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1. 发明申请

US20140046547A1 SYSTEM FOR PROVIDING STEERING ASSIST TORQUE BASED ON A PROPORTIONAL GAIN VALUE 有权
标题翻译：基于比例增益值提供转向辅助扭矩的系统
公开(公告)号：US20140046547A1
公开(公告)日：2014-02-13
申请号：US13570336
申请日：2012-08-09
申请人： Timothy W. Kaufmann , Scott A. Millsap , Farhad Bolourchi
发明人： Timothy W. Kaufmann , Scott A. Millsap , Farhad Bolourchi
IPC分类号： B62D6/08
CPC分类号： B62D1/28 , B62D15/025 , G01S19/14 , G05D1/0278
摘要： A steering system providing an assist torque to a handwheel is provided, and includes a proportional gain module and a torque command module. The proportional gain module determines a proportional gain value. The proportional gain value is scheduled as a function of a lateral position error and at least one of the following: a near field heading angle, a far field heading angle, a curvature of the lane, and a lateral position of the vehicle. The torque command module determines the torque assist based on the proportional gain value.
摘要翻译：提供了向手轮提供辅助转矩的转向系统，并且包括比例增益模块和转矩指令模块。比例增益模块确定比例增益值。比例增益值被调度为横向位置误差的函数，并且以下中的至少一个：近场方向角，远场方位角，车道的曲率以及车辆的横向位置。转矩指令模块根据比例增益值确定转矩辅助。

2. 发明申请

US20130158771A1 HANDS ON STEERING WHEEL DETECT IN LANE CENTERING OPERATION 有权
标题翻译：关于在陆地中心操作中的转向轮检测
公开(公告)号：US20130158771A1
公开(公告)日：2013-06-20
申请号：US13688717
申请日：2012-11-29
申请人： Timothy W. Kaufmann
发明人： Timothy W. Kaufmann
IPC分类号： B62D6/00
CPC分类号： B62D6/00 , B60W30/12 , B60W40/08 , B60W2050/0052 , B60W2510/202
摘要： A control system to determine a hands on wheel (HOW) condition is provided. The control system includes a sensor that monitors an amount of applied torque exerted upon a hand wheel, and a control module for monitoring the sensor. The control module includes a notch filter to attenuate a normal column mode frequency from the amount of applied torque to produce a filtered torque signal. The normal column mode frequency represents a range of vibrational modes of the hand wheel based on a hands off wheel condition. The control module includes a state detector to receive the filtered torque signal from the notch filter. The state detector determines if the HOW condition exists based on if the filtered torque signal exceeds an ON threshold torque value.
摘要翻译：提供了一种用于确定手轮（HOW）状况的控制系统。控制系统包括监测施加在手轮上的施加扭矩量的传感器，以及用于监控传感器的控制模块。控制模块包括陷波滤波器，用于从施加的转矩量衰减正常列模式频率，以产生滤波的转矩信号。正常列模式频率表示基于手轮状态的手轮的振动模式的范围。控制模块包括状态检测器，用于从陷波滤波器接收滤波的扭矩信号。状态检测器基于滤波的扭矩信号是否超过ON阈值转矩值来确定是否存在HOW条件。

