公开(公告)号：US10948582B1

公开(公告)日：2021-03-16

申请号：US16294650

申请日：2019-03-06

Applicant: Apple Inc.

Inventor： Gabriel M. Hoffmann ,  Christopher D. Gadda ,  David A. Stronks ,  Ahmad Al-Dahle ,  Gregory E. Rogers

IPC: G01S13/60 ,  G01M17/02 ,  G01S13/86 ,  G01S13/931 ,  G01S13/00

Abstract: Aspects of the present disclosure involve a method for determining a road vehicle velocity and slip angle. The current disclosure presents a technique for identifying a vehicle's velocity and slip angle, in the vehicle's coordinate frame. In one embodiment, two or more sensors are orthogonally located on the underside of the vehicle in order to obtain longitudinal and lateral velocity information for slip angle determination. In another embodiment, the two or more sensors can include an array of elements for beam steering and receiver beamforming. Spatial diversity is leveraged in identifying at least a slip angle and/or velocity of the vehicle. Doppler mapping is used as a means for slip angle determination and the clutter ridge of the Doppler map is embraced for identifying the slip angle.

公开(公告)号：US10919520B1

公开(公告)日：2021-02-16

申请号：US15667692

申请日：2017-08-03

Applicant: Apple Inc.

Inventor： Christopher D. Gadda ,  Carlos Alberto De Magalhaes Massera Filho ,  David A. Stronks ,  Gabriel M. Hoffmann ,  Miroslav Baric ,  Nathaniel B. Honka ,  Stefan Solyom ,  Timothee J. Cazenave

IPC: B60W30/02 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W40/114 ,  B60W40/105

Abstract: A control system for a vehicle includes a plurality of vehicle actuators that are operable to affect actual chassis-level accelerations, a vehicle intelligence unit that determines a motion plan, a vehicle motion control unit that determines a chassis-level motion request based on the motion plan, and a chassis control unit that determines actuator commands for the plurality of vehicle actuators based on the chassis-level motion request and actuator identity information that describes presently available actuators from the plurality of vehicle actuators.

公开(公告)号：US10407035B1

公开(公告)日：2019-09-10

申请号：US15667699

申请日：2017-08-03

Applicant: Apple Inc.

Inventor： Christopher D. Gadda ,  Carlos Alberto De Magalhaes Massera Filho ,  David A. Stronks ,  Gabriel M. Hoffmann ,  Miroslav Baric ,  Nathaniel B. Honka ,  Stefan Solyom ,  Timothee J. Cazenave

IPC: B60T8/1755 ,  B60W10/184 ,  B60W10/20 ,  B62D6/00 ,  B62D15/02 ,  G05D1/02 ,  G05D1/08 ,  B62D37/00

Abstract: A control system for a vehicle includes a plurality of vehicle actuators that are operable to affect actual chassis-level accelerations, a vehicle intelligence unit that determines a motion plan, a vehicle motion control unit that determines a chassis-level motion request based on the motion plan, and a chassis control unit that determines actuator commands for the plurality of vehicle actuators based on the chassis-level motion request.