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    Real-time allocation of actuator torque in a vehicle
    4.
    发明授权
    Real-time allocation of actuator torque in a vehicle 有权
    在车辆中实时分配执行器扭矩

    公开(公告)号：US08655528B2

    公开(公告)日：2014-02-18

    申请号：US13017117

    申请日：2011-01-31

    申请人： Youssef A. Ghoneim ,  Shih-Ken Chen ,  Valery Pylypchuk ,  Nikolai K. Moshchuk ,  Bakhtiar Brian Litkouhi

    发明人： Youssef A. Ghoneim ,  Shih-Ken Chen ,  Valery Pylypchuk ,  Nikolai K. Moshchuk ,  Bakhtiar Brian Litkouhi

    IPC分类号： G06F19/00

    CPC分类号： B60W10/08 ,  B60K7/0007 ,  B60K2007/0092 ,  B60W10/184 ,  B60W30/18145 ,  B60W50/0098 ,  B60W50/023 ,  B60W2050/0031 ,  B60W2720/403 ,  B60W2720/406 ,  Y02T10/7258

    摘要： A method for allocating forces among the corners of a vehicle having a redundant actuator suite includes determining a set of desired forces at the center of gravity of the vehicle, and allocating the set of desired forces among the corners of the vehicle as virtual control commands using a controller. The method also includes mapping the virtual control commands at the corners to actual or true control commands at the corners, and controlling a plurality of actuators at the corners using the actual or true control commands. The actuators may include friction brakes and wheel motors. Mapping the virtual control commands may include using a Least Squares formulation. Control of the actuators may be prioritized with respect to each other using weighting matrices. A vehicle includes a controller having actuators and a controller configured for executing the above method.

    摘要翻译： 一种用于在具有冗余致动器套件的车辆角部之间分配力的方法包括确定在车辆重心处的一组期望的力，并且在车辆的角部之间分配所需的力集合作为虚拟控制命令，使用 一个控制器 该方法还包括将角落处的虚拟控制命令映射到角落处的实际或真实控制命令，并且使用实际或真实的控制命令来控制拐角处的多个致动器。 致动器可以包括摩擦制动器和轮式电动机。 映射虚拟控制命令可以包括使用最小二乘公式。 致动器的控制可以使用加权矩阵相对于彼此来优先。 车辆包括具有致动器的控制器和被配置为执行上述方法的控制器。

    REAL-TIME ALLOCATION OF ACTUATOR TORQUE IN A VEHICLE
    5.
    发明申请
    REAL-TIME ALLOCATION OF ACTUATOR TORQUE IN A VEHICLE 有权
    车辆执行器扭矩的实时分配

    公开(公告)号：US20120197469A1

    公开(公告)日：2012-08-02

    申请号：US13017117

    申请日：2011-01-31

    申请人： Youssef A. Ghoneim ,  Shih-Ken Chen ,  Valery Pylypchuk ,  Nikolai K. Moshchuk ,  Bakhtiar Brian Litkouhi

    发明人： Youssef A. Ghoneim ,  Shih-Ken Chen ,  Valery Pylypchuk ,  Nikolai K. Moshchuk ,  Bakhtiar Brian Litkouhi

    IPC分类号： B60L15/20 ,  G06F19/00

    CPC分类号： B60W10/08 ,  B60K7/0007 ,  B60K2007/0092 ,  B60W10/184 ,  B60W30/18145 ,  B60W50/0098 ,  B60W50/023 ,  B60W2050/0031 ,  B60W2720/403 ,  B60W2720/406 ,  Y02T10/7258

    摘要： A method for allocating forces among the corners of a vehicle having a redundant actuator suite includes determining a set of desired forces at the center of gravity of the vehicle, and allocating the set of desired forces among the corners of the vehicle as virtual control commands using a controller. The method also includes mapping the virtual control commands at the corners to actual or true control commands at the corners, and controlling a plurality of actuators at the corners using the actual or true control commands. The actuators may include friction brakes and wheel motors. Mapping the virtual control commands may include using a Least Squares formulation. Control of the actuators may be prioritized with respect to each other using weighting matrices. A vehicle includes a controller having actuators and a controller configured for executing the above method.

    摘要翻译： 一种用于在具有冗余致动器套件的车辆的角部之间分配力的方法包括确定在车辆重心处的一组期望的力，并且在车辆的角部之间分配所需的力集合作为虚拟控制命令，使用 一个控制器 该方法还包括将角落处的虚拟控制命令映射到角落处的实际或真实控制命令，并且使用实际或真实的控制命令来控制拐角处的多个致动器。 致动器可以包括摩擦制动器和轮式电动机。 映射虚拟控制命令可以包括使用最小二乘公式。 致动器的控制可以使用加权矩阵相对于彼此来优先。 车辆包括具有致动器的控制器和被配置为执行上述方法的控制器。

    Lane tracking system with active rear-steer
    6.
    发明授权
    Lane tracking system with active rear-steer 有权
    车道跟踪系统具有主动后转向

