公开(公告)号：US20180098907A1

公开(公告)日：2018-04-12

申请号：US15832575

申请日：2017-12-05

Applicant: HONDA MOTOR CO., LTD.

Inventor： Gabriel AGUIRRE-OLLINGER ,  Umashankar Nagarajan ,  Ambarish Goswami

IPC: A61H3/00 ,  A61H1/02

CPC classification number: A61H3/00 ,  A61H1/0244 ,  A61H2003/007 ,  A61H2201/1207 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/1652 ,  A61H2201/5007 ,  A61H2201/5079 ,  A61H2201/5084

Abstract: The control method for lower-limb assistive exoskeletons assists human movement by producing a desired dynamic response on the human leg. Wearing the exoskeleton replaces the leg's natural admittance with the equivalent admittance of the coupled system formed by the leg and the exoskeleton. The control goal is to make the leg obey an admittance model defined by target values of natural frequency, resonant peak magnitude and zero-frequency response. The control achieves these objectives objective via positive feedback of the leg's angular position and angular acceleration. The method achieves simultaneous performance and robust stability through a constrained optimization that maximizes the system's gain margins while ensuring the desired location of its dominant poles.

公开(公告)号：US20150165850A1

公开(公告)日：2015-06-18

申请号：US14564776

申请日：2014-12-09

Applicant: Honda Motor Co., Ltd.

Inventor： Jimmy Chiu ,  Ambarish Goswami ,  James W. Post, II ,  Byung-Joo Kim ,  Lowell Brown

IPC: B60D1/30

CPC classification number: B60D1/30 ,  B60D1/62

Abstract: A method for stability control may include receiving vehicle characteristics of a vehicle of a vehicle-trailer system, trailer characteristics of a trailer of the vehicle-trailer system, or steering inputs for the vehicle. The method may include determining a prediction based on yaw rate deviation for the vehicle determined from the vehicle characteristics, trailer characteristics, or steering inputs or hitch rate oscillation of a hitch coupling the vehicle to the trailer determined from the vehicle characteristics, trailer characteristics, or steering inputs, where the prediction may be indicative of a likelihood of instability for the vehicle-trailer system. The method may include generating control actions based on the prediction and hitch rate feedback from the hitch of the vehicle-trailer system or lateral hitch force feedback.

Abstract translation: 用于稳定性控制的方法可以包括接收车辆 - 拖车系统的车辆的车辆特性，车辆 - 拖车系统的拖车的拖车特性或车辆的转向输入。 该方法可以包括基于从车辆特性，拖车特性或车辆特性确定的车辆特性，拖车特性或转向输入或联结车辆到拖车的牵引车的牵引速率振荡来确定基于车辆的横摆率偏差的预测。 转向输入，其中预测可以指示车辆 - 拖车系统的不稳定性的可能性。 该方法可以包括基于来自车辆 - 拖车系统的搭接的预测和牵引速率反馈或横向牵引力反馈来产生控制动作。

公开(公告)号：US20140277941A1

公开(公告)日：2014-09-18

申请号：US13968312

申请日：2013-08-15

Applicant: Honda Motor Co., Ltd.

Inventor： Jimmy Chiu ,  Ambarish Goswami

IPC: B62D13/00

CPC classification number: B62D13/06 ,  B62D13/025

Abstract: A jackknife warning condition controller and control method notifies a driver of a potential jackknife situation while backing up a vehicle with an attached trailer. The vehicle has a front axle with steerable front wheels controlled by the driver and a rear axle with non-steerable rear wheels. The trailer has a front axle with non-steerable front wheels and a rear axle with steerable rear wheels controlled by a trailer steering controller. The jackknife controller receives an operator-controlled vehicle steering angle and a measured hitch angle. The jackknife warning condition controller determines a directional jackknife warning condition and compares the measured hitch angle with the determined directional jackknife warning condition. If the measured hitch angle satisfies the directional jackknife warning condition then a notification is sent to the driver.

Abstract translation: 折刀警告状态控制器和控制方法在使用附带的拖车备份车辆时通知驾驶员潜在的折刀情况。 该车辆具有前轮，其具有由驾驶员控制的可转向前轮和具有不可操纵后轮的后桥。 拖车具有前轮，其具有不可操纵的前轮，后轮具有由拖车转向控制器控制的可转向后轮。 折刀控制器接收操作者控制的车辆转向角度和测量的牵引角度。 折刀警告状态控制器确定方向夹钳警告状态，并将测得的牵引角与确定的方向夹钳警告状况进行比较。 如果所测量的牵引角满足方向性的折刀警告条件，则通知被发送给驾驶员。