公开(公告)号：US08078361B2

公开(公告)日：2011-12-13

申请号：US10581834

申请日：2004-12-03

申请人： Fred Galkowski ,  Thomas Berthold ,  Thomas Raste ,  Urs Bauer

发明人： Fred Galkowski ,  Thomas Berthold ,  Thomas Raste ,  Urs Bauer

IPC分类号： B62D6/00

CPC分类号： B62D15/025 ,  B62D6/003

摘要： Disclosed is a method for assisting an operator of a vehicle in adjusting a nominal steering angle at steerable wheels of the vehicle for the vehicle stabilization. An additional steering torque is applied to the steering line of the vehicle, which is determined dependent on a difference between a nominal steering angle and an instantaneous steering angle. The method is characterized in that a value of a load moment acting on the steering line of the vehicle is estimated, and that the additional steering torque is established dependent on the estimated value for the load moment.

摘要翻译： 公开了一种用于协助车辆的操作者调整用于车辆稳定的车辆的可转向车轮处的标称转向角的方法。 额外的转向扭矩被施加到车辆的转向线路，这取决于标称转向角和瞬时转向角之间的差异。 该方法的特征在于，估计作用在车辆的转向线上的负载力矩的值，并且根据负载力矩的估计值确定附加转向转矩。

公开(公告)号：US07496436B2

公开(公告)日：2009-02-24

申请号：US10581016

申请日：2004-12-03

申请人： Fred Galkowski ,  Thomas Berthold ,  Thomas Raste ,  Urs Bauer

发明人： Fred Galkowski ,  Thomas Berthold ,  Thomas Raste ,  Urs Bauer

IPC分类号： A01B69/00

CPC分类号： B62D15/025 ,  B62D6/003

摘要： In a method and a device for assisting an operator of a vehicle in the vehicle stabilization, an additional steering torque is applied to the steering line of the vehicle.The method manifests itself by the feature that a first component of the additional steering torque is determined depending on a steering angle difference between an instantaneous steering angle at steerable wheels of the vehicle and a nominal steering angle, and the steering angle difference is determined depending on a difference between an instantaneous value of a yaw rate of the vehicle and a value of a reference yaw rate, and with the value of the reference yaw rate being established in a vehicle model by way of a value of at least one variable predefined by the driver.The device implements the method.

摘要翻译： 在用于辅助车辆操作者在车辆稳定中的方法和装置中，向车辆的转向线施加额外的转向扭矩。 该方法的特征在于，附加转向转矩的第一分量根据车辆的可转向轮的瞬时转向角与标称转向角之间的转向角差来确定，并且转向角差取决于 车辆的偏航率的瞬时值与基准横摆率的值之间的差值，以及在车辆模型中通过由至少一个变量预定的变量的值建立的参考横摆率的值 司机。 设备实现该方法。

公开(公告)号：US20070239333A1

公开(公告)日：2007-10-11

申请号：US10581016

申请日：2004-12-03

申请人： Fred Galkowski ,  Thomas Berthold ,  Thomas Raste ,  Urs Bauer

发明人： Fred Galkowski ,  Thomas Berthold ,  Thomas Raste ,  Urs Bauer

IPC分类号： B62D6/00

CPC分类号： B62D15/025 ,  B62D6/003

摘要： The invention relates to a method for assisting an operator of a vehicle in the vehicle stabilization, wherein an additional steering torque is applied to the steering line of the vehicle. The method manifests itself by the feature that a first component of the additional steering torque is determined depending on a steering angle difference between an instantaneous steering angle at steerable wheels of the vehicle and a nominal steering angle, and the steering angle difference is determined depending on a difference between an instantaneous value of a yaw rate of the vehicle and a value of a reference yaw rate, and with the value of the reference yaw rate being established in a vehicle model by way of a value of at least one variable predefined by the driver. The invention further relates to a device which is appropriate for implementing the method.

