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    Vehicle yaw rate control with yaw rate command limiting
    4.
    发明授权
    Vehicle yaw rate control with yaw rate command limiting 失效
    车辆横摆率控制与偏航率指令限制

    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。

    Brake system control
    5.
    发明授权
    Brake system control 失效
    制动系统控制

    公开(公告)号：US6122584A

    公开(公告)日：2000-09-19

    申请号：US253369

    申请日：1999-02-22

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

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

    IPC分类号： B60T8/1755 ,  G06F7/70 ,  G06F19/00

    CPC分类号： B60T8/1755 ,  B60T2230/02

    摘要： A brake system control method, comprising the steps of: measuring a longitudinal speed and steering angle of the vehicle; specifying an un-damped natural frequency and a damping ratio for a linear reference model of said vehicle; determining a first gain parameter relating a desired value of steady state lateral velocity to the vehicle steering angle; computing a desired lateral velocity as a function of said first gain parameter, the measured longitudinal speed, the measured steering angle, and the specified un-damped natural frequency and damping ratio; determining a second gain parameter relating a desired value of steady state yaw rate to the vehicle steering angle; computing a desired yaw rate as a function of said second gain parameter, the measured longitudinal speed and steering angle, and the specified un-damped natural frequency and damping ratio; measuring a lateral acceleration and yaw rate of said vehicle, and forming a yaw rate command for said vehicle based at least part in a first deviation between said desired and measured yaw rates, and a second deviation between said measured lateral acceleration and a desired lateral acceleration based on said desired lateral velocity; and differentially braking wheels of said vehicle to impart a yaw moment corresponding to said yaw rate command.

    摘要翻译： 一种制动系统控制方法，包括以下步骤：测量车辆的纵向速度和转向角; 指定所述车辆的线性参考模型的非阻尼固有频率和阻尼比; 确定将所述稳态横向速度的期望值与所述车辆转向角相关联的第一增益参数; 计算作为所述第一增益参数，所测量的纵向速度，所测量的转向角以及所规定的非阻尼固有频率和阻尼比的函数的期望横向速度; 确定将所述稳态偏航率的期望值与所述车辆转向角相关联的第二增益参数; 计算作为所述第二增益参数，所测量的纵向速度和转向角以及规定的非阻尼固有频率和阻尼比的函数的期望的偏航速率; 测量所述车辆的横向加速度和偏航率，并且至少部分地基于所述所需和所测量的横摆率之间的第一偏差以及所述测量的横向加速度与期望的横向加速度之间的第二偏差来形成所述车辆的横摆率指令 基于所述期望的横向速度; 以及差速地制动所述车辆的车轮以赋予与所述横摆速度命令相对应的横摆力矩。

    Active brake control with front-to-rear proportioning
    7.
    发明授权
    Active brake control with front-to-rear proportioning 失效
    主动制动控制，前后配比

    公开(公告)号：US6079800A

    公开(公告)日：2000-06-27

    申请号：US136947

    申请日：1998-08-20

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

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

    IPC分类号： B60T8/1764 ,  B60T8/32

    CPC分类号： B60T8/1764

    摘要： An improved active brake control for carrying out a desired wheel speed differential for enhanced vehicle lateral stability while maintaining suitable front-to-rear brake pressure proportioning. During driver braking, the target speeds for the wheels of the driven axle during active brake control are determined as a combined function of the wheel speeds of the un-driven axle and the desired wheel speed differential. Specifically, the target speeds for the driven wheels are determined according to the measured speeds of the corresponding un-driven wheels, and one of the target speeds is reduced to reflect the desired wheel speed differential. If the desired wheel speed differential is designed to produce a clockwise yaw moment, the target speed for the driven wheel on the right-hand side of the vehicle is reduced; if the differential is designed to produce a counter-clockwise yaw moment, the target speed for the driven wheel on the left-hand side of the vehicle is reduced. As a result of the control, the stability enhancing effect of the ABC is achieved without disturbing the ideal front-to-rear brake effort proportioning.

    摘要翻译： 改进的主动制动控制，用于执行期望的车轮速度差速器，以增强车辆横向稳定性，同时保持适当的前后制动压力比例。 在驾驶员制动期间，主动制动控制期间从动轴的车轮的目标速度被确定为未驱动车轮的车轮速度和期望车轮速度差的组合函数。 具体地，根据相应的未驱动轮的测量速度来确定从动轮的目标速度，并且减小目标速度之一以反映期望的车轮速度差。 如果期望的车轮速度差被设计成产生顺时针的横摆力矩，则车辆右侧的从动轮的目标速度减小; 如果差速器设计成产生逆时针横摆力矩，则车辆左侧的从动轮的目标速度减小。 作为控制的结果，实现了ABC的稳定性增强效果，而不会干扰理想的前后制动力比例。

    Feed-forward active brake control
    8.
    发明授权
    Feed-forward active brake control 失效
    前馈主动制动控制

    公开(公告)号：US6056371A

    公开(公告)日：2000-05-02

    申请号：US138685

    申请日：1998-08-24

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

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

    IPC分类号： B60T8/1755 ,  B60K28/10

    CPC分类号： B60T8/17555

    摘要： An improved active brake control in which differential braking is used in a feed-forward control to develop vehicle yaw in response to a desired yaw value determined as a function of steering wheel position and vehicle speed. The desired yaw rate value is used to develop a derivative yaw component and a proportional yaw component, which are summed to form a feed-forward yaw command for differential braking. Both proportional and derivative components have limited control authority determined by dead-band and saturation thresholds, and the proportional term is subjected to a diminishing integrator which reduces the yaw command as the desired yaw rate value approaches steady-state.

