公开(公告)号：US07912665B2

公开(公告)日：2011-03-22

申请号：US12275831

申请日：2008-11-21

申请人： Weiwen Deng ,  Yong H. Lee ,  Haicen Zhang

发明人： Weiwen Deng ,  Yong H. Lee ,  Haicen Zhang

IPC分类号： G06F15/00

CPC分类号： B60T7/14 ,  B60K28/06 ,  B60T7/22 ,  B60W40/08 ,  B60W50/14 ,  B60W2520/10

摘要： A system and method for detecting the absence of contact between the hands of a driver of a vehicle and a steering wheel of the vehicle that have particular application in ensuring the proper functioning of various components of the driver assist steering systems and maintaining driver attentiveness. The method for detecting a no-contact condition between the hands of the driver of the vehicle and the steering wheel includes generating a model of the no-contact condition using a second-order transfer function. The method further includes obtaining a set of model-generated steering dynamics by estimating a plurality of parameters of the second-order transfer function and a set of measured steering dynamics using a plurality of sensors. The set of model-generated steering dynamics and the set of measured steering dynamics are then compared and the no-contact condition is detected based on this comparison.

摘要翻译： 一种用于检测车辆驾驶员的手与车辆方向盘之间没有接触的系统和方法，其特别适用于确保驾驶员的各个部件的正常功能，辅助转向系统和维持驾驶员的注意力。 用于检测车辆驾驶员的手与方向盘之间的无接触状态的方法包括使用二阶传递函数生成无接触状态的模型。 该方法还包括通过使用多个传感器估计二阶传递函数的多个参数和一组测量的转向动力学来获得一组模型生成的转向动力学。 然后比较一组模型生成的转向动力学和一组测量的转向动力学，并且基于该比较来检测无接触状态。

公开(公告)号：US07774121B2

公开(公告)日：2010-08-10

申请号：US11831571

申请日：2007-07-31

申请人： Yong H. Lee ,  Weiwen Deng ,  Haicen Zhang

发明人： Yong H. Lee ,  Weiwen Deng ,  Haicen Zhang

IPC分类号： B60T8/32 ,  B60L3/08

CPC分类号： B60W30/045 ,  B60W30/143 ,  B60W30/18145 ,  B60W2550/142 ,  B60W2550/146

摘要： A system and method for detecting a road curve as a vehicle approaches the curve, automatically providing road curvature information and controlling vehicle speed. The system uses a locating device and a map database to know the vehicle's position. Depending on the speed of the vehicle, the system generates a curvature profile for different curvature data points at or around the curve in front of the vehicle. The system then generates a desired speed profile for the curvature points. The desired speed profile and the actual vehicle speed are compared to determine whether the vehicle is traveling too fast for the target speed at each profile point. The acceleration computation can be enhanced by providing a driver cornering mode input that the vehicle operator can select based on how aggressively the driver wants the system to act to slow down the vehicle.

摘要翻译： 用于检测作为车辆的道路曲线的系统和方法接近曲线，自动提供道路曲率信息并控制车速。 系统使用定位装置和地图数据库来了解车辆的位置。 根据车辆的速度，系统在车辆前面的曲线处或周围的不同曲率数据点处产生曲率轮廓。 然后，系统为曲率点生成所需的速度曲线。 比较所需的速度曲线和实际车速以确定在每个轮廓点处车辆是否行驶得太快以达到目标速度。 可以通过提供驾驶员转弯模式输入来增强加速度计算，车辆驾驶员可以基于驾驶员如何积极地使系统作用来减慢车辆而选择。

