要性来调节控制信号。

公开(公告)号：US5809434A

公开(公告)日：1998-09-15

申请号：US638628

申请日：1996-04-26

Applicant: Behrouz Ashrafi ,  Darrel Alan Recker

Inventor： Behrouz Ashrafi ,  Darrel Alan Recker

IPC: B60G17/018 ,  B60G17/019 ,  B60G17/0195 ,  B60T8/172 ,  B62D7/15 ,  B60T8/72

CPC classification number: B60T8/172 ,  B60G17/018 ,  B60G17/019 ,  B60G17/0195 ,  B60G2400/104 ,  B60G2400/208 ,  B60G2400/41 ,  B60G2400/822 ,  B60G2600/02 ,  B60G2600/04 ,  B60G2600/08 ,  B60G2600/14 ,  B60G2600/16 ,  B60G2600/44 ,  B60G2600/604 ,  B60G2600/70 ,  B60G2600/90 ,  B60G2800/00 ,  B60G2800/012 ,  B60G2800/212 ,  B60G2800/24 ,  B60G2800/92 ,  B60T2250/06

Abstract: A system for dynamically determining an operating state of a motor vehicle for input to a controller employed to control dynamics of the motor vehicle includes sensors for measuring predetermined vehicle operating state. The system also includes a device for predicting a value for the predetermined operating state, which can then be used to determine a correction factor for the measured operating state signal. This correction factor is proportional to the erroneous component of the measured vehicle operating state. Together, measured operating state and the correction signal are used to obtain a compensated operating state signal. This is particularly useful for reducing the effects of sensor drift and DC offset.

Abstract translation: 用于动态地确定用于输入到用于控制机动车辆的动力学的控制器的机动车辆的操作状态的系统包括用于测量预定车辆操作状态的传感器。 该系统还包括用于预测预定操作状态的值的装置，其可以用于确定所测量的操作状态信号的校正因子。 该校正因子与所测量的车辆运行状态的误差成分成比例。 一起测量的运行状态和校正信号用于获得经补偿的运行状态信号。 这对于减少传感器漂移和直流偏移的影响特别有用。

公开(公告)号：US5676433A

公开(公告)日：1997-10-14

申请号：US731915

申请日：1996-10-22

Applicant: Shoji Inagaki ,  Mizuho Sugiyama

Inventor： Shoji Inagaki ,  Mizuho Sugiyama

IPC: B60T8/00 ,  B60T8/172 ,  B60T8/1755 ,  B62D15/02 ,  B60T8/56

CPC classification number: B60T8/172 ,  B60T8/17551 ,  B60W40/103 ,  B60G2400/0523 ,  B60G2400/104 ,  B60G2400/204 ,  B60G2400/2042 ,  B60G2400/63 ,  B60G2600/16 ,  B60G2800/012 ,  B60G2800/0124 ,  B60G2800/212 ,  B60G2800/702 ,  B60G2800/922 ,  B60T2230/02 ,  B60W2050/002 ,  B60W2520/10 ,  B60W2520/12 ,  B60W2520/125 ,  B60W2520/14 ,  B60W2520/20

Abstract: A device for estimating side slide velocity of a vehicle, comprising: a component for detecting longitudinal velocity of the vehicle body; a component for detecting yaw rate of the vehicle body about its center of gravity; a component for detecting lateral acceleration of the vehicle body at the center of gravity; and a component for integrating on time basis difference between the lateral acceleration detected by the lateral acceleration detection component and product of the yaw rate detected by the yaw rate detection component and the longitudinal velocity detected by the longitudinal velocity detection component such that only high frequency components thereof are integrated to produce a side slide velocity signal. The device may further comprise a component for estimating slip angle of at least either the front wheels or the rear wheels and converting the estimated slip angle into side slide velocity of the vehicle body at its center of gravity to produce a side slide velocity signal; and a component for summing the side slide velocity signal produced by the integration component and the side slide velocity signal produced by the slip angle estimation and conversion component to produce a final side slide velocity signal.

Abstract translation: 一种用于估计车辆侧滑动速度的装置，包括：用于检测车身纵向速度的部件; 用于检测车体围绕其重心的横摆率的部件; 用于检测车身在重心处的横向加速度的部件; 以及用于基于横向加速度检测部件检测到的横向加速度和由横摆速度检测部件检测到的横摆率的乘积与由纵向速度检测部件检测到的纵向速度的时间基准积分的积分的部件，使得只有高频分量 被集成以产生侧滑动速度信号。 该装置还可以包括用于估计至少前轮或后轮的滑移角的部件，并将估计的滑移角转换为车体在其重心处的侧滑动速度，以产生侧滑动速度信号; 以及用于对由积分分量产生的侧滑动速度信号和由滑移角估计和转换分量产生的侧滑动速度信号相加以产生最终侧滑动速度信号的分量。