公开(公告)号：US06681167B2

公开(公告)日：2004-01-20

申请号：US10164321

申请日：2002-06-04

申请人： Edward John Bedner ,  Aleksander Boguslaw Hac ,  Hsien Heng Chen ,  Ashok Chandy ,  Michael John Check

发明人： Edward John Bedner ,  Aleksander Boguslaw Hac ,  Hsien Heng Chen ,  Ashok Chandy ,  Michael John Check

IPC分类号： G06F1700

CPC分类号： B60K28/16 ,  B60T8/1764 ,  B60T2260/022 ,  B60T2260/024 ,  B60W2520/14 ,  B60W2520/28 ,  B62D7/159

摘要： A vehicle chassis control stores first and second calibrated values of a predetermined braking parameter and a steering correction parameter. The control includes apparatus for detecting a split coefficient condition with respect to the road surface; and, when it does and a braking signal is present, the control actuates braking apparatus for a wheel on the side of the vehicle having the higher coefficient of friction with the first calibrated value of the predetermined braking parameter and simultaneously actuates the steering apparatus with a steering correction to compensate for yaw induced by braking on the split coefficient road surface. If the steering correction is not available, however, the braking apparatus is actuated for the wheel having the higher coefficient of friction with the second calibrated value of the predetermined braking parameter without simultaneously actuating the steering apparatus with the steering correction. The steering correction may have an open loop part derived from a difference between wheel slips of two wheels on opposite sides of the vehicle and/or a closed loop part derived from yaw rate, side slip and/or side slip rate error.

摘要翻译： 车辆底盘控制器存储预定制动参数和转向校正参数的第一和第二校准值。 该控制装置包括用于检测相对于路面的分裂系数条件的装置; 并且当其存在并且存在制动信号时，所述控制致动具有与所述预定制动参数的第一校准值相比具有较高摩擦系数的车辆侧的车轮的制动装置，并且同时致动所述转向装置 转向补偿以补偿由分裂系数路面上的制动引起的偏航。 然而，如果转向矫正不可用，则制动装置对于具有较高摩擦系数的车轮与具有预定制动参数的第二校准值而被致动，而不用转向校正同时致动转向装置。 转向校正可以具有从车辆相对侧上的两个车轮的车轮滑移之间的差导出的开环部分和/或由偏航率，侧滑和/或侧滑率误差导出的闭环部分。

公开(公告)号：US6125319A

公开(公告)日：2000-09-26

申请号：US134951

申请日：1998-08-17

申请人： Aleksander Boguslaw Hac ,  John Francis Hoying ,  Kamal Naif Majeed ,  Hsien Heng Chen ,  Joachim Busshardt

发明人： Aleksander Boguslaw Hac ,  John Francis Hoying ,  Kamal Naif Majeed ,  Hsien Heng Chen ,  Joachim Busshardt

IPC分类号： B60T8/1763 ,  B60T8/32

CPC分类号： B60T8/17636 ,  B60T2210/12

摘要： A brake system control method, comprising the steps of: determining a maximum acceleration of a vehicle on a high coefficient of adhesion road surface; measuring an acceleration of the vehicle; determining a ratio between the measured acceleration of the vehicle and the maximum acceleration of the vehicle on the high coefficient of adhesion road surface; responsive to the ratio, determining a signal indicative of present coefficient of adhesion; determining a brake actuator command responsive to the signal; and providing the brake actuator command to a brake actuator, wherein an accurate estimation of coefficient of friction between the vehicle wheels and the road surface is used in the brake system control.

摘要翻译： 一种制动系统控制方法，包括以下步骤：在高粘附路面系数上确定车辆的最大加速度; 测量车辆的加速度; 确定车辆的测量加速度与车辆在高粘性路面系数上的最大加速度之间的比率; 响应于所述比率，确定指示当前粘附系数的信号; 响应于所述信号确定制动致动器指令; 并且向制动器致动器提供制动致动器命令，其中在制动系统控制中使用车轮与路面之间的摩擦系数的精确估计。

公开(公告)号：US6035251A

公开(公告)日：2000-03-07

申请号：US967091

申请日：1997-11-10

申请人： Aleksander Boguslaw Hac ,  John Francis Hoying ,  Rowland Curl Augustus ,  Joachim Busshardt ,  Sean Padraig O'Connell ,  William Chin-Woei Lin ,  Youssef Ahmed Ghoneim ,  Hsien Heng Chen ,  David Michael Sidlosky ,  Yuen-Kwok Chin ,  David John Barta

