| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 141 | Vehicle motion control apparatus | US10420832 | 2003-04-23 | US20040016594A1 | 2004-01-29 | Yoshiyuki Yasui; Wataru Tanaka; Eiichi Ono; Yuji Muragishi; Katsuhiro Asano; Minekazu Momiyama; Hiroaki Kato; Kenji Asano; Yuzo Imoto |
| The present invention is directed to a vehicle motion control apparatus, which includes a steering factor detection unit for detecting at least one of steering factors including a steering torque and steering effort applied to a steering system, an aligning torque estimation unit for estimating an aligning torque produced on at least a wheel of the vehicle on the basis of the steering factor, a vehicle state variable detection unit for detecting a state variable of the vehicle, a wheel factor estimation unit for estimating at least one of wheel factors including a side force and slip angle applied to the wheel on the basis of the vehicle state variable, and a grip factor estimation unit for estimating a grip factor of at least a tire of the wheel, in accordance with the estimated alignment torque and the estimated wheel factor. The apparatus further includes a first control unit for performing a closed loop control on the basis of the grip factor, and a second control unit for performing a closed loop control on the basis of a deviation between a detected actual vehicle behavior and a desired vehicle behavior set on the basis of the vehicle state variable. | ||||||
| 142 | Back-drivable steer-by-wire system with positive scrub radius | US10157021 | 2002-05-30 | US20030221894A1 | 2003-12-04 | Jurgen Guldner; Markus Krug; Slawomir Bakaus; Kai-Uwe Balszuweit; Hendrikus Smakman; Christian Ebner; Michael Graf; Anton Schedl; Patrick Mescher; Robert Disser; Jeffrey Heinrichs; Scott Millsap; Brian Murray; Detlef Krukenkamp; Michael Byers |
| In an embodiment of the present invention, an apparatus for steering a vehicle is disclosed. The apparatus includes a back-drivable steer-by-wire system including a road wheel actuator assembly coupled to a wheel of the vehicle. The road wheel actuator assembly defines a steering axis and the steering axis is off-set from a longitudinal axis of the wheel by a positive scrub radius. In an embodiment for a method in accordance with the present invention, a method to steer a vehicle after failure of a road wheel actuator assembly in a back-drivable steer-by-wire steering system is disclosed. The method includes the acts of applying a braking force to the wheel and generating a torque on the road wheel actuator assembly by the applied braking force acting through a positive scrub radius. | ||||||
| 143 | Process for controlling the yaw relationship of vehicles | US09273759 | 1999-03-22 | US06648426B1 | 2003-11-18 | Friedrich Boettiger; Avshalom Suissa |
| To control the yaw behavior of a vehicle, a setpoint for the yaw rate of the vehicle is determined from the steering angle specified by the driver and a vehicle speed that has been determined. An actual value of the yaw rate is also determined. A controlling deviation is then determined from the difference between the actual value and the setpoint of the yaw rate, and is then supplied to controllers operating independently of one another. In one controller, the steering controller, the setpoint is determined for the wheel steering angle of the steered wheels, while in the other controller, the braking controller, a setpoint is determined for the change in the braking pressure of the brake wheels. Taking this value into account, a specified braking pressure is then determined. By means of the braking pressure control elements, the corresponding specified braking pressure is produced in the wheel brake cylinders and the corresponding wheel steering angle is supplied to the steered wheels by steering control members. | ||||||
| 144 | System and method of controlling a vehicle having yaw stability control | US10364618 | 2003-02-11 | US06640173B1 | 2003-10-28 | Bing Zheng |