    公开(公告)号：US08903607B2

    公开(公告)日：2014-12-02

    申请号：US13348091

    申请日：2012-01-11

    申请人： Jin-Woo Lee ,  Nikolai K. Moshchuk ,  Shih-Ken Chen ,  Bakhtiar Brian Litkouhi

    发明人： Jin-Woo Lee ,  Nikolai K. Moshchuk ,  Shih-Ken Chen ,  Bakhtiar Brian Litkouhi

    IPC分类号： G05D1/02

    CPC分类号： B62D15/0255

    摘要： A lane tracking system for a vehicle includes a front steering controller, a rear steering controller, and a lane tracking processor. The front steering controller is configured to rotate a front wheel of the vehicle through a front steering angle in response to a front steering torque command, and the rear steering controller is configured to rotate a rear wheel of the vehicle through a rear steering angle in response to a rear steering torque command. The lane tracking processor is configured to determine a desired course of the vehicle along a roadway, estimate a trajectory of the vehicle based on sensed vehicle motion, compute an error between the determined desired course and the estimated trajectory, and provide a front steering torque command to the front steering controller, and a rear steering torque command to the rear steering controller to minimize the computed error.

    摘要翻译： 用于车辆的车道跟踪系统包括前转向控制器，后转向控制器和车道跟踪处理器。 前转向控制器构造成响应于前转向转矩指令而通过前转向角旋转车辆的前轮，并且后转向控制器被配置为响应于后转向角来旋转车辆的后轮 到后转向转矩指令。 车道跟踪处理器被配置为确定沿着道路的车辆的期望路线，基于感测的车辆运动来估计车辆的轨迹，计算所确定的期望路线和估计的轨迹之间的误差，并且提供前转向转矩指令 到后转向控制器的后转向转矩指令，以使计算出的误差最小化。

    Directing vehicle into feasible region for autonomous and semi-autonomous parking
    7.
    发明授权
    Directing vehicle into feasible region for autonomous and semi-autonomous parking 有权
    引导车辆进入可行区域进行自主和半自动停车

    公开(公告)号：US08862321B2

    公开(公告)日：2014-10-14

    申请号：US13586077

    申请日：2012-08-15

    申请人： Nikolai K. Moshchuk ,  Bakhtiar Brian Litkouhi ,  Shih-Ken Chen

    发明人： Nikolai K. Moshchuk ,  Bakhtiar Brian Litkouhi ,  Shih-Ken Chen

    IPC分类号： B60G17/018 ,  B62C3/00 ,  B62D5/04

    CPC分类号： B62D5/0463 ,  B62D6/00 ,  B62D15/0285

    摘要： A method of guiding a vehicle to a region for initiating a parallel parking maneuver. A region of feasible starting locations for successfully performing a parallel parking maneuver is determined by a processor. A position of the vehicle relative to the region of feasible starting locations is determined. A determination is made whether the vehicle is in a zero heading position. The vehicle is guided along an initial target path by controlling a steering actuator until the vehicle is in a zero heading position relative to the road of travel in response to the vehicle is not in the zero heading position. A planned path is generated that includes two arc-shaped trajectories extending between the vehicle at the zero heading position and a position within the region of feasible starting locations as determined by the processor. The steering actuator is controlled to follow the planned path to the feasible region.

    摘要翻译： 将车辆引导到用于启动平行停放机动的区域的方法。 用于成功执行平行停车操纵的可行启动位置的区域由处理器确定。 确定车辆相对于可行起始位置的区域的位置。 确定车辆是否处于零行程位置。 通过控制转向执行机构，车辆沿着初始目标路径被引导，直到车辆相对于车辆行驶道路处于零行程位置为止不在零行程位置时。 生成包括两个在零行程位置的车辆之间延伸的两个弧形轨迹和由处理器确定的可行起始位置区域内的位置的计划路径。 控制转向执行器以遵循到可行区域的计划路径。

    DIRECTING VEHICLE INTO FEASIBLE REGION FOR AUTONOMOUS AND SEMI-AUTONOMOUS PARKING
    8.
    发明申请
    DIRECTING VEHICLE INTO FEASIBLE REGION FOR AUTONOMOUS AND SEMI-AUTONOMOUS PARKING 有权
    指导车辆进入自动和半自动停车场的可行区域

    公开(公告)号：US20140052336A1

    公开(公告)日：2014-02-20

    申请号：US13586077

    申请日：2012-08-15

    申请人： Nikolai K. Moshchuk ,  Bakhtiar Brian Litkouhi ,  Shih-Ken Chen

    发明人： Nikolai K. Moshchuk ,  Bakhtiar Brian Litkouhi ,  Shih-Ken Chen

    IPC分类号： G06F17/00 ,  B62D6/00

    CPC分类号： B62D5/0463 ,  B62D6/00 ,  B62D15/0285

    摘要： A method of guiding a vehicle to a region for initiating a parallel parking maneuver. A region of feasible starting locations for successfully performing a parallel parking maneuver is determined by a processor. A position of the vehicle relative to the region of feasible starting locations is determined. A determination is made whether the vehicle is in a zero heading position. The vehicle is guided along an initial target path by controlling a steering actuator until the vehicle is in a zero heading position relative to the road of travel in response to the vehicle is not in the zero heading position. A planned path is generated that includes two arc-shaped trajectories extending between the vehicle at the zero heading position and a position within the region of feasible starting locations as determined by the processor. The steering actuator is controlled to follow the planned path to the feasible region.