摘要翻译： 本发明涉及一种用于在车辆稳定中辅助车辆的操作者的方法，其中附加的转向扭矩被施加到车辆的转向线。 该方法的特征在于，附加转向转矩的第一分量根据车辆的可转向轮的瞬时转向角与标称转向角之间的转向角差来确定，并且转向角差取决于 车辆的偏航率的瞬时值与基准横摆率的值之间的差值，以及在车辆模型中通过由至少一个变量预定的变量的值建立的参考横摆率的值 司机。 本发明还涉及适用于实现该方法的设备。

公开(公告)号：US20080040002A1

公开(公告)日：2008-02-14

申请号：US10581834

申请日：2004-12-03

申请人： Fred Galkoswki ,  Thomas Berthold ,  Thomas Raste ,  Urs Bauer

发明人： Fred Galkoswki ,  Thomas Berthold ,  Thomas Raste ,  Urs Bauer

IPC分类号： B62D6/10

CPC分类号： B62D15/025 ,  B62D6/003

摘要： The invention relates to a method for assisting an operator of a vehicle in adjusting a nominal steering angle at steerable wheels of the vehicle for the vehicle stabilization, in which an additional steering torque is applied to the steering line of the vehicle, which is determined dependent on a difference between a nominal steering angle and an instantaneous steering angle.The method is characterized in that a value of a load moment acting on the steering line of the vehicle is estimated, and that the additional steering torque is established dependent on the estimated value for the load moment.In addition, the invention relates to a device appropriate to implement the method.

摘要翻译： 本发明涉及一种用于协助车辆的操作者调整用于车辆稳定的车辆的可转向车轮处的标称转向角的方法，其中附加的转向扭矩被施加到车辆的转向线路，该转向转矩被确定为依赖 在标称转向角和瞬时转向角之间的差异。 该方法的特征在于，估计作用在车辆的转向线上的负载力矩的值，并且根据负载力矩的估计值确定附加转向转矩。 此外，本发明涉及适用于实施该方法的装置。

公开(公告)号：US07792620B2

公开(公告)日：2010-09-07

申请号：US11921264

申请日：2006-06-02

申请人： Stefan Fritz ,  Matthias Muntu ,  Thomas Raste ,  Urs Bauer ,  Peter Cisarz

发明人： Stefan Fritz ,  Matthias Muntu ,  Thomas Raste ,  Urs Bauer ,  Peter Cisarz

IPC分类号： G06F17/00 ,  G06F19/00

CPC分类号： B62D5/008 ,  B60T8/1755 ,  B60T2260/02 ,  B62D6/002 ,  B62D6/003

摘要： A device for controlling the driving dynamics of a vehicle senses at least one driving condition variable being representative of a driving condition and has a driving dynamics controller for determining an additional steering angle, according to which a steering motion can be carried out in addition to the steering motion commanded by an operator. The driving dynamics controller (100, 110) has at least two control units (340, 350), which are respectively associated with one driving condition range. It includes a determinator for determining a prevailing driving condition, in which the prevailing driving condition can be established based on the driving condition variable ({dot over (Ψ)}, {dot over (β)}, ay), and in that it includes an activation logic (360) being in connection with the determination means and being adapted to enable a control unit (340, 350), which is associated with the established driving condition range.

摘要翻译： 用于控制车辆的驾驶动力学的装置感测至少一个驾驶状况变量代表驾驶状况，并且具有用于确定附加转向角的驾驶动态控制器，除此之外，还可以进行转向运动 由操作员指挥的转向运动。 驾驶动力学控制器（100,110）具有至少两个控制单元（340,350），它们分别与一个行驶条件范围相关联。 它包括用于确定主要驾驶条件的确定器，其中可以基于行驶条件变量（{dot over（Ψ）}，{dot over（＆bgr;）}，ay）建立主要驾驶条件，并且 它包括与确定装置相关联的激活逻辑（360），并且适于启用与所建立的驾驶状况范围相关联的控制单元（340,350）。

公开(公告)号：US20090306856A1

公开(公告)日：2009-12-10

申请号：US11921264

申请日：2006-06-02

申请人： Stefan Fritz ,  Thomas Raste ,  Matthias Muntu ,  Urs Bauer ,  Peter Cisarz

发明人： Stefan Fritz ,  Thomas Raste ,  Matthias Muntu ,  Urs Bauer ,  Peter Cisarz

IPC分类号： B62D6/00

CPC分类号： B62D5/008 ,  B60T8/1755 ,  B60T2260/02 ,  B62D6/002 ,  B62D6/003

摘要： A device for controlling the driving dynamics of a vehicle senses at least one driving condition variable being representative of a driving condition and has a driving dynamics controller for determining an additional steering angle, according to which a steering motion can be carried out in addition to the steering motion commanded by an operator.The driving dynamics controller (100, 110) has at least two control units (340, 350), which are respectively associated with one driving condition range. It includes a determinator for determining a prevailing driving condition, in which the prevailing driving condition can be established based on the driving condition variable ({dot over (Ψ)}, {dot over (β)}, ay), and in that it includes an activation logic (360) being in connection with the determination means and being adapted to enable a control unit (340, 350), which is associated with the established driving condition range.

