公开(公告)号：US08326487B2

公开(公告)日：2012-12-04

申请号：US12275880

申请日：2008-11-21

Applicant: Nikolai K. Moschuk ,  Flavio Nardi ,  Jihan Ryu ,  Kevin A. O'Dea

Inventor： Nikolai K. Moschuk ,  Flavio Nardi ,  Jihan Ryu ,  Kevin A. O'Dea

IPC: B60G17/018

CPC classification number: B60G17/018 ,  B60G2400/252 ,  B60G2400/64 ,  B60G2600/60 ,  B60G2800/70

Abstract: A method for estimating the normal force at a wheel of a vehicle and the vertical acceleration of the vehicle that has particular application for ride and stability control of the vehicle. The method includes obtaining a suspension displacement value from at least one of a plurality of suspension displacement sensors mounted on the vehicle and estimating a spring force acting on a spring of a suspension element of the vehicle, a damper force acting on a damper of the suspension element of the vehicle, and a force acting at a center of a wheel. The method further includes determining a normal force at the wheel of the vehicle and a vertical acceleration of the vehicle based on the spring force, the damper force and the force at the center of the wheel of the vehicle.

Abstract translation: 用于估计车辆的车轮处的法向力的方法以及具有用于车辆的骑行和稳定性控制的特定应用的车辆的垂直加速度。 该方法包括从安装在车辆上的多个悬架位移传感器中的至少一个获得悬架位移值，并且估计作用在车辆的悬挂元件的弹簧上的弹簧力，作用在悬架的阻尼器上的阻尼力 车辆的元件和作用在车轮中心的力。 该方法还包括基于弹簧力，阻尼力和在车辆的车轮中心处的力来确定车辆的车轮处的法向力和车辆的垂直加速度。

公开(公告)号：US08234090B2

公开(公告)日：2012-07-31

申请号：US13018671

申请日：2011-02-01

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

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

IPC: G06F15/00

CPC classification number: B60T8/172 ,  B60T2210/22 ,  B60T2230/02 ,  B60T2250/04

Abstract: 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.

Abstract translation: 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：US20120029769A1

公开(公告)日：2012-02-02

申请号：US12845127

申请日：2010-07-28

Applicant: Shih-Ken Chen ,  Weiwen Deng ,  Youssef A. Ghoneim ,  Nikolai K. Moshohuk ,  Flavio Nardi ,  Jihan Ryu ,  Kevin A. O'Dea

Inventor： Shih-Ken Chen ,  Weiwen Deng ,  Youssef A. Ghoneim ,  Nikolai K. Moshohuk ,  Flavio Nardi ,  Jihan Ryu ,  Kevin A. O'Dea

IPC: B60G17/00

CPC classification number: B60W30/18145 ,  B60W10/184 ,  B60W10/20 ,  B60W10/22

Abstract: A method to control a vehicle includes monitoring desired vehicle force and moment, monitoring real-time corner constraints upon vehicle dynamics which includes monitoring corner states of health for the vehicle, and monitoring corner capacities for the vehicle. The method further includes determining a desired corner force and moment distribution based upon the desired vehicle force and moment and the real-time corner constraints, and controlling the vehicle based upon the desired corner force and moment distribution.

Abstract translation: 一种控制车辆的方法包括监测所需的车辆力和力矩，监测对车辆动态的实时角限制，其包括监控车辆的健康状况，以及监测车辆的拐角能力。 该方法还包括基于期望的车辆力和力矩以及实时角限制来确定期望的角力和力矩分布，以及基于期望的角力和力矩分布来控制车辆。

公开(公告)号：US08086367B2

公开(公告)日：2011-12-27

申请号：US12276996

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: B60T8/172 ,  B60T2210/12 ,  B60T2230/02 ,  B60T2250/04

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US07908112B2

公开(公告)日：2011-03-15

申请号：US12276965

申请日：2008-11-24

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

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

IPC: G01P3/00

CPC classification number: B60T8/172 ,  B60T2210/22 ,  B60T2230/02 ,  B60T2250/04

Abstract: 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.

