公开(公告)号：US07640089B2

公开(公告)日：2009-12-29

申请号：US11100016

申请日：2005-04-06

申请人： Weiwen Deng ,  Yong H. Lee ,  Yuen-Kwok Chin ,  David S. Rule

发明人： Weiwen Deng ,  Yong H. Lee ,  Yuen-Kwok Chin ,  David S. Rule

IPC分类号： B62D5/02

CPC分类号： B62D7/159 ,  B62D6/003 ,  B62D13/00

摘要： A vehicle steering control system for a vehicle/trailer combination that provides rear-wheel steering assist to improve the vehicle/trailer combination stability and handling performance. The control system provides an open-loop feed-forward control signal based on hand-wheel angle and vehicle speed. The control system includes a vehicle yaw rate command interpreter that provides a vehicle closed-loop feedback control signal based on the yaw rate of the vehicle, a trailer yaw rate command interpreter that provides a trailer closed-loop feedback control signal based on the yaw rate of the trailer, and a vehicle lateral acceleration command interpreter that provides a closed-loop feedback control signal based on the lateral acceleration of the vehicle. The closed-loop feedback signals are added together and then combined with the open-loop feed-forward control signal to provide the rear-wheel steering assist.

摘要翻译： 一种用于车辆/拖车组合的车辆转向控制系统，其提供后轮转向辅助以改善车辆/拖车组合的稳定性和操纵性能。 控制系统基于手轮角度和车速提供开环前馈控制信号。 控制系统包括车辆横摆速度命令解释器，其基于车辆的横摆角速度提供车辆闭环反馈控制信号;拖车横摆速度命令解释器，其基于横摆率提供拖车闭环反馈控制信号 以及车辆横向加速度指令解释器，其基于车辆的横向加速度提供闭环反馈控制信号。 将闭环反馈信号加在一起，然后与开环前馈控制信号相结合，以提供后轮转向辅助。

公开(公告)号：US20080177443A1

公开(公告)日：2008-07-24

申请号：US11625909

申请日：2007-01-23

申请人： Yong H. Lee ,  Weiwen Deng ,  Alexander Kade ,  Yuen-Kwok Chin

发明人： Yong H. Lee ,  Weiwen Deng ,  Alexander Kade ,  Yuen-Kwok Chin

IPC分类号： B62D6/00

CPC分类号： B62D15/0285

摘要： A method to assist steering of a vehicle equipped with an active steering system when operating in a reverse direction is provided. The method comprises monitoring vehicle operating characteristics and an operator steering input. Boundaries of a target region and a reference point are determined. A target steering angle range is calculated based upon the reference point and the target location. A controlled steering angle of the active steering system is corrected when the operator steering input is outside the target steering angle range. An aspect of the invention included determining the reference point comprising a point of intersection of a first vector and a second vector, the first vector parallel to and passing through a centerline of a rear axle of the vehicle and the second vector perpendicular to and passing through a centerline of an inside front steerable wheel of the vehicle.

摘要翻译： 提供了一种在反向工作时辅助配备有主动转向系统的车辆的转向的方法。 该方法包括监视车辆操作特性和操作者转向输入。 确定目标区域和参考点的边界。 基于参考点和目标位置计算目标转向角范围。 当操作者转向输入超出目标转向角范围时，主动转向系统的受控转向角被校正。 本发明的一个方面包括确定包括第一矢量和第二矢量的交点的参考点，平行于并经过车辆后轴的中心线的第一矢量和垂直于并经过的第二矢量 车辆内侧可转向车轮的中心线。

公开(公告)号：US07154385B2

公开(公告)日：2006-12-26

申请号：US10987556

申请日：2004-11-12

申请人： Yong H. Lee ,  Weiwen Deng ,  Yuen-Kwok Chin ,  William C. Lin

发明人： Yong H. Lee ,  Weiwen Deng ,  Yuen-Kwok Chin ,  William C. Lin

IPC分类号： G08B21/00

CPC分类号： B62D5/008 ,  B62D6/002 ,  B62D13/06 ,  B62D15/027

摘要： A vehicle-trailer back-up control system that employs an active front steer sub-system. The system includes a smart hitch controller that receives a vehicle speed signal and a hand-wheel angle signal, and calculates a hitch angle command signal. The system further includes a hitch angle sensor that measures the hitch angle between the vehicle and the trailer that is compared to the hitch angle command signal to generate a hitch angle error signal. A PID control unit receives the hitch angle error signal, and generates a corrected road wheel angle signal based on proportional and derivative gains. The corrected road wheel angle signal is used to generate a motor angle signal that is applied to a steering actuator to be combined with the steering angle signal to generate the front wheel steering signal during a back-up maneuver.