3. 发明授权

US07885730B2 Systems, methods and computer program products for lane change detection and handling of lane keeping torque 有权
标题翻译：车道变更检测和车道保持力矩处理的系统，方法和计算机程序产品
公开(公告)号：US07885730B2
公开(公告)日：2011-02-08
申请号：US11972230
申请日：2008-01-10
申请人： Timothy W. Kaufmann , Farhad Bolourchi
发明人： Timothy W. Kaufmann , Farhad Bolourchi
IPC分类号： G05D1/00
CPC分类号： B62D1/286 , B60K28/066 , B60W10/18 , B60W10/20 , B60W30/12 , B60W30/143 , B60W30/18172 , B60W50/12 , B60W50/14 , B60W2040/0818 , B60W2040/0827 , B60W2050/0071 , B60W2710/18 , B60W2710/20 , B62D15/025
摘要： Systems, methods and computer program products for lane change detection and handling of lane keeping torque during an un-signaled lane change. Disclosed herein is an exemplary embodiment for a method including calculating a distance between a center of a vehicle and a center of a lane, determining a discontinuity in the calculation of the distance between the center of the vehicle and the center of a lane and disabling torque corrections to compensate for the discontinuity until the vehicle is near the center (position based) of the new lane and a certain time has elapsed (time based) from the detection of the discontinuity. Hysterisis or smoothly changing torque controls are offered to work with the Time and Position based lane change handling method.
摘要翻译：用于车道变换检测的系统，方法和计算机程序产品，以及未通知车道变更期间车道保持力矩的处理。本文公开了一种用于包括计算车辆中心和车道中心之间的距离的方法的示例性实施例，确定车辆中心与车道中心之间的距离的计算中的不连续性以及禁用扭矩校正以补偿不连续性，直到车辆靠近新车道的中心（基于位置）并且从检测不连续性已经过去了一定时间（基于时间）。提供Hysterisis或平滑变化的扭矩控制，以使用基于时间和位置的车道变更处理方法。

4. 发明授权

US07793752B2 Method of determining boost direction in a power steering system 有权
标题翻译：确定动力转向系统中升力方向的方法
公开(公告)号：US07793752B2
公开(公告)日：2010-09-14
申请号：US11810572
申请日：2007-06-06
申请人： Timothy W. Kaufmann , Joel E. Birsching
发明人： Timothy W. Kaufmann , Joel E. Birsching
IPC分类号： B62D5/06
CPC分类号： B62D5/0835 , B62D5/06
摘要： A method of determining a direction of a power boost applied to a power cylinder of a variable effort power steering system includes measuring a pressure of a hydraulic fluid between a pump and a control valve. A first position of the hand wheel is detected and initialized when the pressure is within a pre-defined equilibrium pressure range. A second position of the hand wheel is detected in response to rotational movement of the hand wheel. The first position and the second position of the hand wheel are measured in cumulative degrees rotated left or right of a on-center orientation of the hand wheel. The second position is subtracted from the first position to obtain a differential value representing the direction of the power boost. A negative differential value represents a first direction and a positive differential value represents a second direction of the power boost.
摘要翻译：确定施加到可变力动力转向系统的动力缸的功率提升的方向的方法包括测量泵和控制阀之间的液压流体的压力。当压力在预定的平衡压力范围内时，检测并初始化手轮的第一位置。响应于手轮的旋转运动来检测手轮的第二位置。手轮的第一位置和第二位置以手轮的中心方向左右旋转的累积度来测量。从第一位置减去第二位置，以获得表示功率提升方向的差分值。负微分值表示第一方向，正差分值表示功率提升的第二方向。

5. 发明申请

US20090014227A1 PARKING ASSIST SYSTEM WITH STEERING CUES 失效
标题翻译：停车辅助系统与方向盘
公开(公告)号：US20090014227A1
公开(公告)日：2009-01-15
申请号：US12170902
申请日：2008-07-10
申请人： Farhad Bolourchi , Steven L. Tracht , Scott Millsap , Timothy W. Kaufmann , Jon D. Demerly
发明人： Farhad Bolourchi , Steven L. Tracht , Scott Millsap , Timothy W. Kaufmann , Jon D. Demerly
IPC分类号： B60S9/00
CPC分类号： B62D15/026 , B62D15/025
摘要： Disclosed is a method for assisting the parking of a vehicle. The method includes determining a vehicle position relative to an obstacle. When the relative position meets a first set of criteria, a first torque pulse is delivered to the steering wheel in the first direction to cue an operator of the vehicle to turn the steering wheel in the first direction. When the relative position meets a second set of criteria, a second torque pulse is delivered to the steering wheel in the second direction, opposite to the first direction to cue the operator to turn the steering wheel in the second direction. A system for assisting the parking of a vehicle is also disclosed.
摘要翻译：公开了一种辅助车辆停放的方法。该方法包括确定相对于障碍物的车辆位置。当相对位置满足第一组标准时，第一扭矩脉冲沿第一方向传递到方向盘以提示车辆的操作者以使方向盘沿第一方向转动。当相对位置满足第二组标准时，第二扭矩脉冲在与第一方向相反的第二方向上传递到方向盘，以提示操作者在第二方向转动方向盘。还公开了一种用于协助车辆停放的系统。