摘要翻译： 用于控制车辆的驾驶动力学的装置感测至少一个驾驶状况变量代表驾驶状况，并且具有用于确定附加转向角的驾驶动态控制器，除此之外，还可以进行转向运动 由操作员指挥的转向运动。 驾驶动力学控制器（100,110）具有至少两个控制单元（340,350），它们分别与一个行驶条件范围相关联。 它包括用于确定主要驾驶状况的确定器，其中可以基于驾驶条件变量（{dot over（Psi）}，{dot over（beta）}，ay）建立主要驾驶条件，并且因为它 包括与确定装置相关联的激活逻辑（360）并且适于启用与所建立的驾驶状况范围相关联的控制单元（340,350）。

公开(公告)号：US08983706B2

公开(公告)日：2015-03-17

申请号：US14002419

申请日：2012-03-01

申请人： Bernd Hartmann ,  Peter Lauer ,  Thomas Raste

发明人： Bernd Hartmann ,  Peter Lauer ,  Thomas Raste

IPC分类号： G08G1/16 ,  B60W10/06 ,  B60W10/184 ,  B60W10/20 ,  B60W30/095 ,  B60W30/18 ,  B60K26/02 ,  B60W50/14 ,  B60W50/16

CPC分类号： G08G1/16 ,  B60K2026/022 ,  B60W10/06 ,  B60W10/184 ,  B60W10/20 ,  B60W30/0953 ,  B60W30/0956 ,  B60W30/18145 ,  B60W50/14 ,  B60W50/16 ,  B60W2540/10 ,  B60W2540/12 ,  B60W2540/18 ,  B60W2540/20 ,  B60W2550/12 ,  B60W2550/148 ,  B60W2550/402 ,  B60W2550/408 ,  B60W2720/14 ,  G08G1/161 ,  G08G1/165 ,  G08G1/166 ,  G08G1/167 ,  Y02T10/84

摘要： The application relates to a device and a method for increasing the safety of a motor vehicle. A first sensor unit (2) senses the surroundings, in particular in order to detect free spaces and objects (0), and the position and movement thereof. A second sensor unit (20) senses the state of the surroundings, a third sensor unit (30) senses the state of the vehicle, and a fourth sensor unit (40) senses the driver's commands. The data are merged and a driving safety coordinator (6) determines at least one reliable driving corridor (K1, K2, K3, K4 to Kn) predictively and situationally in order to determine the operational safety. The driver's command can be limited to the driving corridor (K1, K2, K3, K4 to Kn) by means of components (9) which can be actuated actively and/or the motor vehicle (1) can be kept in the driving corridor (K1, K2, K3, K4 to Kn) by means of the components (9) which can be actuated actively.

摘要翻译： 本申请涉及一种用于增加机动车辆的安全性的装置和方法。 第一传感器单元（2）感测周围环境，特别是为了检测自由空间和物体（0）及其位置和运动。 第二传感器单元（20）感测周围的状态，第三传感器单元（30）感测车辆的状态，第四传感器单元（40）感测驾驶员的命令。 数据合并，驾驶安全协调员（6）可以预测和情况地确定至少一个可靠的驾驶走廊（K1，K2，K3，K4至Kn），以确定操作安全性。 驾驶员的指令可以通过能够主动致动的部件（9）和/或机动车辆（1）可以保持在驾驶走廊（K1，K2，K3，K4到Kn）中被限制 K1，K2，K3，K4〜Kn）的组件（9）。

公开(公告)号：US20140005875A1

公开(公告)日：2014-01-02

申请号：US14002419

申请日：2012-03-01

申请人： Bernd Hartmann ,  Peter Lauer ,  Thomas Raste

发明人： Bernd Hartmann ,  Peter Lauer ,  Thomas Raste

IPC分类号： G08G1/16

CPC分类号： G08G1/16 ,  B60K2026/022 ,  B60W10/06 ,  B60W10/184 ,  B60W10/20 ,  B60W30/0953 ,  B60W30/0956 ,  B60W30/18145 ,  B60W50/14 ,  B60W50/16 ,  B60W2540/10 ,  B60W2540/12 ,  B60W2540/18 ,  B60W2540/20 ,  B60W2550/12 ,  B60W2550/148 ,  B60W2550/402 ,  B60W2550/408 ,  B60W2720/14 ,  G08G1/161 ,  G08G1/165 ,  G08G1/166 ,  G08G1/167 ,  Y02T10/84