| The present invention involves a method of controlling a vehicle having a steer-by-wire system with enhanced yaw stability during a yaw motion disturbance. The method includes generating a steering angle signal of the steer-by-wire system. The steering angle signal is indicative of a steering angle. The method further includes generating an extra road wheel angle signal using a gain scheduled proportional-integral control strategy and an instant proportional-integral control strategy configured to attenuate after a predetermined time lapse from a time zero. The extra road wheel angle signal is indicative of an extra road wheel angle to compensate for the yaw motion disturbance defining the time zero. The method further includes generating a road wheel angle signal indicative of a road wheel angle and applying torque to the road wheels to move the road wheels consistent with the road wheel angle based on the road wheel angle signal. | ||||||
| 145 | Method and device for monitoring or for influencing the movement of a vehicle on a path | US09937758 | 2002-02-11 | US06622076B1 | 2003-09-16 | Alfred Eckert; Lutz Marczinski; Peter Schramm; Walter Hagleitner |
| A method for monitoring or influencing the movement of a vehicle on a path determines a desired path and an actual movement of the vehicle, performs a comparative analysis of the desired path and the actual movement, and transmits by haptic means an information variable according to the result of the comparative analysis to the driver of the vehicle, or controls at least one wheel brake according to the result of the comparative analysis. | ||||||
| 146 | Motion control system for vehicle | US09796682 | 2001-03-02 | US06567748B2 | 2003-05-20 | Koji Matsuno |
| A motion control system controls a vehicle so as to avoid contacting an obstacle in front of the vehicle by applying a braking force or a turning force to the vehicle. In particular, the turning force is applied to the vehicle to avoid the obstacle by turning the vehicle when the system judges that the vehicle can not avoid contact with the obstacle with deceleration presently applied. The turning force is calculated by comparing a first turning force necessary to make a turn to avoid the obstacle with a second turning force presently applied to the vehicle. The system generates the turning force presently applied to the vehicle. The system generates the turning force by controlling at least one of a braking force of a selected wheel, a front wheel steering mechanism and a rear wheel steering mechanism. | ||||||
| 147 | Method and system for regulating a stability control system in a vehicle | US10273034 | 2002-10-17 | US20030093207A1 | 2003-05-15 | Patric Pallot |
| The invention relates to a method for regulating a stability control system of a vehicle based on the forces acting at the center of each wheel of the vehicle. The actions of the driver, i.e. steering, acceleration or braking, produce forces (changes in forces) transmitted by the tires to the ground. It is proposed to control the operating mechanisms of the vehicle (active anti-roll device, engine torque, braking torque, load per wheel or direction) utilizing instructions resulting from the actions of the driver to apply forces. The invention proposes a method of expressing, in terms of forces, the inputs of the driver, taking into account the load transfers on both sides of the mid plane of symmetry of the vehicle, as a function of the forward velocity of the vehicle and the angle at the steering wheel (steering wheel velocity and steering wheel acceleration). If the actual forces that are measured do not correspond to the forces desired by the driver, the active system compensates for this difference by acting on the force distributions in the chassis. | ||||||
| 148 | Method and system for regulating a stability control system of a vehicle | US10273033 | 2002-10-17 | US20030093206A1 | 2003-05-15 | Patrick Pallot |
| The invention proposes a method for regulating a stability control system of a vehicle based on the forces acting at the center of each wheel of the vehicle. The actions of the driver, i.e. steering, acceleration or braking, produce forces (changes in forces) are transmitted by the tires to the ground. Control of the operating means of the vehicle (active anti-roll device, engine torque, braking torque, load per wheel or direction) utilizes instructions resulting from the actions of the driver to apply forces. The invention proposes a method of expressing, in terms of forces, the inputs of the driver as a function of the inertia of the vehicle body, velocity of forward movement of the vehicle, and angle at the steering wheel (steering wheel velocity and steering wheel acceleration). If the actual forces that are measured do not correspond to the forces desired by the driver, the active system compensates for this difference by acting on the force distributions in the chassis. | ||||||