6. 发明申请

US20080189012A1 STEERING SYSTEM WITH LANE KEEPING INTEGRATION 有权
标题翻译：带有保持整合的转向系统
公开(公告)号：US20080189012A1
公开(公告)日：2008-08-07
申请号：US12020102
申请日：2008-01-25
申请人： Timothy W. Kaufmann
发明人： Timothy W. Kaufmann
IPC分类号： B62D6/00
CPC分类号： B62D1/286 , B60T2201/08 , B60T2201/082 , B60T2201/087 , B62D15/025 , B62D15/029
摘要： A system for steering a vehicle including: an actuator disposed in a vehicle to apply torque to a steerable wheel; a driver input device receptive to driver commands for directing the vehicle; and a sensor for determining an intent of a driver and generating a signal indicative thereof. The system also includes: a lane keeping system for detecting a location of the vehicle relative to a lane marker and generating a lane position signal indicative thereof; a controller in operable communication with the actuator, the driver input device, the first sensor, and the lane keeping system. The controller provides a command to the actuator responsive to the intent of the driver, the lane position, and a desired lane position. The controller executes a lane keeping algorithm consisting of a single control loop based on at least one of the lane position and the lane position deviation.
摘要翻译：一种用于转向车辆的系统，包括：致动器，设置在车辆中以向可转向车轮施加扭矩; 可接受用于引导车辆的驾驶员命令的驾驶员输入装置; 以及用于确定驾驶员意图并产生指示其的信号的传感器。该系统还包括：车道保持系统，用于检测车辆相对于车道标记的位置并产生指示车道位置信号; 与致动器，驱动器输入装置，第一传感器和车道保持系统可操作地通信的控制器。控制器响应于驾驶员的意图，车道位置和期望的车道位置向致动器提供命令。控制器基于车道位置和车道位置偏差中的至少一个执行由单个控制回路组成的车道保持算法。

7. 发明授权

US09308932B2 System for providing steering assist torque based on a proportional gain value 有权
标题翻译：基于比例增益值提供转向辅助转矩的系统
公开(公告)号：US09308932B2
公开(公告)日：2016-04-12
申请号：US13570336
申请日：2012-08-09
申请人： Timothy W. Kaufmann , Scott A. Millsap , Farhad Bolourchi
发明人： Timothy W. Kaufmann , Scott A. Millsap , Farhad Bolourchi
IPC分类号： B62D6/08 , B62D1/28 , B62D15/02
CPC分类号： B62D1/28 , B62D15/025 , G01S19/14 , G05D1/0278
摘要： A steering system providing an assist torque to a handwheel is provided, and includes a proportional gain module and a torque command module. The proportional gain module determines a proportional gain value. The proportional gain value is scheduled as a function of a lateral position error and at least one of the following: a near field heading angle, a far field heading angle, a curvature of the lane, and a lateral position of the vehicle. The torque command module determines the torque assist based on the proportional gain value.
摘要翻译：提供了向手轮提供辅助转矩的转向系统，并且包括比例增益模块和转矩指令模块。比例增益模块确定比例增益值。比例增益值被调度为横向位置误差的函数，并且以下中的至少一个：近场方向角，远场方位角，车道的曲率以及车辆的横向位置。转矩指令模块根据比例增益值确定转矩辅助。