发明人： Aleksander Boguslaw Hac ,  John Francis Hoying ,  Rowland Curl Augustus ,  Joachim Busshardt ,  Sean Padraig O'Connell ,  William Chin-Woei Lin ,  Youssef Ahmed Ghoneim ,  Hsien Heng Chen ,  David Michael Sidlosky ,  Yuen-Kwok Chin ,  David John Barta

IPC分类号： B60T8/1755 ,  G06F7/70

CPC分类号： B60T8/1755 ,  B60T2230/02

摘要： A brake system control for use in a vehicle with wheels, wheel brakes and a body, comprising the steps of: measuring a plurality of vehicle parameters; responsive to the measured parameters, determining at least a vehicle yaw rate, a vehicle slip angle, a desired yaw rate and a desired slip angle; responsive to the measured parameters, estimating a coefficient of adhesion between the vehicle wheels and a road surface; implementing a control responsive to the vehicle yaw rate and the desired yaw rate with a first authority and responsive to the vehicle slip angle and the desired slip angle with a second authority, wherein the first authority increases as the estimated coefficient of adhesion increases and decreases as the estimated coefficient of adhesion decreases; and controlling the wheel brakes responsive to the control to reduce a first difference between the vehicle yaw rate and the desired yaw rate and to reduce a second difference between the vehicle slip angle and the desired slip angle.

摘要翻译： 一种用于具有轮子，车轮制动器和车身的车辆的制动系统控制器，包括以下步骤：测量多个车辆参数; 响应于所测量的参数，确定至少车辆横摆角速度，车辆滑行角度，期望的横摆角速度和期望的滑移角度; 响应于测量的参数，估计车辆车轮与路面之间的粘附系数; 利用第一权限实现响应于车辆横摆率和期望的偏航率的控制，并响应于第二权限的车辆滑移角和期望的滑移角，其中第一权限随着估计的粘附系数增加而增加，并且随着 估计的粘附系数降低; 以及响应于所述控制来控制所述车轮制动器，以减少所述车辆横摆角速度和所述偏航率之间的第一差异，并且减小所述车辆滑行角和所述滑动角之间的第二差异。

公开(公告)号：US06640171B2

公开(公告)日：2003-10-28

申请号：US09921634

申请日：2001-08-03

申请人： Hsien Heng Chen ,  Karen Ann Boswell ,  Edward John Bedner

发明人： Hsien Heng Chen ,  Karen Ann Boswell ,  Edward John Bedner

IPC分类号： G06F1700

CPC分类号： B60K28/16 ,  B60T8/1764 ,  B60T2260/022 ,  B60T2260/024 ,  B60W2520/14 ,  B60W2520/28 ,  B62D7/159

摘要： A rear steer control for a motor vehicle considers vehicle velocity in three ranges and provides an out of phase rear steer angle in open loop control within a low velocity range for oversteer assistance of parking and similar vehicle maneuvers, an in phase rear steer angle in closed loop control responsive to vehicle yaw rate within a high velocity range for understeer vehicle stability assistance, and a steer angle in closed loop control responsive to vehicle yaw rate within an intermediate velocity range. In a preferred embodiment, the closed loop control in the high velocity range may be combined with an open loop control. The control further provides supplemental throttle adjustments in coordination with the rear steer control for increased traction and stability in a turn.

公开(公告)号：US5720533A

公开(公告)日：1998-02-24

申请号：US732582

申请日：1996-10-15

申请人： Stephen Robert Pastor ,  William Chin-Woei Lin ,  Michael Douglas Rizzo ,  Duane Edward Bassett ,  Edward John Bedner ,  Edmund Stanley Browalski ,  Douglass L. Carson ,  Hsien Heng Chen ,  Yuen-Kwok Chin ,  Youssef Ahmed Ghoneim ,  Hong Xing Hu ,  Vivek Jaikamal ,  Ronald Paul ,  Steven Lee Tracht ,  Michael Paul Turski