公开(公告)号：US08983765B2

公开(公告)日：2015-03-17

申请号：US11548293

申请日：2006-10-11

申请人： Weiwen Deng ,  Yong H. Lee ,  Haicen Zhang

发明人： Weiwen Deng ,  Yong H. Lee ,  Haicen Zhang

IPC分类号： G06F19/00 ,  B62D6/00 ,  G05D1/00 ,  A01B69/00

CPC分类号： B62D15/025 ,  B62D6/003 ,  G05D1/0244 ,  G05D1/0257 ,  G05D2201/0213

摘要： A system for lane centering control for a vehicle having a user-operable steering device is disclosed. The system includes a set of sensors for sensing the vehicle speed, yaw rate, and steering device angle, a target path tracker configured for tracking the target path of the vehicle, a processor responsive to the set of sensors for predicting the path of the vehicle, a controller responsive to the set of sensors, the target path tracker, and the processor, and productive of a lane centering control signal, and an active front steering actuator responsive to the control signal and productive of steering assistance to the steering device. The controller includes a processing circuit responsive to executable instructions for producing the steering assistance to the steering device to reduce a difference between the predicted path and the target path, thereby serving to maintain lane centering of the vehicle.

摘要翻译： 公开了一种用于具有用户可操作的转向装置的车辆的车道对中控制系统。 该系统包括用于感测车辆速度，横摆角速度和转向装置角度的一组传感器，被配置为跟踪车辆的目标路径的目标路径跟踪器，响应于该组传感器来预测车辆的路径的处理器 响应于该组传感器，目标路径跟踪器和处理器以及生成车道对中控制信号的控制器以及响应于控制信号的有效前转向致动器和对转向装置的转向辅助的生产。 控制器包括响应于可执行指令的处理电路，用于产生对转向装置的转向辅助以减少预测路径和目标路径之间的差异，由此用于维持车辆的车道对中。

公开(公告)号：US20090037062A1

公开(公告)日：2009-02-05

申请号：US11831571

申请日：2007-07-31

申请人： Yong H. Lee ,  Weiwen Deng ,  Haicen Zhang

发明人： Yong H. Lee ,  Weiwen Deng ,  Haicen Zhang

IPC分类号： G05D13/00 ,  G01C21/26 ,  G06F17/11 ,  G01S5/00

CPC分类号： B60W30/045 ,  B60W30/143 ,  B60W30/18145 ,  B60W2550/142 ,  B60W2550/146

摘要： A system and method for detecting a road curve as a vehicle approaches the curve, automatically providing road curvature information and controlling vehicle speed. The system uses a locating device and a map database to know the vehicle's position. Depending on the speed of the vehicle, the system generates a curvature profile for different curvature data points at or around the curve in front of the vehicle. The system then generates a desired speed profile for the curvature points. The desired speed profile and the actual vehicle speed are compared to determine whether the vehicle is traveling too fast for the target speed at each profile point. The acceleration computation can be enhanced by providing a driver cornering mode input that the vehicle operator can select based on how aggressively the driver wants the system to act to slow down the vehicle.

摘要翻译： 用于检测作为车辆的道路曲线的系统和方法接近曲线，自动提供道路曲率信息并控制车速。 系统使用定位装置和地图数据库来了解车辆的位置。 根据车辆的速度，系统在车辆前面的曲线处或周围的不同曲率数据点处产生曲率轮廓。 然后，系统为曲率点生成所需的速度曲线。 比较所需的速度曲线和实际车速以确定在每个轮廓点处车辆是否行驶得太快以达到目标速度。 可以通过提供驾驶员转弯模式输入来增强加速度计算，车辆驾驶员可以基于驾驶员如何积极地使系统作用来减慢车辆而选择。

公开(公告)号：US20080091318A1

公开(公告)日：2008-04-17

申请号：US11548293

申请日：2006-10-11

申请人： Weiwen Deng ,  Yong H. Lee ,  Haicen Zhang

发明人： Weiwen Deng ,  Yong H. Lee ,  Haicen Zhang

IPC分类号： B62D6/00 ,  G06F7/00 ,  G05D1/00 ,  A01B69/00

CPC分类号： B62D15/025 ,  B62D6/003 ,  G05D1/0244 ,  G05D1/0257 ,  G05D2201/0213

摘要： A system for lane centering control for a vehicle having a user-operable steering device is disclosed. The system includes a set of sensors for sensing the vehicle speed, yaw rate, and steering device angle, a target path tracker configured for tracking the target path of the vehicle, a processor responsive to the set of sensors for predicting the path of the vehicle, a controller responsive to the set of sensors, the target path tracker, and the processor, and productive of a lane centering control signal, and an active front steering actuator responsive to the control signal and productive of steering assistance to the steering device. The controller includes a processing circuit responsive to executable instructions for producing the steering assistance to the steering device to reduce a difference between the predicted path and the target path, thereby serving to maintain lane centering of the vehicle.

