公开(公告)号：US06453226B1

公开(公告)日：2002-09-17

申请号：US09769676

申请日：2001-01-25

申请人： Aleksander B. Hac ,  Hsien H. Chen ,  Edward J. Bedner ,  Steven P. Loudon

发明人： Aleksander B. Hac ,  Hsien H. Chen ,  Edward J. Bedner ,  Steven P. Loudon

IPC分类号： B60T860

CPC分类号： B62D7/159 ,  B60G2800/215 ,  B60G2800/24 ,  B60G2800/922 ,  B60T8/1755 ,  B60T2230/02 ,  B60T2260/02 ,  B60T2260/022 ,  B60T2260/024 ,  B60W30/02 ,  B60W2050/0034 ,  B62D6/00

摘要： An integrated active steering and braking control system for providing one or more corrective yaw moments to a vehicle in response to a plurality of signals indicative of operational and environmental conditions related to the vehicle is disclosed. The system comprises a reference model, an estimator, a vehicle level brake/steer controller, and an actuator controller. The reference model provides a feedforward front steering angle correction signal a feedforward rear steering angle correction signal, a desired yaw rate signal, a desired lateral velocity signal, and a desired side slip angle signal. The estimator provides an estimated surface coefficient of adhesion signal, an estimated lateral velocity signal, and an estimated side slip angle signal. In response to the signals from the reference model and the estimator, the vehicle level brake/steer controller provides either a desired speed differential signal, a desired front steering angle signal and/or a desired rear steering angle signal. The actuator controller selectively provides a corrective braking signal to a brake actuator, a corrective front steering signal to a steering actuator, and a corrective rear steering signal to the steering actuator as a function of the desired speed differential signal, the desired front steering angle signal, and the desired rear steering angle signal, respectively.

摘要翻译： 公开了一种用于响应于指示与车辆相关的操作和环境条件的多个信号向车辆提供一个或多个校正横摆力矩的集成主动转向和制动控制系统。 该系统包括参考模型，估计器，车辆制动/转向控制器和致动器控制器。 参考模型提供前馈前转向角校正信号，前馈后转向角校正信号，期望的横摆率信号，期望的横向速度信号和期望的侧滑角信号。 估计器提供粘附信号的估计表面系数，估计的横向速度信号和估计的侧滑角信号。 响应于来自参考模型和估计器的信号，车辆级制动/转向控制器提供期望的速度差分信号，期望的前转向角信号和/或期望的后转向角信号。 致动器控制器选择性地向制动器致动器提供校正制动信号，到转向致动器的校正前转向信号和作为期望速度差动信号的函数的转向致动器的校正后转向信号，期望的前转向角信号 ，以及所需的后转向角信号。

公开(公告)号：US07191047B2

公开(公告)日：2007-03-13

申请号：US11019145

申请日：2004-12-21

申请人： Hsien H. Chen ,  Edward J. Bedner ,  Aleksander B. Hac

发明人： Hsien H. Chen ,  Edward J. Bedner ,  Aleksander B. Hac

IPC分类号： G06F19/00

CPC分类号： B60T8/17555 ,  B60T8/17554 ,  B60T2230/03

摘要： A control system manages yaw-plane motion, while simultaneously comprehending and managing roll motion. The system reduces excessive maneuver-induced roll motion by properly shaping yaw-plane motion, which may include increasing yaw damping and/or decreasing a yaw gain, under various conditions, to avoid excessive excitation of roll dynamics.

摘要翻译： 控制系统管理偏航平面运动，同时理解和管理滚动运动。 该系统通过适当地整形偏航平面运动来减少过度的机动感应的侧倾运动，其可以包括在各种条件下增加偏航阻尼和/或减小偏航增益，以避免滚动动态的过度激励。

公开(公告)号：US07502675B2

公开(公告)日：2009-03-10

申请号：US11018260

申请日：2004-12-21

申请人： Aleksander B. Hac ,  Edward J. Bedner

发明人： Aleksander B. Hac ,  Edward J. Bedner

IPC分类号： G05B11/36

CPC分类号： B60W10/184 ,  B60W40/10 ,  B60W40/109 ,  B60W2510/20

摘要： A technique for reducing excessive motor vehicle roll angle using a feedforward control comprises a number of steps. Initially, a steering angle and a speed of the-motor vehicle are determined. Next, a lateral acceleration of the vehicle is estimated based on the steering angle and the speed. Then, a lateral acceleration proportional and derivative (PD) term of the estimated lateral acceleration is determined and roll angle reduction is implemented when the lateral acceleration PD term exceeds a first threshold. The roll angle reduction may be achieved through application of a braking force to an outside front wheel of the vehicle. A magnitude of the braking force may be proportional to a difference between the lateral acceleration PD term and the first threshold.