    摘要翻译： 改进的主动制动控制，其中在前馈控制中使用差速制动以响应于作为方向盘位置和车辆速度的函数确定的期望的偏航角度来开发车辆偏航。 所需的偏航角速度值用于形成导数偏航分量和比例偏航分量，它们相加以形成用于差速制动的前馈偏航指令。 比例和微分分量均具有由死区和饱和阈值确定的有限的控制权限，并且比例项受到减小的积分器，当希望的偏航速率值接近稳态时减小偏航指令。

    Vehicle yaw control based on yaw rate estimate
    9.
    发明授权
    Vehicle yaw control based on yaw rate estimate 失效
    基于偏航率估计的车辆偏航控制

    公开(公告)号：US06205391B1

    公开(公告)日：2001-03-20

    申请号：US09080372

    申请日：1998-05-18

    申请人： Youssef Ahmed Ghoneim ,  David Michael Sidlosky ,  William Chin-Woei Lin

    发明人： Youssef Ahmed Ghoneim ,  David Michael Sidlosky ,  William Chin-Woei Lin

    IPC分类号： G06F1900

    CPC分类号： B60T8/1755 ,  B60T2250/03 ,  B60T2270/313

    摘要： An improved vehicle yaw control that does not require a yaw sensor, wherein the validity of an estimate of vehicle yaw is determined and used to select an appropriate control methodology. The vehicle yaw is estimated based on the measured speeds of the un-driven wheels of the vehicle, and various other conditions are utilized to determine if the estimated yaw rate is valid for control purposes. When it is determined that the estimated yaw rate is valid, a closed-loop yaw rate feedback control strategy is employed, whereas in conditions under which it is determined that the estimated yaw rate is not valid, a different control strategy, such as an open-loop feed-forward control of vehicle yaw, is employed. The validity of the estimated yaw rate is judged based on a logical analysis of the measured wheel speed information, braking information, and steering wheel angle. The measured speeds of the un-driven wheels are used to compute an average un-driven wheel speed and an average un-driven wheel acceleration. The operator steering angle and the vehicle velocity are used to determine a desired yaw rate, which is compared to the yaw estimate to find a yaw rate error. Based on these variables, the control reliably determines whether the estimated yaw rate is valid, and selects an appropriate control methodology in accordance with the determination.

    摘要翻译： 改进的车辆偏航控制，其不需要偏航传感器，其中确定车辆偏航的估计的有效性并用于选择适当的控制方法。 基于车辆的未驱动轮的测量速度来估计车辆偏航，并且利用各种其它条件来确定估计的横摆率是否对于控制目的是有效的。 当确定估计的横摆角速度有效时，采用闭环横摆速度反馈控制策略，而在确定估计横摆角速度无效的条件下，不同的控制策略 - 车辆偏航的前馈控制。 基于所测量的车轮速度信息，制动信息和方向盘角度的逻辑分析来判断估计的横摆率的有效性。 未驱动轮的测量速度用于计算平均非驱动轮速度和平均非驱动轮加速度。 操作者转向角和车速用于确定期望的偏航率，其与偏航估计相比较以找到横摆率误差。 基于这些变量，控制可靠地确定估计的横摆角速度是否有效，并且根据确定来选择适当的控制方法。

    Active brake control having yaw rate estimation
    10.
    发明授权
    Active brake control having yaw rate estimation 有权
    主动制动控制具有偏航率估计

    公开(公告)号：US06169951A

    公开(公告)日：2001-01-02

    申请号：US09138335

    申请日：1998-08-21

    申请人： Youssef Ahmed Ghoneim ,  Yuen-Kwok Chin

    发明人： Youssef Ahmed Ghoneim ,  Yuen-Kwok Chin

    IPC分类号： B60T832

    CPC分类号： B60T8/17551 ,  B60T8/172 ,  B60T2250/03 ,  B60T2270/313

    摘要： An improved vehicle active brake control based on an estimate of vehicle yaw rate, wherein the estimate is based on the speeds of the un-driven wheels, but compensated to reflect slipping of the un-driven wheels during braking. Prior to braking, the yaw rate is estimated solely on the basis of the measured speeds of the un-driven wheels. During braking, the slip speeds of the un-driven wheels are estimated based on the measured speeds, the reference speed of the vehicle and the previous estimate of yaw rate, and used to compute a new yaw rate that is compensated for the estimated slip speeds.

    摘要翻译： 基于车辆偏航率的估计的改进的车辆主动制动控制，其中所述估计基于未驱动的车轮的速度，但被补偿以反映制动期间未驱动车轮的滑动。 在制动之前，仅基于未驱动轮的测量速度来估计偏航率。 在制动期间，非驱动轮的滑移速度基于所测量的速度，车辆的参考速度和偏航率的先前估计值来估计，并且用于计算补偿估计滑移速度的新的横摆率 。