摘要翻译： 公开了一种用于具有用户可操作的转向装置的车辆的车道对中控制系统。 该系统包括用于感测车辆速度，横摆角速度和转向装置角度的一组传感器，被配置为跟踪车辆的目标路径的目标路径跟踪器，响应于该组传感器来预测车辆的路径的处理器 响应于该组传感器，目标路径跟踪器和处理器以及生成车道对中控制信号的控制器以及响应于控制信号的有效前转向致动器和对转向装置的转向辅助的生产。 控制器包括响应于可执行指令的处理电路，用于产生对转向装置的转向辅助以减少预测路径和目标路径之间的差异，由此用于维持车辆的车道对中。

公开(公告)号：US20100100360A1

公开(公告)日：2010-04-22

申请号：US12252592

申请日：2008-10-16

申请人： Weiwen Deng ,  Haicen Zhang ,  Qingrong Zhao

发明人： Weiwen Deng ,  Haicen Zhang ,  Qingrong Zhao

IPC分类号： G06F17/10

CPC分类号： B60T8/172 ,  B60T2210/12

摘要： A method is provided for determining a state of a road condition using a linear model-based estimation technique. Two vehicle reference models are defined to represent vehicles operating under non-slippery and slippery road surfaces respectively. An index that reflects the vehicle understeer characteristics is also defined. Indices are determined from the reference models under the non-slippery road surface, the slippery road surface, and from vehicle sensor measurement, respectively. A first root mean square deviation is calculated between the index of reference model under non-slippery road surface and the index calculated based on sensor measurement. A second root mean square deviation is calculated between the index of reference model under slippery road surface and the index calculated based on sensor measurement. A probability analysis is applied as a function of probability density functions for identifying the condition of the road surface between a non-slippery road surface and a slippery road surface.

摘要翻译： 提供了一种使用基于线性模型的估计技术来确定道路状况的状态的方法。 两个车辆参考模型被定义为分别在非滑动和滑滑的路面上运行的车辆。 还定义了反映车辆转向不足特性的指标。 指标由不透水路面，路面滑坡和车辆传感器测量的参考模型分别确定。 在非滑动路面的参考模型指标与基于传感器测量计算的指标之间计算出第一均方根偏差。 在滑动路面的参考模型指标与基于传感器测量计算的指标之间计算出第二均方根偏差。 应用概率分析作为概率密度函数的函数，用于识别非滑动路面与滑滑路面之间的路面状况。

公开(公告)号：US20070027586A1

公开(公告)日：2007-02-01

申请号：US11192423

申请日：2005-07-28

申请人： Weiwen Deng ,  Haicen Zhang

发明人： Weiwen Deng ,  Haicen Zhang

IPC分类号： G06F17/00

CPC分类号： B60T8/172 ,  B60T2230/02 ,  B60T2270/86

摘要： A system for estimating vehicle side-slip in the linear vehicle operating region that includes updating front and rear cornering stiffness signals. The system includes a first state observer processor that employs a bicycle model with state feedback for generating yaw acceleration and lateral acceleration signals. The system further includes a subtractor that receives the yaw acceleration and lateral acceleration signals and measured yaw rate and lateral acceleration signals, and generates yaw acceleration and lateral acceleration error signals. A parameter estimation processor calculates an updated front cornering stiffness and rear cornering stiffness signals. The updated front and rear cornering stiffness signals are sent back to the first state observer processor, and are used by second state observer processor for generating the estimated vehicle side-slip.