Abstract translation: 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：US20100217489A1

公开(公告)日：2010-08-26

申请号：US12390697

申请日：2009-02-23

Applicant: Michael P. Turski ,  Kevin A. O'Dea

Inventor： Michael P. Turski ,  Kevin A. O'Dea

IPC: G06F17/00 ,  G06F19/00

CPC classification number: B60W30/18027 ,  B60W10/06 ,  B60W30/19 ,  B60W2510/0604 ,  B60W2510/0638 ,  B60W2510/0657 ,  B60W2520/10 ,  B60W2520/105 ,  B60W2520/14 ,  B60W2540/10 ,  B60W2540/14 ,  B60W2540/16 ,  F02D11/105 ,  F02D41/021 ,  F02D41/022 ,  F02D41/023 ,  F02D41/263 ,  F02D41/28

Abstract: A system and method for controlling a vehicle engine during one or more performance driving events, such as a performance takeoff, shifting or cornering event. The engine control system may be used to maintain stability when the vehicle is being driven in a competitive or aggressive fashion by temporarily controlling the vehicle engine through the manipulation of engine torque, engine speed or some other means. If the engine control system receives competing command signals from different vehicle subsystems, then the system may arbitrate or otherwise manage the competing command signals so that different subsystems can function together properly. In one embodiment, the engine control system blends the commands signals from two or more subsystems.

Abstract translation: 一种用于在一个或多个性能驾驶事件期间控制车辆发动机的系统和方法，例如性能起飞，换挡或转弯事件。 发动机控制系统可以用于通过通过操纵发动机扭矩，发动机转速或其它一些方式临时控制车辆发动机以有竞争力或侵略性的方式驱动车辆时保持稳定性。 如果发动机控制系统从不同的车辆子系统接收到竞争的命令信号，则系统可以仲裁或以其他方式管理竞争的命令信号，使得不同的子系统可以正常地一起工作。 在一个实施例中，发动机控制系统混合来自两个或更多个子系统的命令信号。

公开(公告)号：US20100214164A1

公开(公告)日：2010-08-26

申请号：US12392277

申请日：2009-02-25

Applicant: FLAVIO NARDI ,  NIKOLAI K. MOSHCHUK ,  JIHAN RYU ,  KEVIN A. O'DEA

Inventor： FLAVIO NARDI ,  NIKOLAI K. MOSHCHUK ,  JIHAN RYU ,  KEVIN A. O'DEA

IPC: G01S1/00

CPC classification number: B60T8/172 ,  B60T2210/36 ,  B60T2230/02 ,  G01S19/52 ,  G01S19/53

Abstract: 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.

Abstract translation: 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：US20100198445A1

公开(公告)日：2010-08-05

申请号：US12365594

申请日：2009-02-04

Applicant: Kevin A. O'DEA ,  Flavio NARDI ,  Jihan RYU

Inventor： Kevin A. O'DEA ,  Flavio NARDI ,  Jihan RYU

IPC: B60W30/02

CPC classification number: B60W30/02

Abstract: A method of stabilizing a vehicle is provided. The vehicle is travelling at a forward speed and a lateral speed, and comprises a lateral acceleration sensor, a yaw sensor adapted to detect an actual yaw rate of the vehicle around a central axis, a steering mechanism adapted to steer the vehicle by a steered yaw rate, and an electronic stability control system. The method comprises determining the forward speed of the vehicle with the electronic stability control system, determining a yaw error rate based upon a difference between the actual yaw rate of the vehicle and the steered yaw rate, determining the vehicle is in an unstable condition by comparing the yaw error rate to a first predetermined yaw rate, computing a calculated lateral speed based on acceleration data from the lateral acceleration sensor, the forward speed, and the actual yaw rate in response to determining the vehicle is in the unstable condition, calculating a correction factor based on the calculated lateral speed of the vehicle and the forward speed of the vehicle, and adjusting operation of the electronic stability control system by the correction factor.