摘要： The application relates to a device and a method for increasing the safety of a motor vehicle. A first sensor unit (2) senses the surroundings, in particular in order to detect free spaces and objects (0), and the position and movement thereof. A second sensor unit (20) senses the state of the surroundings, a third sensor unit (30) senses the state of the vehicle, and a fourth sensor unit (40) senses the driver's commands. The data are merged and a driving safety coordinator (6) determines at least one reliable driving corridor (K1, K2, K3, K4 to Kn) predictively and situationally in order to determine the operational safety. The driver's command can be limited to the driving corridor (K1, K2, K3, K4 to Kn) by means of components (9) which can be actuated actively and/or the motor vehicle (1) can be kept in the driving corridor (K1, K2, K3, K4 to Kn) by means of the components (9) which can be actuated actively.

摘要翻译： 本申请涉及一种用于增加机动车辆的安全性的装置和方法。 第一传感器单元（2）感测周围环境，特别是为了检测自由空间和物体（0）及其位置和运动。 第二传感器单元（20）感测周围的状态，第三传感器单元（30）感测车辆的状态，第四传感器单元（40）感测驾驶员的命令。 数据合并，驾驶安全协调员（6）可以预测和情况地确定至少一个可靠的驾驶走廊（K1，K2，K3，K4至Kn），以确定操作安全性。 驾驶员的指令可以通过能够主动致动的部件（9）和/或机动车辆（1）可以保持在驾驶走廊（K1，K2，K3，K4到Kn）中被限制 K1，K2，K3，K4〜Kn）的组件（9）。

公开(公告)号：US08577596B2

公开(公告)日：2013-11-05

申请号：US12677590

申请日：2008-09-10

申请人： Ulrich Stählin ,  Thomas Raste ,  Andreas Kircher

发明人： Ulrich Stählin ,  Thomas Raste ,  Andreas Kircher

IPC分类号： G01C21/00 ,  G06F7/00

CPC分类号： G01C21/32 ,  G08G1/0969

摘要： A device and method for the establishment of quality parameters of a digital map. A currently determined position of the vehicle and a measured value of an attribute of this position is used to calculate a quality parameter which serves as additional information for the data of the digital map. A driver assistance system constitutes an improved aid for a driver of a vehicle, since, in addition to the data of the digital map, the driver assistance system uses the feedback information of the quality parameter.

摘要翻译： 一种用于建立数字地图质量参数的装置和方法。 使用车辆的当前确定位置和该位置的属性的测量值来计算作为数字地图的数据的附加信息的质量参数。 驾驶员辅助系统构成对车辆驾驶员的改进的辅助，因为除了数字地图的数据之外，驾驶员辅助系统还使用质量参数的反馈信息。

公开(公告)号：US20090319128A1

公开(公告)日：2009-12-24

申请号：US12296136

申请日：2007-04-26

申请人： Peter Lauer ,  Thomas Raste

发明人： Peter Lauer ,  Thomas Raste

IPC分类号： B62D6/00

CPC分类号： B62D6/006 ,  B60W30/045 ,  B60W50/16 ,  B62D6/003 ,  B62D6/008 ,  B62D7/159

摘要： A method for determining an optimal steering angle in understeer situations of a vehicle is described. To assist a driver in reliably stabilizing the vehicle during an understeer situation while driving, a model-based driving traction coefficient factor, a model-based kinematic factor, and a float angle are taken into account in the determination of a steering angle. A limited steering angle δv,lim at which a maximum lateral force is set, is determined by addition of the driving traction coefficient factor, the kinematic factor, and the float angle. A system suitable for implementation of the method is also described.

摘要翻译： 描述了用于确定车辆不足转向情况下的最佳转向角的方法。 为了帮助驾驶员在驾驶期间在转向不足情况下可靠地稳定车辆，在确定转向角时考虑了基于模型的驾驶牵引系数因子，基于模型的运动因子和浮角。 通过添加驱动牵引系数因子，运动因子和浮角确定限制了最大横向力的限制转向角deltav。 还描述了适用于实现该方法的系统。