摘要翻译： 使用前馈控制来减少机动车辆侧倾角度的技术包括多个步骤。 首先，确定机动车辆的转向角度和速度。 接下来，基于转向角和速度来估计车辆的横向加速度。 然后，当横向加速度PD项超过第一阈值时，确定估计横向加速度的横向加速度成比例和导数（PD）项，并实现滚转角减小。 可以通过对车辆的外部前轮施加制动力来实现侧倾角减小。 制动力的大小可以与横向加速度PD项和第一阈值之间的差成比例。

公开(公告)号：US06862506B2

公开(公告)日：2005-03-01

申请号：US10080015

申请日：2002-02-19

申请人： Karen A. Boswell ,  John D. Martens ,  Edward J. Bedner ,  Brian P. McDonald ,  Hsien H. Chen

发明人： Karen A. Boswell ,  John D. Martens ,  Edward J. Bedner ,  Brian P. McDonald ,  Hsien H. Chen

IPC分类号： B60G17/0195 ,  B60T8/1755 ,  B62D6/00 ,  B62D7/15 ,  G06F7/00 ,  G06F17/00

CPC分类号： B60T8/17552 ,  B60G17/0195 ,  B60G2600/02 ,  B60G2600/20 ,  B60G2800/016 ,  B60G2800/212 ,  B60G2800/70 ,  B60T2260/022 ,  B60T2270/86 ,  B62D6/00 ,  B62D7/159

摘要： A method for automatically adjusting a vehicle stability enhancement (VSE) system is disclosed. The VSE system is used in conjunction with a steering system having a plurality of driver-selectable steering modes associated therewith. In an exemplary embodiment, the method includes configuring a reference model within the VSE system to generate desired vehicle handling aspects, the desired vehicle handling aspects being a function of one or more driver inputs to the steering system. Then, a determination is made as to which of the plurality of driver-selectable steering modes is activated, wherein each of the desired vehicle handling aspects generated is made further dependent upon a specific steering mode selected.

摘要翻译： 公开了一种用于自动调整车辆稳定性增强（VSE）系统的方法。 VSE系统与具有与其相关联的多个驾驶员可选转向模式的转向系统结合使用。 在示例性实施例中，该方法包括在VSE系统内配置参考模型以产生期望的车辆处理方面，期望的车辆操纵方面是转向系统的一个或多个驾驶员输入的功能。 然后，确定多个驾驶员可选择转向模式中的哪一个被激活，其中产生的所需车辆处理方面中的每一个进一步取决于所选择的特定转向模式。

公开(公告)号：US20080109134A1

公开(公告)日：2008-05-08

申请号：US11557673

申请日：2006-11-08

申请人： Farhad Bolourchi ,  Steven D. Klein ,  Edward J. Bedner

发明人： Farhad Bolourchi ,  Steven D. Klein ,  Edward J. Bedner

IPC分类号： B62D6/00

CPC分类号： B62D6/002 ,  B62D6/003 ,  B62D6/008

摘要： A method, system, and computer program product for calculating a torque overlay command in a steering control system is provided. The method includes receiving a current hand wheel angle, receiving a change in vehicle yaw moment command, and calculating a lateral force in response to the change in vehicle yaw moment command. The method also includes determining a new tire side slip angle from the lateral force and calculating a commanded hand wheel angle from the new tire side slip angle. The method further includes calculating an error signal as a difference between the commanded hand wheel angle and the current hand wheel angle, and generating a torque overlay command from the error signal.

摘要翻译： 提供了一种用于在转向控制系统中计算转矩叠加命令的方法，系统和计算机程序产品。 该方法包括接收当前手轮角度，接收车辆横摆力矩指令的变化，以及响应于车辆横摆力矩指令的变化来计算横向力。 该方法还包括从横向力确定新的轮胎侧滑角，并从新轮胎侧滑角计算指令的手轮角度。 该方法还包括计算作为指令的手轮角度与当前手轮角度之差的误差信号，以及从误差信号产生转矩叠加命令。

公开(公告)号：US07083025B2

公开(公告)日：2006-08-01

申请号：US10426302

申请日：2003-04-30

申请人： Edward J. Bedner ,  Karen A. Boswell ,  John D. Martens

发明人： Edward J. Bedner ,  Karen A. Boswell ,  John D. Martens

IPC分类号： B62D5/04

CPC分类号： B62D5/008 ,  B62D6/003

摘要： A method for implementing a vehicle stability enhancement (VSE) system for a vehicle is disclosed. In an exemplary embodiment, the method includes receiving a handwheel angle input and adjusting the handwheel angle input in response to a variable steering ratio generated in the vehicle. The adjusted handwheel angle input is inputted into a reference model, the reference model thereby outputting one or more desired vehicle handling aspects.