摘要翻译： 一种采用主动前转向子系统的车辆拖车后备控制系统。 该系统包括接收车速信号和手轮角度信号的智能牵引控制器，并计算牵引角度指令信号。 该系统还包括一个牵引角度传感器，其测量与牵引角度指令信号相比的车辆和拖车之间的牵引角度，以产生牵引角误差信号。 PID控制单元接收牵引角误差信号，并根据比例和微分增益产生校正的车轮角度信号。 校正后的车轮角度信号用于产生电动机角度信号，该电动机角度信号被施加到与转向角信号组合的转向致动器，以在后备操纵期间产生前轮转向信号。

公开(公告)号：US08538631B2

公开(公告)日：2013-09-17

申请号：US11625909

申请日：2007-01-23

申请人： Yong H. Lee ,  Weiwen Deng ,  Alexander Kade ,  Yuen-Kwok Chin

发明人： Yong H. Lee ,  Weiwen Deng ,  Alexander Kade ,  Yuen-Kwok Chin

IPC分类号： G05D1/00 ,  G06F7/00

CPC分类号： B62D15/0285

摘要： A method to assist steering of a vehicle equipped with an active steering system when operating in a reverse direction is provided. The method comprises monitoring vehicle operating characteristics and an operator steering input. Boundaries of a target region and a reference point are determined. A target steering angle range is calculated based upon the reference point and the target location. A controlled steering angle of the active steering system is corrected when the operator steering input is outside the target steering angle range. An aspect of the invention included determining the reference point comprising a point of intersection of a first vector and a second vector, the first vector parallel to and passing through a centerline of a rear axle of the vehicle and the second vector perpendicular to and passing through a centerline of an inside front steerable wheel of the vehicle.

摘要翻译： 提供了一种在反向工作时辅助配备有主动转向系统的车辆的转向的方法。 该方法包括监视车辆操作特性和操作者转向输入。 确定目标区域和参考点的边界。 基于参考点和目标位置计算目标转向角范围。 当操作者转向输入超出目标转向角范围时，主动转向系统的受控转向角被校正。 本发明的一个方面包括确定参考点，其包括第一矢量和第二矢量的交点，平行于并经过车辆后轴的中心线的第一矢量和垂直于并经过的第二矢量 车辆内侧可转向车轮的中心线。

公开(公告)号：US06838979B2

公开(公告)日：2005-01-04

申请号：US10435209

申请日：2003-05-09

申请人： Weiwen Deng ,  Yong H. Lee ,  Yuen-Kwok Chin

发明人： Weiwen Deng ,  Yong H. Lee ,  Yuen-Kwok Chin

IPC分类号： B62D13/06 ,  B62D15/02 ,  G08B21/00

CPC分类号： B62D13/06 ,  B62D15/028

摘要： This invention provides a system to detect in real time the condition of jackknifing tendency during vehicle-trailer backing up, and to provide steering direction assistance. The system utilizes rates of change of a vehicle-trailer articulation angle to determine a critical articulation angle.

公开(公告)号：US20060229782A1

公开(公告)日：2006-10-12

申请号：US11100016

申请日：2005-04-06

申请人： Weiwen Deng ,  Yong Lee ,  Yuen-Kwok Chin ,  David Rule

发明人： Weiwen Deng ,  Yong Lee ,  Yuen-Kwok Chin ,  David Rule

IPC分类号： B62D5/04

CPC分类号： B62D7/159 ,  B62D6/003 ,  B62D13/00

摘要： A vehicle steering control system for a vehicle/trailer combination that provides rear-wheel steering assist to improve the vehicle/trailer combination stability and handling performance. The control system provides an open-loop feed-forward control signal based on hand-wheel angle and vehicle speed. The control system includes a vehicle yaw rate command interpreter that provides a vehicle closed-loop feedback control signal based on the yaw rate of the vehicle, a trailer yaw rate command interpreter that provides a trailer closed-loop feedback control signal based on the yaw rate of the trailer, and a vehicle lateral acceleration command interpreter that provides a closed-loop feedback control signal based on the lateral acceleration of the vehicle. The closed-loop feedback signals are added together and then combined with the open-loop feed-forward control signal to provide the rear-wheel steering assist.

公开(公告)号：US06560524B2

公开(公告)日：2003-05-06

申请号：US09963770

申请日：2001-09-26

申请人： William Chin-Woei Lin ,  Yuen-Kwok Chin ,  David Michael Sidlosky ,  David S. Rule ,  Weiwen Deng

发明人： William Chin-Woei Lin ,  Yuen-Kwok Chin ,  David Michael Sidlosky ,  David S. Rule ,  Weiwen Deng

IPC分类号： G06F700

CPC分类号： B60T8/1755 ,  B60T2260/022

摘要： There is disclosed a method for integrating a vehicle stability enhancement system and rear wheel steering. The method includes inputting a vehicle speed and measured vehicle yaw rates. Determining a front and rear wheel steer angle. Calculating a desired yaw rate. Comparing the measured yaw rate with the desired yaw rate to determine a yaw error term. Applying a braking force to a wheel of a vehicle imparting a yaw moment based upon the magnitude of the error term calculated. The rear wheel steer angle is taken into account in calculating a desired yaw rate.