Abstract translation: 提供一种稳定车辆的方法。 车辆以前进速度和横向速度行驶，并且包括横向加速度传感器，适于检测围绕中心轴线的车辆的实际横摆角速度的偏航传感器，适于通过转向偏转来转向车辆的转向机构 速率和电子稳定性控制系统。 该方法包括使用电子稳定性控制系统确定车辆的前进速度，基于车辆的实际横摆角速度与转向偏航率之间的差异来确定偏航误差率，通过比较确定车辆处于不稳定状态 响应于车辆的确定，基于来自横向加速度传感器的加速度数据，前进速度和实际横摆率计算计算出的横向速度的偏航错误率处于不稳定状态，计算校正值 基于计算出的车辆横向速度和车辆前进速度的因子，以及通过校正因子来调整电子稳定性控制系统的操作。

公开(公告)号：US20100131154A1

公开(公告)日：2010-05-27

申请号：US12275880

申请日：2008-11-21

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

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

IPC: G06F17/00 ,  G01L5/00 ,  G01P15/00

CPC classification number: B60G17/018 ,  B60G2400/252 ,  B60G2400/64 ,  B60G2600/60 ,  B60G2800/70

Abstract: A method for estimating the normal force at a wheel of a vehicle and the vertical acceleration of the vehicle that has particular application for ride and stability control of the vehicle. The method includes obtaining a suspension displacement value from at least one of a plurality of suspension displacement sensors mounted on the vehicle and estimating a spring force acting on a spring of a suspension element of the vehicle, a damper force acting on a damper of the suspension element of the vehicle, and a force acting at a center of a wheel. The method further includes determining a normal force at the wheel of the vehicle and a vertical acceleration of the vehicle based on the spring force, the damper force and the force at the center of the wheel of the vehicle.

Abstract translation: 用于估计车辆的车轮处的法向力的方法以及具有用于车辆的骑行和稳定性控制的特定应用的车辆的垂直加速度。 该方法包括从安装在车辆上的多个悬架位移传感器中的至少一个获得悬架位移值，并且估计作用在车辆的悬挂元件的弹簧上的弹簧力，作用在悬架的阻尼器上的阻尼力 车辆的元件和作用在车轮中心的力。 该方法还包括基于弹簧力，阻尼力和在车辆的车轮中心处的力来确定车辆的车轮处的法向力和车辆的垂直加速度。

公开(公告)号：US20100131146A1

公开(公告)日：2010-05-27

申请号：US12277027

申请日：2008-11-24

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

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

IPC: G06F7/00

CPC classification number: B60T8/172 ,  B60T2210/12 ,  B60T2230/02

Abstract: A system and method for estimating surface coefficient of friction in a vehicle system. The method includes providing a kinematics relationship between vehicle yaw-rate, vehicle speed, vehicle steering angle and vehicle front and rear axle side-slip angles that is accurate for all surface coefficient of frictions on which the vehicle may be traveling. The method defines a nonlinear function for the front and rear axle side-slip angles relating to front and rear lateral forces and coefficient of friction, and uses the nonlinear function in the kinematics relationship. The method also provides a linear relationship of the front and rear axle side-slip angles and the front and rear lateral forces using the kinematics relationship. The method determines that the vehicle dynamics have become nonlinear using the linear relationship and then estimates the surface coefficient of friction when the vehicle dynamics are nonlinear.

Abstract translation: 一种用于估计车辆系统中的摩擦力表面系数的系统和方法。 该方法包括提供车辆偏航率，车辆速度，车辆转向角度以及车辆前后侧滑角之间的运动学关系，其对于车辆可能在其上行驶的摩擦的所有表面系数是准确的。 该方法定义了与前后侧向力和摩擦系数有关的前轴和后桥侧滑角的非线性函数，并在运动学关系中使用非线性函数。 该方法还使用运动学关系提供前后轴侧滑角与前后侧向力的线性关系。 该方法通过线性关系确定车辆动力学变为非线性，然后估计当车辆动力学是非线性时的摩擦表面系数。