摘要翻译： 一种用于估计线性车辆操作区域中的车辆侧滑的系统，包括更新前后转弯刚度信号。 该系统包括第一状态观察器处理器，其采用具有状态反馈的自行车模型来产生横摆加速度和横向加速度信号。 该系统还包括减速器，其接收偏航加速度和横向加速度信号以及测量的横摆角速度和横向加速度信号，并产生偏航加速度和横向加速度误差信号。 参数估计处理器计算更新的前转弯刚度和后转弯刚度信号。 更新的前后转弯刚度信号被发送回第一状态观察器处理器，并且被第二状态观察器处理器用于产生估计的车辆侧滑。

公开(公告)号：US07774103B2

公开(公告)日：2010-08-10

申请号：US11192423

申请日：2005-07-28

申请人： Weiwen Deng ,  Haicen Zhang

发明人： Weiwen Deng ,  Haicen Zhang

IPC分类号： G06F7/02 ,  G06F17/00 ,  B60W30/00

CPC分类号： B60T8/172 ,  B60T2230/02 ,  B60T2270/86

摘要： A system for estimating vehicle side-slip in the linear vehicle operating region that includes updating front and rear cornering stiffness signals. The system includes a first state observer processor that employs a bicycle model with state feedback for generating yaw acceleration and lateral acceleration signals. The system further includes a subtractor that receives the yaw acceleration and lateral acceleration signals and measured yaw rate and lateral acceleration signals, and generates yaw acceleration and lateral acceleration error signals. A parameter estimation processor calculates an updated front cornering stiffness and rear cornering stiffness signals. The updated front and rear cornering stiffness signals are sent back to the first state observer processor, and are used by second state observer processor for generating the estimated vehicle side-slip.

摘要翻译： 一种用于估计线性车辆操作区域中的车辆侧滑的系统，包括更新前后转弯刚度信号。 该系统包括第一状态观察器处理器，其采用具有状态反馈的自行车模型来产生横摆加速度和横向加速度信号。 该系统还包括减速器，其接收偏航加速度和横向加速度信号以及测量的横摆角速度和横向加速度信号，并产生偏航加速度和横向加速度误差信号。 参数估计处理器计算更新的前转弯刚度和后转弯刚度信号。 更新的前后转弯刚度信号被发送回第一状态观察器处理器，并且被第二状态观察器处理器用于产生估计的车辆侧滑。

公开(公告)号：US20100131233A1

公开(公告)日：2010-05-27

申请号：US12275831

申请日：2008-11-21

申请人： Wiewen Deng ,  Yong H. Lee ,  Haicen Zhang

发明人： Wiewen Deng ,  Yong H. Lee ,  Haicen Zhang

IPC分类号： G06F15/00

CPC分类号： B60T7/14 ,  B60K28/06 ,  B60T7/22 ,  B60W40/08 ,  B60W50/14 ,  B60W2520/10

摘要： A system and method for detecting the absence of contact between the hands of a driver of a vehicle and a steering wheel of the vehicle that have particular application in ensuring the proper functioning of various components of the driver assist steering systems and maintaining driver attentiveness. The method for detecting a no-contact condition between the hands of the driver of the vehicle and the steering wheel includes generating a model of the no-contact condition using a second-order transfer function. The method further includes obtaining a set of model-generated steering dynamics by estimating a plurality of parameters of the second-order transfer function and a set of measured steering dynamics using a plurality of sensors. The set of model-generated steering dynamics and the set of measured steering dynamics are then compared and the no-contact condition is detected based on this comparison.

摘要翻译： 一种用于检测车辆驾驶员的手与车辆方向盘之间没有接触的系统和方法，其特别适用于确保驾驶员的各个部件的正常功能，辅助转向系统和维持驾驶员的注意力。 用于检测车辆驾驶员的手与方向盘之间的无接触状态的方法包括使用二阶传递函数生成无接触状态的模型。 该方法还包括通过使用多个传感器估计二阶传递函数的多个参数和一组测量的转向动力学来获得一组模型生成的转向动力学。 然后比较一组模型生成的转向动力学和一组测量的转向动力学，并且基于该比较来检测无接触状态。