| 149 | Method for steering assistance as a function of a driving state | US10224491 | 2002-08-21 | US20030060955A1 | 2003-03-27 | Avshalom Suissa |
| The invention relates to a method for generating an additive additional torque on the steering wheel of a vehicle as a function of a driving state, and to an apparatus for carrying out the method. It is the object of the invention to find an alternative method and an apparatus for carrying out the method which assists the driver in stabilizing the driving state of the vehicle when unwanted yawing motions occur. According to this, the additional torque is formed by means of a factor null1 and the side-slip angle null, the additional torque specifying that steering-wheel position which corresponds to a wheel position of the steered vehicle wheels that serves to stabilize the current driving state. The additional torque is transmitted to the steering wheel by means of an electric motor. | ||||||
| 150 | Electric power steering system | US09966117 | 2001-09-27 | US06505704B2 | 2003-01-14 | Seong Joo Kim; Seong Kyu Kim; Dai Jong Chung; Wan Seop Kim |
| An electric power steering system includes a torque detection unit, an anti-lock brake system electronic control unit (ABS ECU), an electric power steering control unit and an electric power steering motor. The torque detection unit senses a manual steering torque applied to a steering wheel and detects a braking power difference torque. The ABS ECU outputs an ABS operational signal which provides information on a sharp braking operation of the vehicle. The electric power steering control unit generates a motor current in response to the manual steering torque and outputs a modulated motor current if the ABS operational signal is provided. The electric power steering motor reduces unnecessary movements of the steering wheel caused by a difference in road surface frictional forces of the left and the right driving wheels based on the modulated motor current. | ||||||
| 151 | Integrated control of active tire steer and brakes | US09769676 | 2001-01-25 | US06453226B1 | 2002-09-17 | Aleksander B. Hac; Hsien H. Chen; Edward J. Bedner; Steven P. Loudon |
| An integrated active steering and braking control system for providing one or more corrective yaw moments to a vehicle in response to a plurality of signals indicative of operational and environmental conditions related to the vehicle is disclosed. The system comprises a reference model, an estimator, a vehicle level brake/steer controller, and an actuator controller. The reference model provides a feedforward front steering angle correction signal a feedforward rear steering angle correction signal, a desired yaw rate signal, a desired lateral velocity signal, and a desired side slip angle signal. The estimator provides an estimated surface coefficient of adhesion signal, an estimated lateral velocity signal, and an estimated side slip angle signal. In response to the signals from the reference model and the estimator, the vehicle level brake/steer controller provides either a desired speed differential signal, a desired front steering angle signal and/or a desired rear steering angle signal. The actuator controller selectively provides a corrective braking signal to a brake actuator, a corrective front steering signal to a steering actuator, and a corrective rear steering signal to the steering actuator as a function of the desired speed differential signal, the desired front steering angle signal, and the desired rear steering angle signal, respectively. | ||||||
| 152 | Steering and braking stability program | US09730457 | 2000-12-05 | US06435626B1 | 2002-08-20 | Robert D. Kostadina |
| A vehicle having a steering mechanism and a vehicle control system which cooperate to improve the performance of the vehicle and the vehicle control system. The vehicle also includes an input device adapted to produce a steering signal indicative of a manual steering input received from a vehicle operator. The steering mechanism has an input member operable for receiving a steering input and output member moveable in response to the steering input. The output member is positionable to control the direction in which the vehicle travels. The vehicle control system is operable for controlling a performance characteristic of the vehicle, and may include an anti-lock brake system, a traction control system or a stability system. The vehicle control system receives the steering signal and tailors its operation in response thereto. Preferably, the vehicle control system includes a control unit for selectively calculating a steering angle offset which is operable for causing the steering mechanism to reposition the vehicle wheels to further improve the performance of the vehicle control system and the vehicle. A method for controlling a vehicle is also provided. | ||||||
