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。

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。

公开(公告)号：US6035251A

公开(公告)日：2000-03-07

申请号：US967091

申请日：1997-11-10

申请人： Aleksander Boguslaw Hac ,  John Francis Hoying ,  Rowland Curl Augustus ,  Joachim Busshardt ,  Sean Padraig O'Connell ,  William Chin-Woei Lin ,  Youssef Ahmed Ghoneim ,  Hsien Heng Chen ,  David Michael Sidlosky ,  Yuen-Kwok Chin ,  David John Barta

发明人： Aleksander Boguslaw Hac ,  John Francis Hoying ,  Rowland Curl Augustus ,  Joachim Busshardt ,  Sean Padraig O'Connell ,  William Chin-Woei Lin ,  Youssef Ahmed Ghoneim ,  Hsien Heng Chen ,  David Michael Sidlosky ,  Yuen-Kwok Chin ,  David John Barta

IPC分类号： B60T8/1755 ,  G06F7/70

CPC分类号： B60T8/1755 ,  B60T2230/02

摘要： A brake system control for use in a vehicle with wheels, wheel brakes and a body, comprising the steps of: measuring a plurality of vehicle parameters; responsive to the measured parameters, determining at least a vehicle yaw rate, a vehicle slip angle, a desired yaw rate and a desired slip angle; responsive to the measured parameters, estimating a coefficient of adhesion between the vehicle wheels and a road surface; implementing a control responsive to the vehicle yaw rate and the desired yaw rate with a first authority and responsive to the vehicle slip angle and the desired slip angle with a second authority, wherein the first authority increases as the estimated coefficient of adhesion increases and decreases as the estimated coefficient of adhesion decreases; and controlling the wheel brakes responsive to the control to reduce a first difference between the vehicle yaw rate and the desired yaw rate and to reduce a second difference between the vehicle slip angle and the desired slip angle.

摘要翻译： 一种用于具有轮子，车轮制动器和车身的车辆的制动系统控制器，包括以下步骤：测量多个车辆参数; 响应于所测量的参数，确定至少车辆横摆角速度，车辆滑行角度，期望的横摆角速度和期望的滑移角度; 响应于测量的参数，估计车辆车轮与路面之间的粘附系数; 利用第一权限实现响应于车辆横摆率和期望的偏航率的控制，并响应于第二权限的车辆滑移角和期望的滑移角，其中第一权限随着估计的粘附系数增加而增加，并且随着 估计的粘附系数降低; 以及响应于所述控制来控制所述车轮制动器，以减少所述车辆横摆角速度和所述偏航率之间的第一差异，并且减小所述车辆滑行角和所述滑动角之间的第二差异。

公开(公告)号：US5941919A

公开(公告)日：1999-08-24

申请号：US733054

申请日：1996-10-16

申请人： Stephen Robert Pastor ,  Ronald Paul ,  Michael Douglas Rizzo ,  Edward John Bedner ,  Vivek Jaikamal ,  Kevin Austin O'Dea ,  Edmund Stanley Browalski ,  Howard Hans Ludwig ,  Scott Douglas Morrison ,  Hsien Heng Chen ,  Yuen-Kwok Chin ,  Youssef Ahmed Ghoneim ,  William Chin-Woei Lin ,  Mutasim Abdurrahman Salman ,  David Michael Sidlosky ,  Michael Paul Turski

发明人： Stephen Robert Pastor ,  Ronald Paul ,  Michael Douglas Rizzo ,  Edward John Bedner ,  Vivek Jaikamal ,  Kevin Austin O'Dea ,  Edmund Stanley Browalski ,  Howard Hans Ludwig ,  Scott Douglas Morrison ,  Hsien Heng Chen ,  Yuen-Kwok Chin ,  Youssef Ahmed Ghoneim ,  William Chin-Woei Lin ,  Mutasim Abdurrahman Salman ,  David Michael Sidlosky ,  Michael Paul Turski