8. 发明申请

US20080183342A1 SYSTEMS, METHODS AND COMPUTER PROGRAM PRODUCTS FOR LANE CHANGE DETECTION AND HANDLING OF LANE KEEPING TORQUE 有权
标题翻译：用于陆地变化检测和处理的LANE保持力矩的系统，方法和计算机程序产品
公开(公告)号：US20080183342A1
公开(公告)日：2008-07-31
申请号：US11972230
申请日：2008-01-10
申请人： Timothy W. Kaufmann , Farhad Bolourchi
发明人： Timothy W. Kaufmann , Farhad Bolourchi
IPC分类号： B60W30/12
CPC分类号： B62D1/286 , B60K28/066 , B60W10/18 , B60W10/20 , B60W30/12 , B60W30/143 , B60W30/18172 , B60W50/12 , B60W50/14 , B60W2040/0818 , B60W2040/0827 , B60W2050/0071 , B60W2710/18 , B60W2710/20 , B62D15/025
摘要： Systems, methods and computer program products for lane change detection and handling of lane keeping torque during an un-signaled lane change. Disclosed herein is an exemplary embodiment for a method including calculating a distance between a center of a vehicle and a center of a lane, determining a discontinuity in the calculation of the distance between the center of the vehicle and the center of a lane and disabling torque corrections to compensate for the discontinuity until the vehicle is near the center (position based) of the new lane and a certain time has elapsed (time based) from the detection of the discontinuity. Hysterisis or smoothly changing torque controls are offered to work with the Time and Position based lane change handling method.
摘要翻译：用于车道变换检测的系统，方法和计算机程序产品，以及未通知车道变更期间车道保持力矩的处理。本文公开了一种用于包括计算车辆中心和车道中心之间的距离的方法的示例性实施例，确定车辆中心与车道中心之间的距离的计算中的不连续性以及禁用扭矩校正以补偿不连续性，直到车辆靠近新车道的中心（基于位置）并且从检测不连续性已经过去了一定时间（基于时间）。提供Hysterisis或平滑变化的扭矩控制，以使用基于时间和位置的车道变更处理方法。

9. 发明申请

US20080080740A1 Systems, methods and computer products for lane keeping and handling of non-detected lane markers 审中-公开
标题翻译：用于车道保持和处理未检测到的车道标记的系统，方法和计算机产品
公开(公告)号：US20080080740A1
公开(公告)日：2008-04-03
申请号：US11732915
申请日：2007-04-05
申请人： Timothy W. Kaufmann
发明人： Timothy W. Kaufmann
IPC分类号： G06K9/00
CPC分类号： B62D15/025 , G08G1/167
摘要： Systems and methods for detecting lane markers. Exemplary embodiments include systems and methods for determining an average lane width based on the lane markers, selecting a dominant lane marker and calculating a distance from center based on the dominant lane marker.
摘要翻译：用于检测车道标记的系统和方法。示例性实施例包括用于基于车道标记确定平均车道宽度的系统和方法，选择主要车道标记并基于主要车道标记计算与中心的距离。

10. 发明授权

US08548667B2 Hands on steering wheel detect in lane centering operation 有权
标题翻译：在车道定心操作中手轮检测方向盘
公开(公告)号：US08548667B2
公开(公告)日：2013-10-01
申请号：US13688717
申请日：2012-11-29
申请人： Timothy W. Kaufmann
发明人： Timothy W. Kaufmann
IPC分类号： G01C22/00
CPC分类号： B62D6/00 , B60W30/12 , B60W40/08 , B60W2050/0052 , B60W2510/202
摘要： A control system to determine a hands on wheel (HOW) condition is provided. The control system includes a sensor that monitors an amount of applied torque exerted upon a hand wheel, and a control module for monitoring the sensor. The control module includes a notch filter to attenuate a normal column mode frequency from the amount of applied torque to produce a filtered torque signal. The normal column mode frequency represents a range of vibrational modes of the hand wheel based on a hands off wheel condition. The control module includes a state detector to receive the filtered torque signal from the notch filter. The state detector determines if the HOW condition exists based on if the filtered torque signal exceeds an ON threshold torque value.
摘要翻译：提供了一种用于确定手轮（HOW）状况的控制系统。控制系统包括监测施加在手轮上的施加扭矩量的传感器，以及用于监控传感器的控制模块。控制模块包括陷波滤波器，用于从施加的转矩量衰减正常列模式频率，以产生滤波的转矩信号。正常列模式频率表示基于手轮状态的手轮的振动模式的范围。控制模块包括状态检测器，用于从陷波滤波器接收滤波的扭矩信号。状态检测器基于滤波的扭矩信号是否超过ON阈值转矩值来确定是否存在HOW条件。

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