| 153 | Steering and braking stability program | US09730457 | 2000-12-05 | US20020101116A1 | 2002-08-01 | Robert D. Kostadina |
| A vehicle having a steering mechanism and a vehicle control system which cooperate to improve the performance of the vehicle and the vehicle control system. The vehicle also includes an input device adapted to produce a steering signal indicative of a manual steering input received from a vehicle operator. The steering mechanism has an input member operable for receiving a steering input and output member moveable in response to the steering input. The output member is positionable to control the direction in which the vehicle travels. The vehicle control system is operable for controlling a performance characteristic of the vehicle, and may include an anti-lock brake system, a traction control system or a stability system. The vehicle control system receives the steering signal and tailors its operation in response thereto. Preferably, the vehicle control system includes a control unit for selectively calculating a steering angle offset which is operable for causing the steering mechanism to reposition the vehicle wheels to further improve the performance of the vehicle control system and the vehicle. A method for controlling a vehicle is also provided. | ||||||
| 154 | Method for operating electric power steering system of automobile | US09995841 | 2001-11-20 | US20020092700A1 | 2002-07-18 | Seong Joo Kim; Seong Kyu Kim; Dai Jong Chung; Wan Seop Kim |
| A method for operating an automobile electric power steering (EPS) system is provided. Whether or not the automatic adjustment of the steering angle is performed is decided based on a speed of the automobile and a rotational state of each wheel. A cooperative steering angle to cooperate a braking state of the automobile is set based on the decision and the speed of the automobile. A target steering angle is determined to adjust the steering angle based on the cooperative steering angle and a manual steering angle; and a feedback control on the steering angle is performed such that the steering angle of each wheel become to close to the determined target steering angle. | ||||||
| 155 | Vehicle attitude control apparatus | US09874605 | 2001-06-05 | US20010056317A1 | 2001-12-27 | Katsutoshi Nishizaki; Shiro Nakano; Masaya Segawa; Ryouhei Hayama; Kazuhiro Kato |
| A vehicle attitude control apparatus, wherein a corrected behavior index value for steering is determined in such a manner that the deviation between a target behavior index value for a vehicle and a corrected behavior index value for steering decreases, as an instability index value correlating to the amount of under-steer increases, and when the target behavior index value and the behavior index value are equal, the corrected behavior index value for steering is set to equal the behavior index value. A corrected behavior index value for braking is determined in such a manner that the deviation between the target behavior index value and a corrected behavior index value for braking increases, as the instability index value increases, and when the target behavior index value and the behavior index value are equal, the corrected behavior index value for braking is set to equal the behavior index value. The steering actuator and braking forces are controlled in such a manner that, when not in the state of under-steer, the behavior index value follows the target behavior index value, and when in the state of under-steer, the corrected behavior index value for steering and corrected behavior index value for braking follow the target behavior index value. | ||||||
| 156 | Method and device for controlling motion parameters representing the movement of a motor vehicle motion quantity | US09254197 | 1999-05-12 | US06226581B1 | 2001-05-01 | Gerd Reimann; Asmus Volkart; Michael Schubert; Wolfgang Kraemer |