IPC分类号： B60T8/1755 ,  B60K28/16 ,  B60T8/32

CPC分类号： B60T8/1755 ,  B60T2260/09 ,  B60W2520/125 ,  B60W2520/14

摘要： In a vehicle with a first operating mode in which all vehicle wheels have substantially no lateral movement on a road surface and a second operating mode in which at least some of the vehicle wheels have lateral movement on the road surface, and with an actuator capable of affecting vehicle yaw rate, a vehicle yaw rate control method comprising the steps of: measuring an actual vehicle yaw rate; measuring vehicle steering wheel position; in the second mode of operation, determining a desired yaw rate command linearly responsive to the measured steering wheel position; wherein the actuator is controlled to minimize a difference between the measured vehicle yaw rate and the desired vehicle yaw rate.

摘要翻译： 在具有第一操作模式的车辆中，其中所有车轮在路面上基本上没有横向运动，以及第二操作模式，其中至少一些车轮在路面上具有横向运动，并且具有能够 影响车辆偏航率的车辆偏航率控制方法，包括以下步骤：测量实际车辆横摆率; 测量车辆方向盘位置; 在第二操作模式中，对所测量的方向盘位置线性地确定期望的横摆速度命令; 其中致动器被控制以最小化所测量的车辆横摆角速度与期望车辆横摆角速度之间的差。

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。

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。

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。

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：US06282479B1

公开(公告)日：2001-08-28

申请号：US09374009

申请日：1999-08-16

申请人： Youssef Ahmed Ghoneim ,  David Michael Sidlosky

发明人： Youssef Ahmed Ghoneim ,  David Michael Sidlosky

IPC分类号： B60T858

CPC分类号： B60T8/17551 ,  B60T2250/03

摘要： A method is disclosed for improving the estimate of vehicle yaw rate in the computer of the brake or traction control system of a vehicle, like a truck or sport utility vehicle, having a relatively high center of gravity and tending to roll during yaw. Yaw is typically estimated by sensing the speed of the non-driven wheels, determining the difference between the wheel velocities and dividing the difference by the track of the wheels. A table of correction factors correlated with vehicle speed is prepared and used to compensate for the effect of roll on yaw rate.

摘要翻译： 公开了一种用于改进车辆的制动器或牵引控制系统的计算机中的车辆横摆角速度估计的方法，例如卡车或运动型多功能车辆，其具有相对较高的重心并倾向于在偏航期间倾斜。 通常通过感测非从动轮的速度来估计偏航，确定车轮速度之间的差异，并将差除以车轮的轨迹。 准备与车速相关的校正因子表，并用于补偿滚转对横摆率的影响。

公开(公告)号：US06212461B1

公开(公告)日：2001-04-03

申请号：US09322041

申请日：1999-05-28

申请人： Youssef Ahmed Ghoneim ,  David Michael Sidlosky

发明人： Youssef Ahmed Ghoneim ,  David Michael Sidlosky

IPC分类号： B60T832

CPC分类号： B60T8/885 ,  B60T2220/04 ,  B60T2270/413

摘要： A process is disclosed for use in a micro-processor managed brake control system that utilizes wheel speed sensors and a brake off/on switch when the system requires information as to whether the vehicle is experiencing hard braking. In accordance with the process, the average deceleration of the undriven wheels is estimated and the slip of each undriven wheel is estimated and the results are compared with predetermined values for these parameters over a suitable test period. At the conclusion of these tests, the data may be used in place of data from a brake pedal position sensor or to confirm the data from such a sensor.

摘要翻译： 公开了一种在微处理器管理的制动控制系统中使用的过程，其在系统需要关于车辆是否正在经历硬制动的信息时利用轮速传感器和制动器关/开关。 根据该过程，估计未驱动轮的平均减速度，并且在合适的测试周期内估计每个未驱动轮的滑移并将结果与​​这些参数的预定值进行比较。 在这些测试结束时，可以使用数据代替来自制动踏板位置传感器的数据，或者确认来自这种传感器的数据。