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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。

    Vehicle chassis control with coordinated brake and steering control on split coefficient surface
    9.
    发明授权
    Vehicle chassis control with coordinated brake and steering control on split coefficient surface 有权
    车辆底盘控制，具有协调的制动和转向控制分裂系数表面

    公开(公告)号：US06681167B2

    公开(公告)日：2004-01-20

    申请号：US10164321

    申请日：2002-06-04

    申请人： Edward John Bedner ,  Aleksander Boguslaw Hac ,  Hsien Heng Chen ,  Ashok Chandy ,  Michael John Check

    发明人： Edward John Bedner ,  Aleksander Boguslaw Hac ,  Hsien Heng Chen ,  Ashok Chandy ,  Michael John Check

    IPC分类号： G06F1700

    CPC分类号： B60K28/16 ,  B60T8/1764 ,  B60T2260/022 ,  B60T2260/024 ,  B60W2520/14 ,  B60W2520/28 ,  B62D7/159

    摘要： A vehicle chassis control stores first and second calibrated values of a predetermined braking parameter and a steering correction parameter. The control includes apparatus for detecting a split coefficient condition with respect to the road surface; and, when it does and a braking signal is present, the control actuates braking apparatus for a wheel on the side of the vehicle having the higher coefficient of friction with the first calibrated value of the predetermined braking parameter and simultaneously actuates the steering apparatus with a steering correction to compensate for yaw induced by braking on the split coefficient road surface. If the steering correction is not available, however, the braking apparatus is actuated for the wheel having the higher coefficient of friction with the second calibrated value of the predetermined braking parameter without simultaneously actuating the steering apparatus with the steering correction. The steering correction may have an open loop part derived from a difference between wheel slips of two wheels on opposite sides of the vehicle and/or a closed loop part derived from yaw rate, side slip and/or side slip rate error.

    摘要翻译： 车辆底盘控制器存储预定制动参数和转向校正参数的第一和第二校准值。 该控制装置包括用于检测相对于路面的分裂系数条件的装置; 并且当其存在并且存在制动信号时，所述控制致动具有与所述预定制动参数的第一校准值相比具有较高摩擦系数的车辆侧的车轮的制动装置，并且同时致动所述转向装置 转向补偿以补偿由分裂系数路面上的制动引起的偏航。 然而，如果转向矫正不可用，则制动装置对于具有较高摩擦系数的车轮与具有预定制动参数的第二校准值而被致动，而不用转向校正同时致动转向装置。 转向校正可以具有从车辆相对侧上的两个车轮的车轮滑移之间的差导出的开环部分和/或由偏航率，侧滑和/或侧滑率误差导出的闭环部分。