| Device and method which to control movement quantities representing the movement of the vehicle. The device contains first arrangement for detecting quantities representing the movement of the vehicle. The device has at least two control devices which implement, independently of one another, control actions to stabilize the vehicle with the help of suitable actuators on the basis of quantities detected with the help of the first arrangement. At least one of the control devices influences the steering of the vehicle. Furthermore, at least one of the control devices influences the brakes and/or the engine of the vehicle, and/or an additional control device influences the chassis actuators. In addition, the device has a second arrangement with which signals and/or quantities are determined on the basis of the quantities detected with the first arrangement and used to influence at least temporarily at least one of the minimum of two control devices, so that the vehicle is thereby stabilized. At least one of the minimum of two control devices implements control actions to stabilize the vehicle, without being influenced by the second arrangement until it is influenced by the signals and/or quantities determined with the help of the second arrangement. | ||||||
| 157 | Method and apparatus for operating a steering system for a motor vehicle | US45438 | 1998-03-20 | US6085860A | 2000-07-11 | Matthias Hackl; Wolfgang Kraemer |
| A steering system for a motor vehicle with at least one steerable wheel, one actuator, and one auxiliary drive. The auxiliary drive superimposes the steering motion initiated by the driver of the vehicle and the motion initiated by the actuator to generate the steering motion of the steerable wheel. A yaw parameter representing the yawing motion of the vehicle is detected, and a control signal is calculated when a predetermined running condition prevails, dependent at least on the detected yaw parameter. The actuator is then controlled by the generated control signal to initiate the motion. A braking parameter representing the braking condition of the vehicle is also detected, and the existence of the running condition is determined dependent on this detected braking parameter whereby yaw behavior is improved. Active steering intervention is switched in only when an external disturbance of vehicle motion is detected. | ||||||
| 158 | 차량 제어 시스템 | KR1020157032075 | 2014-05-27 | KR101745237B1 | 2017-06-08 | 다카하시아키라; 구보준; 사사키미츠오 |
| 주행로에따른주행상태를조기에달성할수 있는차량제어시스템을제공하는것을과제로한. 본발명에서는, 자차량으로부터진행방향으로뻗는진행방향가상선과, 이진행방향가상선과주행로규정선이형성하는각도에따라서요 모멘트제어량을부여하는것으로했다. | ||||||
| 159 | 차량 다이나믹 콘트롤에 기초하여 스티어링 인게이지먼트에적용되는 드라이빙 컨디션 | KR1020077028038 | 2006-06-02 | KR101288749B1 | 2013-07-23 | 프리츠슈테판; 문투마티아스; 라슈테토마스; 바우어우르스; 시사르츠페터 |
| 본 발명은 드라이빙 컨디션의 표현인 적어도 하나의 드라이빙 컨디션 변수를 감지하는 수단, 및 추가적인 스티어링 각도를 결정하는 드라이빙 다이나믹스 콘트롤러를 갖고, 추가적인 스티어링 각도에 따라 스티어링 모션이 운전자에 의해 명령된 스티어링 모션에 추가로 수행될 수 있는, 디바이스에 관한 것이다. 이 디바이스에서, 드라이빙 다이나믹스 콘트롤러 (100, 110) 는 각각 하나의 드라이빙 컨디션 레인지와 관련되는 2 이상의 콘트롤 유닛들을 포함하고, 상기 드라이빙 다이나믹스 콘트롤러는 우세한 드라이빙 컨디션은 드라이빙 컨디션 변수 ( , , ) 에 기초하여 설정될 수 있는, 우세한 드라이빙 컨디션을 결정하는 결정수단을 포함하고, 상기 드라이빙 다이나믹스 콘트롤러는 설정된 드라이빙 컨디션 레인지와 관련되는, 콘트롤 유닛 (340, 350) 을 인에이블링하도록 적용되고 결정 수단과 연결되는 활성화 수단 (360) 을 포함한다. 드라이빙 다이나믹스 콘트롤러, 스티어링 모션, 추가적인 스티어링 각도 | ||||||
| 160 | 센서감응조향장치를 갖춘 전기자동차 및 이를 이용한 조향제어방법 | KR1020110024176 | 2011-03-18 | KR1020120106211A | 2012-09-26 | 김종성 |
| PURPOSE: An electric vehicle equipped with a sensor induction steering device and a steering control method for the same are provided to perform the steering of a vehicle without the mechanical connection between a steering handle and a wheel. CONSTITUTION: An electric vehicle equipped with a sensor induction steering device comprises a steering handle(50), a steering angle sensor(61), an acceleration pedal sensor(62), and a brake pedal sensor(63). The steering handle is rotated by a driver for the steering of a vehicle(V) without mechanical connection with a wheel(W). The steering angle sensor transfers the rotation angle of the steering handle to a driving ECU(30) and a braking ECU(40) respectively. The acceleration pedal sensor measures the stroke of the acceleration pedal of a vehicle and transfers to the driving ECU and the braking ECU respectively. The brake pedal sensor measures the stroke of the brake pedal of a vehicle and transfers to the driving ECU and the braking ECU respectively. | ||||||
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