公开(公告)号：US20080109133A1

公开(公告)日：2008-05-08

申请号：US11556769

申请日：2006-11-06

申请人： Edward J. Bedner ,  Chester W. Gryczan

发明人： Edward J. Bedner ,  Chester W. Gryczan

IPC分类号： B62D6/00

CPC分类号： B62D6/002 ,  B62D6/003

摘要： A method, system, and computer program product for tire slip angle limiting in a steering control system for a vehicle are provided. The method includes calculating a first steering augmentation angle from a vehicle speed and a handwheel angle. The method further includes calculating an upper bound angle limit and a lower bound angle limit as functions of a vehicle slip angle and a tire slip angle limit. The method also includes bounding the sum of the handwheel angle plus the first steering augmentation angle between the upper bound angle limit and the lower bound angle limit to produce a first bounded angle. The method additionally includes subtracting the sum of the handwheel angle plus the first steering augmentation angle from the first bounded angle to produce a first limiting function, and producing a motor angle command by adding the first limiting function plus the first steering augmentation angle.

摘要翻译： 提供了一种用于车辆的转向控制系统中的用于轮胎滑移角限制的方法，系统和计算机程序产品。 该方法包括从车速和手轮角度计算第一转向增强角。 该方法还包括计算作为车辆滑移角和轮胎滑移角限制的函数的上限角限制和下限角限制。 该方法还包括界定手轮角加上限上限角和下限角极限之间的第一转向增强角之和以产生第一有界角。 该方法还包括从第一有界角度减去手轮角加上第一转向增强角的和以产生第一限制功能，以及通过将第一限制功能加上第一转向增强角相加来产生电动机角度指令。

公开(公告)号：US20130262020A1

公开(公告)日：2013-10-03

申请号：US13430917

申请日：2012-03-27

申请人： Colm P. Boran ,  Edward J. Bedner

发明人： Colm P. Boran ,  Edward J. Bedner

IPC分类号： G06F15/00

CPC分类号： G01C25/005 ,  G01P21/00

摘要： A system is provided for enhancing inertial sensing within a vehicle. The system determines measured rotational rates and translational accelerations of the vehicle using an inertial measurement unit. In addition, the system also determines estimated rotational rates and translational accelerations of the vehicle based on a remote sensing system. The system generates compensated rotational rates and translational accelerations to reduce gain errors or offset errors of the inertial measurement unit based on the estimated rotational rates and translational accelerations.

摘要翻译： 提供一种用于增强车辆内的惯性感测的系统。 系统使用惯性测量单元确定车辆的测量转速和平移加速度。 此外，该系统还基于遥感系统确定车辆的估计转速和平移加速度。 该系统基于估计的旋转速率和平移加速度产生补偿的旋转速率和平移加速度，以减少惯性测量单元的增益误差或偏移误差。

公开(公告)号：US09664528B2

公开(公告)日：2017-05-30

申请号：US13430917

申请日：2012-03-27

申请人： Colm P. Boran ,  Edward J. Bedner

发明人： Colm P. Boran ,  Edward J. Bedner

IPC分类号： G01C25/00 ,  G01P21/00

CPC分类号： G01C25/005 ,  G01P21/00

摘要： A system is provided for enhancing inertial sensing within a vehicle. The system determines measured rotational rates and translational accelerations of the vehicle using an inertial measurement unit. In addition, the system also determines estimated rotational rates and translational accelerations of the vehicle based on a remote sensing system. The system generates compensated rotational rates and translational accelerations to reduce gain errors or offset errors of the inertial measurement unit based on the estimated rotational rates and translational accelerations.

公开(公告)号：US07756620B2

公开(公告)日：2010-07-13

申请号：US11556769

申请日：2006-11-06

申请人： Edward J. Bedner ,  Chester W. Gryczan

发明人： Edward J. Bedner ,  Chester W. Gryczan

IPC分类号： B62D5/04

CPC分类号： B62D6/002 ,  B62D6/003

摘要： A method, system, and computer program product for tire slip angle limiting in a steering control system for a vehicle are provided. The method includes calculating a first steering augmentation angle from a vehicle speed and a handwheel angle. The method further includes calculating an upper bound angle limit and a lower bound angle limit as functions of a vehicle slip angle and a tire slip angle limit. The method also includes bounding the sum of the handwheel angle plus the first steering augmentation angle between the upper bound angle limit and the lower bound angle limit to produce a first bounded angle. The method additionally includes subtracting the sum of the handwheel angle plus the first steering augmentation angle from the first bounded angle to produce a first limiting function, and producing a motor angle command by adding the first limiting function plus the first steering augmentation angle.

摘要翻译： 提供了一种用于车辆的转向控制系统中的用于轮胎滑移角限制的方法，系统和计算机程序产品。 该方法包括从车速和手轮角度计算第一转向增强角。 该方法还包括计算作为车辆滑移角和轮胎滑移角限制的函数的上限角限制和下限角限制。 该方法还包括界定手轮角加上限上限角和下限角极限之间的第一转向增强角之和以产生第一有界角。 该方法还包括从第一有界角度减去手轮角加上第一转向增强角的和以产生第一限制功能，以及通过将第一限制功能加上第一转向增强角相加来产生电动机角度指令。