    摘要翻译： 将车辆引导到用于启动平行停放机动的区域的方法。 用于成功执行平行停车操纵的可行启动位置的区域由处理器确定。 确定车辆相对于可行起始位置的区域的位置。 确定车辆是否处于零行程位置。 通过控制转向执行机构，车辆沿着初始目标路径被引导，直到车辆相对于车辆行驶道路处于零行程位置为止不在零行程位置时。 生成包括两个在零行程位置的车辆之间延伸的两个弧形轨迹和由处理器确定的可行起始位置区域内的位置的计划路径。 控制转向执行器以遵循到可行区域的计划路径。

    LANE TRACKING SYSTEM WITH ACTIVE REAR-STEER
    9.
    发明申请
    LANE TRACKING SYSTEM WITH ACTIVE REAR-STEER 有权
    具有主动后转器的LANE跟踪系统

    公开(公告)号：US20130179036A1

    公开(公告)日：2013-07-11

    申请号：US13348091

    申请日：2012-01-11

    申请人： Jin-Woo Lee ,  Nikolai K. Moshchuk ,  Shih-Ken Chen ,  Bakhtiar Brian Litkouhi

    发明人： Jin-Woo Lee ,  Nikolai K. Moshchuk ,  Shih-Ken Chen ,  Bakhtiar Brian Litkouhi

    IPC分类号： G05D1/00

    CPC分类号： B62D15/0255

    摘要： A lane tracking system for a vehicle includes a front steering controller, a rear steering controller, and a lane tracking processor. The front steering controller is configured to rotate a front wheel of the vehicle through a front steering angle in response to a front steering torque command, and the rear steering controller is configured to rotate a rear wheel of the vehicle through a rear steering angle in response to a rear steering torque command. The lane tracking processor is configured to determine a desired course of the vehicle along a roadway, estimate a trajectory of the vehicle based on sensed vehicle motion, compute an error between the determined desired course and the estimated trajectory, and provide a front steering torque command to the front steering controller, and a rear steering torque command to the rear steering controller to minimize the computed error.

    摘要翻译： 用于车辆的车道跟踪系统包括前转向控制器，后转向控制器和车道跟踪处理器。 前转向控制器构造成响应于前转向转矩指令而通过前转向角旋转车辆的前轮，并且后转向控制器被配置为响应于后转向角来旋转车辆的后轮 到后转向转矩指令。 车道跟踪处理器被配置为确定沿着道路的车辆的期望路线，基于感测的车辆运动来估计车辆的轨迹，计算所确定的期望路线和估计的轨迹之间的误差，并且提供前转向转矩指令 到后转向控制器的后转向转矩指令，以使计算出的误差最小化。

    Lane tracking system
    10.
    发明授权
    Lane tracking system 有权
    车道跟踪系统

    公开(公告)号：US09139203B2

    公开(公告)日：2015-09-22

    申请号：US13289517

    申请日：2011-11-04

    申请人： Nikolai K. Moshchuk ,  Shuqing Zeng ,  Xingping Chen ,  Bakhtiar Brian Litkouhi

    发明人： Nikolai K. Moshchuk ,  Shuqing Zeng ,  Xingping Chen ,  Bakhtiar Brian Litkouhi

    IPC分类号： G06F19/00 ,  B60W30/12

    CPC分类号： B60W30/12 ,  B60W2420/42

    摘要： A lane tracking system for tracking the position of a vehicle within a lane includes a camera configured to provide a video feed representative of a field of view and a video processor configured to receive the video feed from the camera and to generate latent video-based position data indicative of the position of the vehicle within the lane. The system further includes a vehicle motion sensor configured to generate vehicle motion data indicative of the motion of the vehicle, and a lane tracking processor. The lane tracking processor is configured to receive the video-based position data, updated at a first frequency; receive the sensed vehicle motion data, updated at a second frequency; estimate the position of the vehicle within the lane from the sensed vehicle motion data; and fuse the video-based position data with the estimate of the vehicle position within the lane using a Kalman filter.

    摘要翻译： 用于跟踪车道在车道内的位置的车道跟踪系统包括被配置为提供表示视野的视频馈送的照相机和被配置为从照相机接收视频馈送并且产生潜在视频的位置的视频处理器 指示车辆在车道内的位置的数据。 该系统还包括被配置为产生指示车辆的运动的车辆运动数据的车辆运动传感器和车道跟踪处理器。 车道跟踪处理器被配置为接收以第一频率更新的基于视频的位置数据; 接收以第二频率更新的感测车辆运动数据; 从感测的车辆运动数据估计车道在车道内的位置; 并使用卡尔曼滤波器将基于视频的位置数据与车道内的车辆位置的估计融合。