公开(公告)号：US08326487B2

公开(公告)日：2012-12-04

申请号：US12275880

申请日：2008-11-21

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

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

IPC分类号： B60G17/018

CPC分类号： B60G17/018 ,  B60G2400/252 ,  B60G2400/64 ,  B60G2600/60 ,  B60G2800/70

摘要： 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.

摘要翻译： 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：US08078351B2

公开(公告)日：2011-12-13

申请号：US12277027

申请日：2008-11-24

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

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

IPC分类号： G06F7/00

CPC分类号： B60T8/172 ,  B60T2210/12 ,  B60T2230/02

摘要： 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.

摘要翻译： 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。

公开(公告)号：US20110257827A1

公开(公告)日：2011-10-20

申请号：US12762468

申请日：2010-04-19

申请人： Jihan Ryu ,  Flavio Nardi ,  Kevin A. O'Dea ,  Hualin Tan

发明人： Jihan Ryu ,  Flavio Nardi ,  Kevin A. O'Dea ,  Hualin Tan

IPC分类号： G06F7/00

CPC分类号： B60W40/076 ,  B60T8/17551 ,  B60T2210/22 ,  B60T2230/02 ,  B60W30/10 ,  B60W40/112 ,  B60W2520/125 ,  B60W2520/14 ,  B60W2540/18 ,  B60W2550/142 ,  B60W2710/202 ,  B62D6/04

摘要： Systems and methods for detecting road bank and determining road bank angle include determining a road bank angle as a function of difference in slip angle where the difference in slip angle is a function of difference in course angle and difference in yaw angle.

摘要翻译： 用于检测路堤和确定道路坡度角的系统和方法包括确定作为滑行角差的函数的道路坡度角，其中滑移角的差是航向角差和偏航角的差的函数。

公开(公告)号：US20110125455A1

公开(公告)日：2011-05-26

申请号：US13018671

申请日：2011-02-01

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

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

IPC分类号： G06F15/00 ,  G01P3/00

CPC分类号： B60T8/172 ,  B60T2210/22 ,  B60T2230/02 ,  B60T2250/04

摘要： 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.

摘要翻译： 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：US20100131145A1

公开(公告)日：2010-05-27

申请号：US12276996

申请日：2008-11-24

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

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

IPC分类号： G06F17/00

CPC分类号： B60T8/172 ,  B60T2210/12 ,  B60T2230/02 ,  B60T2250/04

摘要： 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.

摘要翻译： 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：US09285485B2

公开(公告)日：2016-03-15

申请号：US12616933

申请日：2009-11-12

申请人： Kevin A. O'Dea ,  Jihan Ryu ,  Flavio Nardi ,  Hualin Tan

发明人： Kevin A. O'Dea ,  Jihan Ryu ,  Flavio Nardi ,  Hualin Tan

IPC分类号： G05D1/02 ,  G01S19/52 ,  G01C21/16

CPC分类号： G01S19/52 ,  G01C21/165

摘要： A method is provided for estimating vehicle velocity for a vehicle using a single-antenna global positioning system (GPS). An absolute speed and a course angle of the vehicle is measured using the single-antenna GPS. The yaw rates of the vehicle are measured independently of the GPS. An integrated yaw rate of the vehicle is calculated as a function of the measured yaw rates over a period of time. A yaw angle is determined as a function of a reference yaw angle and the integrated yaw rate. Aside slip angle is calculated as a function of the estimated yaw angle and the course angle provided by the GPS. The vehicle velocity is determined as a function of the absolute speed and the side slip angle. The vehicle velocity is provided to a vehicle dynamic control application.

摘要翻译： 提供一种用于使用单天线全球定位系统（GPS）估计车辆的车速的方法。 使用单天线GPS测量车辆的绝对速度和行驶角度。 独立于GPS测量车辆的偏航率。 根据一段时间内的测量的横摆角速度来计算车辆的积分横摆角速度。 偏航角被确定为参考偏航角和积分横摆角速度的函数。 作为由GPS提供的估计的偏航角和航向角的函数计算侧滑角。 车速是绝对速度和侧滑角的函数。 车辆速度被提供给车辆动态控制应用。

公开(公告)号：US20100131229A1

公开(公告)日：2010-05-27

申请号：US12276965

申请日：2008-11-24

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

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

IPC分类号： G01P3/00 ,  G06F15/00

CPC分类号： B60T8/172 ,  B60T2210/22 ,  B60T2230/02 ,  B60T2250/04

摘要： 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.

摘要翻译： 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：US08890747B2

公开(公告)日：2014-11-18

申请号：US12392277

申请日：2009-02-25

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

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

IPC分类号： G01S19/53 ,  B60T8/172 ,  G01S19/40 ,  G01S19/45 ,  G01S19/52

CPC分类号： B60T8/172 ,  B60T2210/36 ,  B60T2230/02 ,  G01S19/52 ,  G01S19/53

摘要： 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.

摘要翻译： 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：US08886434B2

公开(公告)日：2014-11-11

申请号：US12365594

申请日：2009-02-04

申请人： Kevin A. O'Dea ,  Flavio Nardi ,  Jihan Ryu

发明人： Kevin A. O'Dea ,  Flavio Nardi ,  Jihan Ryu

IPC分类号： G06F7/70 ,  G06F19/00 ,  G06G7/00 ,  G06G7/76 ,  B60B39/00 ,  B60T7/12 ,  G05D1/00 ,  G06F17/00 ,  B60T8/24 ,  B60W30/02

CPC分类号： B60W30/02

摘要： 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.

摘要翻译： 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：US08509993B2

公开(公告)日：2013-08-13

申请号：US12762468

申请日：2010-04-19

申请人： Jihan Ryu ,  Flavio Nardi ,  Kevin A. O'Dea ,  Hualin Tan

发明人： Jihan Ryu ,  Flavio Nardi ,  Kevin A. O'Dea ,  Hualin Tan

IPC分类号： B60W40/06 ,  B62D133/00 ,  B60W40/076

CPC分类号： B60W40/076 ,  B60T8/17551 ,  B60T2210/22 ,  B60T2230/02 ,  B60W30/10 ,  B60W40/112 ,  B60W2520/125 ,  B60W2520/14 ,  B60W2540/18 ,  B60W2550/142 ,  B60W2710/202 ,  B62D6/04

摘要： Systems and methods for detecting road bank and determining road bank angle include determining a road bank angle as a function of difference in slip angle where the difference in slip angle is a function of difference in course angle and difference in yaw angle.

摘要翻译： 用于检测路堤和确定道路坡度角的系统和方法包括确定作为滑行角差的函数的道路坡度角，其中滑移角的差是航向角差和偏航角的差的函数。