摘要翻译： 公开了一种用于整合车辆稳定性增强系统和后轮转向的方法。 该方法包括输入车速和测量的车辆偏航率。 确定前后轮转向角度。 计算所需的偏航率。 将所测量的横摆角速度与期望的横摆角速比进行比较，以确定偏航误差项。 基于所计算的误差项的大小，向车辆的车轮施加制动力，从而产生横摆力矩。 在计算所需的偏航率时考虑后轮转向角度。

公开(公告)号：US20060103511A1

公开(公告)日：2006-05-18

申请号：US10987556

申请日：2004-11-12

申请人： Yong Lee ,  Weiwen Deng ,  Yuen-Kwok Chin ,  William Lin

发明人： Yong Lee ,  Weiwen Deng ,  Yuen-Kwok Chin ,  William Lin

IPC分类号： G08B21/00

CPC分类号： B62D5/008 ,  B62D6/002 ,  B62D13/06 ,  B62D15/027

摘要： A vehicle-trailer back-up control system that employs an active front steer sub-system. The system includes a smart hitch controller that receives a vehicle speed signal and a hand-wheel angle signal, and calculates a hitch angle command signal. The system further includes a hitch angle sensor that measures the hitch angle between the vehicle and the trailer that is compared to the hitch angle command signal to generate a hitch angle error signal. A PID control unit receives the hitch angle error signal, and generates a corrected road wheel angle signal based on proportional and derivative gains. The corrected road wheel angle signal is used to generate a motor angle signal that is applied to a steering actuator to be combined with the steering angle signal to generate the front wheel steering signal during a back-up maneuver.

公开(公告)号：US06580988B2

公开(公告)日：2003-06-17

申请号：US09992505

申请日：2001-11-06

申请人： William Chin-Woei Lin ,  Yuen-Kwok Chin ,  Weiwen Deng ,  Scott P. Sherman ,  Paul A. Grougan ,  Eugene A. Rodden

发明人： William Chin-Woei Lin ,  Yuen-Kwok Chin ,  Weiwen Deng ,  Scott P. Sherman ,  Paul A. Grougan ,  Eugene A. Rodden

IPC分类号： B62D504

CPC分类号： B62D7/159

摘要： A method is disclosed for controlling the rear wheel angle in a four-wheel steering vehicle such as a pickup truck. The front wheels are steered using the conventional operator handwheel linked to the front wheels. The rear wheels are actuated with a reversible electric motor and the rear wheel angle controlled using a computer with inputs of vehicle velocity, operator handwheel position and correlated front wheel angle, and handwheel turning rate. Control of rear wheel angle starts with a correlation of ratios of rear wheel angle to front wheel angle, R/F, vs. vehicle velocity suitable, determined under steady state front steering angle and velocity conditions, to maximize the contribution of the rear wheels while avoiding side-slip of the vehicle. It is found that driver steering feel and vehicle maneuverability is improved by imposing a minimum front wheel angle requirement before rear wheel steering is permitted and by modifying the current value of R/F with gain factors base d on the hand wheel angle and rate of motion.

摘要翻译： 公开了一种用于控制诸如皮卡车之类的四轮转向车辆中的后轮角度的方法。 使用与前轮连接的常规操作手轮来转向前轮。 后轮由可逆电动机驱动，后轮角度使用具有车速，操作手轮位置和相关前轮角度以及手轮转速的输入的计算机进行控制。 后轮角度的控制开始于在稳态前转向角和速度条件下确定的后轮角度与前轮角度R / F与适合的车速之比的相关性，以最大化后轮的贡献， 避免车辆侧滑。 发现驾驶员转向感和车辆机动性通过在允许后轮转向之前施加最小前轮角度要求而得到改善，并且通过以手轮角度和运动速度为基础的增益因子d修改R / F的当前值 。

公开(公告)号：US06292094B1

公开(公告)日：2001-09-18

申请号：US09758986

申请日：2001-01-16

申请人： Weiwen Deng ,  Yuen-Kwok Chin ,  William Chin-Woei Lin ,  David S. Rule ,  Yong Han Lee

发明人： Weiwen Deng ,  Yuen-Kwok Chin ,  William Chin-Woei Lin ,  David S. Rule ,  Yong Han Lee

IPC分类号： G08B2100

CPC分类号： B62D7/159 ,  B62D13/06 ,  B62D15/02

摘要： A method is disclosed for controlling a backing maneuver of an automotive vehicle and trailer combination in which the vehicle has operator-actuated front wheel steering and microprocessor-actuated, reversible electric motor driven rear wheel steering. For a given initial alignment of vehicle and trailer, the computer-executed method first determines whether the driver needs to pull forward before commencing the backing operation. The driver is then requested to turn the front wheels in a direction suitable for backing the vehicle without a trailer in the desired direction. The process then determines whether the driver needs to perform counter front wheel steering before backing. Then the process controls the steering of the rear wheels during the backing operation.

摘要翻译： 公开了一种用于控制机动车辆和拖车组合的后备机动的方法，其中车辆具有操作者致动的前轮转向和微处理器致动的可逆电动机驱动的后轮转向。 对于车辆和拖车的给定初始对准，计算机执行的方法首先确定驾驶员在开始后备操作之前是否需要向前拉。 然后，请求驾驶员沿着适合于背靠车辆的方向转动前轮，而不需要拖车沿期望的方向。 然后，该过程确定在备份之前驾驶员是否需要执行相对前轮转向。 然后，该过程控制后轮操纵期间的后轮的转向。