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    Lane tracking system with active rear-steer
    2.
    发明授权
    Lane tracking system with active rear-steer 有权
    车道跟踪系统具有主动后转向

    公开(公告)号：US08903607B2

    公开(公告)日：2014-12-02

    申请号：US13348091

    申请日：2012-01-11

    申请人： Jin-Woo Lee ,  Nikolai K. Moshchuk ,  Shih-Ken Chen ,  Bakhtiar Brian Litkouhi

    发明人： Jin-Woo Lee ,  Nikolai K. Moshchuk ,  Shih-Ken Chen ,  Bakhtiar Brian Litkouhi

    IPC分类号： G05D1/02

    CPC分类号： B62D15/0255

    摘要： A lane tracking system for a vehicle includes a front steering controller, a rear steering controller, and a lane tracking processor. The front steering controller is configured to rotate a front wheel of the vehicle through a front steering angle in response to a front steering torque command, and the rear steering controller is configured to rotate a rear wheel of the vehicle through a rear steering angle in response to a rear steering torque command. The lane tracking processor is configured to determine a desired course of the vehicle along a roadway, estimate a trajectory of the vehicle based on sensed vehicle motion, compute an error between the determined desired course and the estimated trajectory, and provide a front steering torque command to the front steering controller, and a rear steering torque command to the rear steering controller to minimize the computed error.

    摘要翻译： 用于车辆的车道跟踪系统包括前转向控制器，后转向控制器和车道跟踪处理器。 前转向控制器构造成响应于前转向转矩指令而通过前转向角旋转车辆的前轮，并且后转向控制器被配置为响应于后转向角来旋转车辆的后轮 到后转向转矩指令。 车道跟踪处理器被配置为确定沿着道路的车辆的期望路线，基于感测的车辆运动来估计车辆的轨迹，计算所确定的期望路线和估计的轨迹之间的误差，并且提供前转向转矩指令 到后转向控制器的后转向转矩指令，以使计算出的误差最小化。

    Lane centering fail-safe control using differential braking
    3.
    发明授权
    Lane centering fail-safe control using differential braking 有权
    使用差速制动的车道定心故障安全控制

    公开(公告)号：US08670903B2

    公开(公告)日：2014-03-11

    申请号：US13101397

    申请日：2011-05-05

    申请人： Jin-Woo Lee ,  Nikolai K. Moshchuk ,  Shih-Ken Chen

    发明人： Jin-Woo Lee ,  Nikolai K. Moshchuk ,  Shih-Ken Chen

    IPC分类号： G06F19/00 ,  B62D5/04

    CPC分类号： B60T8/17557 ,  B60T2201/08 ,  B60T2260/02 ,  B60T2270/402 ,  B60W30/12 ,  B60W50/029 ,  B60W2050/0025 ,  B60W2710/182 ,  B60W2720/14 ,  B62D9/005 ,  B62D15/025

    摘要： Method, system and non-transitory computer-readable medium for fail-safe performance of a lane centering system. An electrical power steering (EPS) system of a vehicle is monitored for a failure and operation of the lane centering system is switched to a differential braking controller to output differential braking commands to a differential breaking system upon determining that a failure of the EPS system has occurred, where the output braking commands direct the differential braking system to apply force a brake for a wheel of vehicle, such by the applied braking force the vehicle follows a desired path determined for a lane centering operation.

    摘要翻译： 用于车道对中系统故障安全性能的方法，系统和非暂时性计算机可读介质。 监测车辆的电动助力转向（EPS）系统的故障，并且车道定心系统的操作被切换到差速制动控制器，以在确定EPS系统的故障具有 发生，其中输出制动指令指示差速制动系统对车辆的车轮施加强制制动，例如通过施加的制动力，车辆遵循为道路对中操作确定的期望路径。

    Real-time allocation of actuator torque in a vehicle
    4.
    发明授权
    Real-time allocation of actuator torque in a vehicle 有权
    在车辆中实时分配执行器扭矩

    公开(公告)号：US08655528B2

    公开(公告)日：2014-02-18

    申请号：US13017117

    申请日：2011-01-31

    申请人： Youssef A. Ghoneim ,  Shih-Ken Chen ,  Valery Pylypchuk ,  Nikolai K. Moshchuk ,  Bakhtiar Brian Litkouhi

    发明人： Youssef A. Ghoneim ,  Shih-Ken Chen ,  Valery Pylypchuk ,  Nikolai K. Moshchuk ,  Bakhtiar Brian Litkouhi

    IPC分类号： G06F19/00

    CPC分类号： B60W10/08 ,  B60K7/0007 ,  B60K2007/0092 ,  B60W10/184 ,  B60W30/18145 ,  B60W50/0098 ,  B60W50/023 ,  B60W2050/0031 ,  B60W2720/403 ,  B60W2720/406 ,  Y02T10/7258

    摘要： A method for allocating forces among the corners of a vehicle having a redundant actuator suite includes determining a set of desired forces at the center of gravity of the vehicle, and allocating the set of desired forces among the corners of the vehicle as virtual control commands using a controller. The method also includes mapping the virtual control commands at the corners to actual or true control commands at the corners, and controlling a plurality of actuators at the corners using the actual or true control commands. The actuators may include friction brakes and wheel motors. Mapping the virtual control commands may include using a Least Squares formulation. Control of the actuators may be prioritized with respect to each other using weighting matrices. A vehicle includes a controller having actuators and a controller configured for executing the above method.