发明人： Stephen Robert Pastor ,  William Chin-Woei Lin ,  Michael Douglas Rizzo ,  Duane Edward Bassett ,  Edward John Bedner ,  Edmund Stanley Browalski ,  Douglass L. Carson ,  Hsien Heng Chen ,  Yuen-Kwok Chin ,  Youssef Ahmed Ghoneim ,  Hong Xing Hu ,  Vivek Jaikamal ,  Ronald Paul ,  Steven Lee Tracht ,  Michael Paul Turski

IPC分类号： B60T8/175 ,  B60T8/1755 ,  B60T8/176 ,  B60T8/58

CPC分类号： B60T8/175 ,  B60T8/1755 ,  B60T8/176

摘要： In a vehicle with first and second front vehicle wheels and third and fourth rear vehicle wheels and at least one member of a first group comprising anti-lock brake control and positive acceleration traction control, a brake control method comprising the steps of: determining a desired vehicle yaw rate; determining an actual vehicle yaw rate; responsive to the desired and actual vehicle yaw rates, determining an axle command; responsive to the desired and actual vehicle yaw rates, determining a torque command; applying the axle command during activation of one of the anti-lock brake control and the positive acceleration traction control to one member of a second group comprising (i) the two front wheels and (ii) the two rear wheels, wherein wheel-to-road traction is increased and a difference between desired vehicle yaw rate and actual vehicle yaw rate is minimized; and applying the torque command to at least one of the vehicle wheels independently of the axle command to create a yaw torque moment on the vehicle body, wherein the difference between the desired vehicle yaw rate and the actual vehicle yaw rate is minimized.

摘要翻译： 在具有第一和第二前部车轮和第三和第四后部车轮以及包括防抱死制动控制和正加速牵引力控制的第一组的至少一个构件的车辆中，制动控制方法包括以下步骤：确定期望的 车辆偏航率; 确定实际车辆横摆率; 响应于期望的和实际的车辆横摆角速度，确定轴指令; 响应于期望的和实际的车辆横摆角速度，确定扭矩指令; 在将所述防抱死制动控制和所述正加速牵引控制中的一个启动期间施加所述轴指令到包括（i）所述两个前轮和（ii）所述两个后轮的第二组的一个构件， 道路牵引力增加，期望车辆横摆角速度与实际车辆横摆角速度之间的差异最小化; 以及独立于所述车轴命令将所述转矩命令施加到所述车轮中的至少一个，以在所述车体上产生偏航扭矩矩，其中期望车辆横摆角速度与实际车辆横摆角速度之间的差被最小化。

公开(公告)号：US5895433A

公开(公告)日：1999-04-20

申请号：US660150

申请日：1996-05-23

申请人： Hsien Heng Chen ,  Eldon Gerrald Leaphart ,  Edward John Bedner ,  Yuen-Kwok Chin

发明人： Hsien Heng Chen ,  Eldon Gerrald Leaphart ,  Edward John Bedner ,  Yuen-Kwok Chin

IPC分类号： B60G17/0185 ,  B60G17/0195 ,  B60T8/1755 ,  G06F7/00

CPC分类号： B60T8/1755 ,  B60G17/0185 ,  B60G17/0195 ,  B60G2400/104 ,  B60G2400/208 ,  B60G2400/412 ,  B60G2600/02 ,  B60G2600/04 ,  B60G2600/08 ,  B60G2600/16 ,  B60G2600/70 ,  B60G2800/012 ,  B60G2800/21 ,  B60G2800/22 ,  B60G2800/24 ,  B60G2800/244 ,  B60G2800/246 ,  B60G2800/92 ,  B60T2260/06 ,  B60T2260/09

摘要： A vehicle chassis system control method, comprising the steps of: measuring vehicle yaw rate, vehicle speed, and vehicle lateral acceleration; determining, responsive to the yaw rate, vehicle speed and lateral acceleration, an index ratio; comparing the index ratio to a predetermined threshold indicating a limit above which active chassis control is not desired; and responsive to the comparison, setting a signal indicating termination of active chassis control if the index ratio is above the predetermined threshold.

