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：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：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。

公开(公告)号：US08170751B2

公开(公告)日：2012-05-01

申请号：US12336819

申请日：2008-12-17

申请人： Yong H. Lee ,  Jihan Ryu ,  Weiwen Deng

发明人： Yong H. Lee ,  Jihan Ryu ,  Weiwen Deng

IPC分类号： B62D5/04

CPC分类号： B62D15/025 ,  B62D1/286

摘要： A method for controlling an assisted steering maneuver in an electric power steering (EPS) system includes modeling steering dynamics during a torque overlay operation to generate a dynamic steering model (DSM), measuring vehicle operating values, and detecting a driver intervention in the torque overlay operation based on the DSM and the vehicle operating values. The torque overlay operation is overridden when driver intervention is detected, allowing the driver to regain control of the steering maneuver. A vehicle includes a steering wheel, a steering assist mechanism, and an EPS system having an electronic control unit (ECU) adapted to determine a present intent of a driver of the vehicle to interrupt application of the TOC based on a vehicle operating value transmitted by the driver to the steering wheel. The ECU is operable for interrupting the torque overlay operation when the present intent of the driver is determined.

摘要翻译： 用于控制电动助力转向（EPS）系统中的辅助转向操纵的方法包括在转矩叠加操作期间建模转向动力学以产生动态转向模型（DSM），测量车辆操作值，以及检测驾驶员在转矩叠加中的干预 基于DSM和车辆运行值进行操作。 当检测到驾驶员干预时，扭矩覆盖操作被覆盖，允许驾驶员重新获得对转向操纵的控制。 一种车辆包括方向盘，转向辅助机构和EPS系统，其具有电子控制单元（ECU），该电子控制单元（ECU）基于车辆运行值确定车辆的驾驶员的当前意图以基于由 司机到方向盘。 当确定驾驶员的当前意图时，ECU可操作用于中断转矩叠加操作。

公开(公告)号：US07400963B2

公开(公告)日：2008-07-15

申请号：US11297906

申请日：2005-12-09

申请人： Yong H. Lee ,  Weiwen Deng

发明人： Yong H. Lee ,  Weiwen Deng

IPC分类号： B60T8/24 ,  B60T8/58 ,  G01C21/30

CPC分类号： B60K31/0066 ,  B60K31/0083 ,  B60W10/06 ,  B60W10/184 ,  B60W2550/143

摘要： A vehicle curve speed control system (10) adapted for use with a vehicle (12) having an operator (14), includes a map database (16) representing a current vehicle path, and a locator device (20) communicatively coupled to the database (16) and configured to determine the location of the vehicle (12) on the path. The system (10) further includes a controller (36) configured to identify approaching curve points of a curve (18a) in terms of curvature or radius, and determine a desired speed profile based on operator preference and/or vehicle characteristic input. An acceleration profile is determined, based on the current vehicle speed, and desired speed profile. An acceleration/deceleration command at the present control loop is modified towards achieving an optimal curve speed, and is delivered to either a brake or acceleration module (40,42) to automatically accelerate or decelerate the vehicle (12) accordingly.

摘要翻译： 一种适于与具有操作员（14）的车辆（12）一起使用的车辆曲线速度控制系统（10），包括表示当前车辆路径的地图数据库（16）和通信地耦合到数据库的定位装置（20） （16）并且被配置为确定所述车辆（12）在所述路径上的位置。 系统（10）还包括控制器（36），其被配置为基于曲率或半径来识别曲线（18a）的接近曲线点，并且基于操作者偏好和/或车辆特性输入来确定期望的速度曲线。 基于当前车辆速度和期望的速度曲线来确定加速度曲线。 当前控制回路处的加速/减速命令被修改以实现最佳的曲线速度，并被传送到制动器或加速模块（40,42），以相应地自动加速或减速车辆（12）。