    摘要翻译： 一种用于在具有冗余致动器套件的车辆角部之间分配力的方法包括确定在车辆重心处的一组期望的力，并且在车辆的角部之间分配所需的力集合作为虚拟控制命令，使用 一个控制器 该方法还包括将角落处的虚拟控制命令映射到角落处的实际或真实控制命令，并且使用实际或真实的控制命令来控制拐角处的多个致动器。 致动器可以包括摩擦制动器和轮式电动机。 映射虚拟控制命令可以包括使用最小二乘公式。 致动器的控制可以使用加权矩阵相对于彼此来优先。 车辆包括具有致动器的控制器和被配置为执行上述方法的控制器。

    Vehicle Stability Systems and Methods
    7.
    发明申请
    Vehicle Stability Systems and Methods 有权
    车辆稳定系统和方法

    公开(公告)号：US20130096867A1

    公开(公告)日：2013-04-18

    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： G06F15/00

    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。

    Autonomous parking strategy of the vehicle with rear steer
    9.
    发明授权
    Autonomous parking strategy of the vehicle with rear steer 有权
    具有后转向车辆的自动停车策略

    公开(公告)号：US08095273B2

    公开(公告)日：2012-01-10

    申请号：US12578616

    申请日：2009-10-14

    申请人： Nikolai K. Moshchuk ,  Shih-Ken Chen

    发明人： Nikolai K. Moshchuk ,  Shih-Ken Chen

    IPC分类号： A01B69/00

    CPC分类号： B62D15/0285 ,  B62D7/159

    摘要： A method includes parallel parking a vehicle between a first object and a second object in response to an available parking distance therebetween. The vehicle includes front steerable wheels and rear steerable wheels. A distance between the first object and the second object is remotely sensed determining whether to apply a one or two cycle parking strategy. An autonomous one cycle parking strategy includes pivoting the front and rear steerable wheels in respective directions for steering the vehicle in a first reverse arcuate path of travel and then cooperatively pivoting the steerable wheels in a counter direction for steering the vehicle in a second reverse arcuate path of travel to a final park position. The autonomous two cycle parking strategy includes performing the one cycle parking maneuver and then changing a transmission gear to a drive gear and pivoting the front and rear steerable wheels in the first direction for moving the vehicle forward to a final park position.

    摘要翻译： 一种方法包括响应于它们之间的可用停车距离而将车辆平行停泊在第一物体和第二物体之间。 车辆包括前可转向轮和后可转向轮。 遥测第一物体和第二物体之间的距离，确定是否应用一个或两个循环停车策略。 自主的单循环停车策略包括使前后可转向轮在各个方向上枢转，以便在第一反向弓形运动路径中转向车辆，然后在相对方向上协调地枢转可转向的车轮，以便在第二反向弧形路径 的旅行到最后的公园位置。 自主的两周期停车策略包括执行一个周期的停车操作，然后将传动齿轮改变为驱动齿轮，并使第一方向上的前后可转向轮转动，以将车辆向前移动到最后的停放位置。

    Method and system for detecting a vibration level of a wheel within a resonating frequency range of a vehicle suspension
    10.
    发明授权
    Method and system for detecting a vibration level of a wheel within a resonating frequency range of a vehicle suspension 有权
    用于检测在车辆悬架的谐振频率范围内的车轮的振动水平的方法和系统

    公开(公告)号：US07991529B2

    公开(公告)日：2011-08-02

    申请号：US12144027

    申请日：2008-06-23

    申请人： Flavio Nardi ,  Nikolai K. Moshchuk

    发明人： Flavio Nardi ,  Nikolai K. Moshchuk

    IPC分类号： B60G17/016

    CPC分类号： B60G17/018 ,  B60G17/08 ,  B60G2400/202 ,  B60G2400/252 ,  B60G2400/91 ,  B60G2401/10 ,  B60G2500/10

    摘要： A method that detects whether the vibration level of the wheel is within the resonating frequency range by utilizing discrete velocity measurements. The method includes continuously measuring velocity levels of a wheel relative to a sprung mass vehicle component. These measurements are continuously recorded over a period of time. A periodic algorithm is provided, and the periodic algorithm and the velocity measurements are utilized to determine an output value. The output value is utilized to determine whether the vibration level of the wheel is within the resonating frequency range.

    摘要翻译： 通过利用离散速度测量来检测车轮的振动水平是否在谐振频率范围内的方法。 该方法包括连续测量车轮相对于悬挂质量车辆部件的速度水平。 这些测量在一段时间内连续记录。 提供周期性算法，利用周期算法和速度测量来确定输出值。 输出值用于确定车轮的振动水平是否在谐振频率范围内。