摘要翻译： 一种车辆底盘系统控制方法，包括以下步骤：测量车辆横摆角速度，车速和车辆横向加速度; 响应于横摆率，车速和横向加速度，确定指标比; 将所述指数比与预定阈值进行比较，所述预定阈值指示不期望主动底盘控制的极限; 并且响应于所述比较，如果所述指标比率高于所述预定阈值，则设置指示有效底盘控制的终止的信号。

公开(公告)号：US5746486A

公开(公告)日：1998-05-05

申请号：US920648

申请日：1997-08-29

申请人： Ronald Paul ,  Stephen Robert Pastor ,  Michael Douglas Rizzo ,  Duane Edward Bassett ,  Edward John Bedner ,  Douglass L. Carson ,  Hsien Heng Chen ,  Yuen-Kwok Chin ,  Youssef Ahmed Ghoneim ,  Alan James Lee ,  William Chin-Woei Lin ,  Howard Hans Ludwig

发明人： Ronald Paul ,  Stephen Robert Pastor ,  Michael Douglas Rizzo ,  Duane Edward Bassett ,  Edward John Bedner ,  Douglass L. Carson ,  Hsien Heng Chen ,  Yuen-Kwok Chin ,  Youssef Ahmed Ghoneim ,  Alan James Lee ,  William Chin-Woei Lin ,  Howard Hans Ludwig

IPC分类号： B60T8/1755 ,  G05D1/08 ,  B60K28/16 ,  B60T8/32

CPC分类号： B60T8/1755 ,  G05D1/0891 ,  B60T2270/311

摘要： A brake control system method according to the steps of: determining driver commanded yaw rate; measuring actual yaw rate; determining a yaw rate error; determining, in response to vehicle conditions, a yaw rate dead band wherein the yaw rate dead band varies with vehicle conditions; comparing the yaw rate error to the dead band; and if the yaw rate error exceeds the dead band, controlling the vehicle responsive to the yaw rate error, wherein yaw rate control only occurs when the yaw rate error exceeds the dead band.

摘要翻译： 一种制动控制系统方法，其特征在于，包括以下步骤：确定驾驶员指挥的偏航率; 测量实际偏航率; 确定横摆率误差; 响应于车辆状况确定偏航率死区，其中横摆率死区随车辆状况而变化; 将偏航率误差与死区进行比较; 并且如果横摆率误差超过死区，则响应于横摆率误差来控制车辆，其中横摆率控制仅在横摆率误差超过死区时发生。

公开(公告)号：US5941919A

公开(公告)日：1999-08-24

申请号：US733054

申请日：1996-10-16

申请人： Stephen Robert Pastor ,  Ronald Paul ,  Michael Douglas Rizzo ,  Edward John Bedner ,  Vivek Jaikamal ,  Kevin Austin O'Dea ,  Edmund Stanley Browalski ,  Howard Hans Ludwig ,  Scott Douglas Morrison ,  Hsien Heng Chen ,  Yuen-Kwok Chin ,  Youssef Ahmed Ghoneim ,  William Chin-Woei Lin ,  Mutasim Abdurrahman Salman ,  David Michael Sidlosky ,  Michael Paul Turski

发明人： Stephen Robert Pastor ,  Ronald Paul ,  Michael Douglas Rizzo ,  Edward John Bedner ,  Vivek Jaikamal ,  Kevin Austin O'Dea ,  Edmund Stanley Browalski ,  Howard Hans Ludwig ,  Scott Douglas Morrison ,  Hsien Heng Chen ,  Yuen-Kwok Chin ,  Youssef Ahmed Ghoneim ,  William Chin-Woei Lin ,  Mutasim Abdurrahman Salman ,  David Michael Sidlosky ,  Michael Paul Turski

IPC分类号： B60T8/1755 ,  B60K28/16 ,  B60T8/32

CPC分类号： B60T8/1755 ,  B60T2260/09 ,  B60W2520/125 ,  B60W2520/14

摘要： In a vehicle with a first operating mode in which all vehicle wheels have substantially no lateral movement on a road surface and a second operating mode in which at least some of the vehicle wheels have lateral movement on the road surface, and with an actuator capable of affecting vehicle yaw rate, a vehicle yaw rate control method comprising the steps of: measuring an actual vehicle yaw rate; measuring vehicle steering wheel position; in the second mode of operation, determining a desired yaw rate command linearly responsive to the measured steering wheel position; wherein the actuator is controlled to minimize a difference between the measured vehicle yaw rate and the desired vehicle yaw rate.

摘要翻译： 在具有第一操作模式的车辆中，其中所有车轮在路面上基本上没有横向运动，以及第二操作模式，其中至少一些车轮在路面上具有横向运动，并且具有能够 影响车辆偏航率的车辆偏航率控制方法，包括以下步骤：测量实际车辆横摆率; 测量车辆方向盘位置; 在第二操作模式中，对所测量的方向盘位置线性地确定期望的横摆速度命令; 其中致动器被控制以最小化所测量的车辆横摆角速度与期望车辆横摆角速度之间的差。

公开(公告)号：US20090076683A1

公开(公告)日：2009-03-19

申请号：US11900824

申请日：2007-09-13

申请人： Chee Siong Lim ,  James F. Patterson ,  Hsien Heng Chen

发明人： Chee Siong Lim ,  James F. Patterson ,  Hsien Heng Chen

IPC分类号： G06F7/00

CPC分类号： B60W30/04 ,  B60G17/0195 ,  B60G2400/80 ,  B60G2800/222 ,  B60G2800/9124 ,  B60R21/0136 ,  B60R2021/0006 ,  B60R2021/0018 ,  B60R2021/01259 ,  B60T7/22 ,  B60W30/085

摘要： An anti-rollover system including a processor, a side impact sensor in communication with the processor, and a controllable suspension-based system and/or a controllable brake-based system in communication with the processor, wherein the controllable suspension-based system and/or the controllable brake-based system is actuated when the side impact sensor detects a side impact.

摘要翻译： 一种防翻滚系统，包括处理器，与处理器通信的侧面碰撞传感器，以及与处理器通信的基于可控悬架的系统和/或可控制动器系统，其中可控制的基于悬架的系统和/ 或者当侧面碰撞传感器检测到侧面碰撞时，可操作的基于制动器的系统被致动。

公开(公告)号：US06175790B1

公开(公告)日：2001-01-16

申请号：US09138737

申请日：1998-08-24

申请人： William Chin-Woei Lin ,  Youssef Ahmed Ghoneim ,  David Michael Sidlosky ,  Hsien Heng Chen ,  Yuen-Kwok Chin

发明人： William Chin-Woei Lin ,  Youssef Ahmed Ghoneim ,  David Michael Sidlosky ,  Hsien Heng Chen ,  Yuen-Kwok Chin

IPC分类号： B60T832

CPC分类号： B60T8/17555

摘要： An improved closed-loop vehicle yaw control in which a yaw rate limit based on measured lateral acceleration is used during transient steering maneuvers to dynamically limit a desired yaw rate derived from driver steering input. A preliminary yaw rate limit is computed based on the measured lateral acceleration, and a dynamic yaw rate limit having a proper phase relationship with the desired yaw rate is developed based on the relative magnitudes of the desired yaw rate and the preliminary yaw rate limit. A two-stage process is used to develop the dynamic yaw rate limit. A first stage yaw rate limit is determined according the lower in magnitude of the desired yaw rate and the preliminary yaw rate limit, and a second stage yaw rate limit (i.e., the dynamic yaw rate limit) is determined according to the relative magnitudes of (1) the desired yaw rate and the second stage yaw rate limit, and (2) the first stage yaw rate limit and the second stage yaw rate limit. The desired yaw rate, as limited by the dynamic yaw rate limit, is then combined with the actual or estimated yaw rate to form a yaw rate error, which in turn, is used to develop a yaw rate control command for the vehicle.

摘要翻译： 一种改进的闭环车辆偏航控制，其中在瞬态转向操纵期间使用基于测量的横向加速度的横摆率极限来动态地限制从驾驶员转向输入导出的期望横摆角速度。 基于所测量的横向加速度来计算初步横摆角速度限制，并且基于期望横摆率和初步横摆角速度极限的相对大小来开发具有与期望横摆角速度的适当相位关系的动态偏航速度极限。 使用两阶段过程来开发动态偏航速度限制。 根据期望的横摆率和初步横摆速度限制的较低的幅度确定第一级横摆率极限，并且根据（a）的相对大小确定第二级横摆角速度极限（即，动态横摆角速度极限） 1）期望的横摆率和第二级横摆率极限，以及（2）第一级横摆率极限和第二级横摆率极限。 然后，由动态偏航速度极限限制的所需横摆角速度与实际或估计的横摆角速度相结合，以形成横摆率误差，该偏航率误差又被用于制定车辆的偏航率控制命令。