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公开(公告)号：US11994854B2
公开(公告)日：2024-05-28
申请号：US17281605
申请日：2019-09-27
Applicant: C.R.F. SOCIETA' CONSORTILE PER AZIONI
Inventor： Luca Liotti
CPC classification number: G05D1/0016 , B60W10/04 , B60W10/18 , B60W10/20 , B60W50/14 , B60W60/001 , B60W2050/146 , B60W2420/403 , B60W2556/45
Abstract: System to cause a motor vehicle equipped with an automotive automated driving system to perform a Follow-Me low-speed manoeuvre under the control of a user terminal from the outside of the motor vehicle. The motor vehicle comprises automotive on-vehicle systems comprising a propulsion system, a braking system, a steering system, a sensory system; an automotive communications system to communicate with communications systems of user terminals; and an automotive electronic control unit configured to be connectable to the automotive on-vehicle systems and to the communications system, and to cooperate with the automotive on-vehicle systems to implement said automotive automated driving system. The user terminal comprises a digital image capture device and a communications system to communicate with automotive communications systems. The user terminal is programmed to communicate and cooperate with the electronic control unit of the motor vehicle to implement a Follow-Me functionality that allows a user from the outside of the motor vehicle and in possession of the user terminal to cause the motor vehicle to perform a Follow-Me low-speed manoeuvre under the control of the user terminal. The user terminal is further programmed to:
set up a communication between the communications systems of the motor vehicle and of the user terminal,
activate the digital image capture device so that the user can frame the motor vehicle,
capture and process one or more digital images of the motor vehicle captured by the digital image capture device of the user terminal to identify the motor vehicle in the captured digital images and to compute a relative position of the user terminal relative to the identified motor vehicle based on the captured digital images,
implement a surveillance device whose operating state is indicative of a continuous surveillance of the user in possession of the user terminal on the execution of the Follow-Me manoeuvre, and
send to the electronic control unit of the motor vehicle Follow-Me data indicative of the relative position of the user terminal relative to the identified vehicle and the operating state of the surveillance device.
The electronic control unit is programmed to:
receive and process the Follow-Me data transmitted by the user terminal to determine the relative position of the user terminal relative to the motor vehicle and the operating state of the surveillance device, and
control the automotive automated driving system the motor vehicle based on the Follow-Me data, so as to cause the motor vehicle to perform a Follow-Me low-speed manoeuvre under the control of the user terminal to follow the movements of the user in possession of the user terminal as long as the operating state of the surveillance device is such as to indicate a continuous surveillance of the user in possession of the user terminal on the execution of the Follow-Me low-speed manoeuvre, and to interrupt the Follow-Me low-speed manoeuvre when the operating state of the surveillance device is such as to indicate an interruption of the surveillance of the user in possession of the user terminal on the execution of the Follow-Me manoeuvre.-
公开(公告)号：US11970157B2
公开(公告)日：2024-04-30
申请号：US17442379
申请日：2020-10-23
Applicant: C.R.F. SOCIETA' CONSORTILE PER AZIONI
Inventor： Giulio Borrello , Enrico Raffone , Claudio Rei , Massimo Fossanetti
CPC classification number: B60W30/06 , B60W30/12 , B60W60/0011 , B60W2520/105 , B60W2520/14
Abstract: An automotive electronic dynamics control system for a motor-vehicle equipped with and automotive automated driving system designed to cause the motor-vehicle to perform low-speed manoeuvres in automated driving.
The automotive automated driving system comprises an automotive sensory system designed to detect motor-vehicle-related quantities, and automotive actuators comprising an Electric Power Steering, a Braking System, and a Powertrain.
The electronic dynamics control system is designed to implement a Driving Path Planner designed to:
receive data representative of static obstacles in the surroundings of the motor-vehicle and representing static space constraints to the motion of the motor-vehicle, and
compute, based on the received data, a planned driving path for the motor-vehicle during a low-speed manoeuvre performed in automated driving.
The electronic dynamics control system is further designed to implement a Model Predictive Control (MPC)-based Trajectory Planner and Controller designed to:
receive from the Driving Path Planner data representative of the planned driving path and from the automotive sensory system data representative of positions and orientations of the motor-vehicle and of dynamic obstacles in the surroundings of the motor-vehicle and representing dynamic space constraints to the motion of the motor-vehicle, and
compute, based on the received data, a planned lateral trajectory and a planned longitudinal trajectory for the motor-vehicle during the low-speed manoeuvre performed in automated driving.
The electronic dynamics control system is further designed to implement a Motion Controller designed to:
receive from the Trajectory Planner and Controller data representative of the planned lateral and longitudinal trajectories, and
compute commands for the Electric Power Steering based on the planned lateral trajectory, and for the Braking System and the Powertrain based on the planned longitudinal trajectory.
The Driving Path Planner is designed to compute the planned driving path as a planned driving corridor within which the motor-vehicle may be driven and made up of a series of driving path segments each with a length and an orientation referenced in an inertial reference frame.
The MPC-based Trajectory Planner and Controller comprises:
an MPC-based Lateral Trajectory Planner and Controller designed to compute the planned lateral trajectory as a series of steering requests referenced in a motor-vehicle reference frame; and
an MPC-based Longitudinal Trajectory Planner and Controller designed to compute the planned longitudinal trajectory as a series of longitudinal acceleration requests.
The Lateral Trajectory Planner and Controller is further designed to compute the planned lateral trajectory based on a linearized Lateral Trajectory Model which exhibits a singularity whenever the relative orientation of a couple of successive driving path segments of the planned driving path is equal to or higher than a given amount.
The Lateral Trajectory Planner and Controller is further designed to dynamically modify relative orientation of the motor-vehicle reference frame with respect to the inertial reference frame along the planned driving path so as to result in the relative orientations of all of the couples of successive driving path segments of the planned driving path being lower than the given amount.-
83.发明申请公开(公告)号：US20220306113A1
公开(公告)日：2022-09-29
申请号：US17615525
申请日：2020-07-24
Applicant: C.R.F. SOCIETA' CONSORTILE PER AZIONI
Inventor： Enrico RAFFONE , Claudio REI , Michele BASSO
Abstract: An automotive active lane change assist designed to cause a motor vehicle to carry out autonomous-driving lane change manoeuvres and to customize the autonomous-driving lane change manoeuvres based on manual-driving lane change habits of a driver of the motor vehicle learnt during one or different manual-driving sessions of the motor vehicle. The automotive active lane change assist is further designed to customize the autonomous-driving lane change manoeuvres based on manual-driving lane change habits of a driver of the motor vehicle by determining one or different autonomous-driving lane change settings for one or different drivers of the motor vehicle and for one or different types or categories of roads along which the motor vehicle can carry out autonomous-driving lane change manoeuvres.
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公开(公告)号：US11299172B2
公开(公告)日：2022-04-12
申请号：US16498624
申请日：2019-03-06
Applicant: C.R.F. SOCIETA' CONSORTILE PER AZIONI
Inventor： Silvano Marenco , Stefano Mangosio , Massimo Fossanetti , Andrea Saroldi
IPC: B60W50/06 , B60W60/00 , B60R16/023 , B60W10/04 , B60W10/18 , B60W10/20 , B60W30/18 , B60W50/14 , G01C21/34
Abstract: An automotive autonomous driving system comprising automotive on-board systems comprising a propulsion system, a braking system, a steering system, and a sensory system, an automotive user interface, and an automotive electronic control unit connected to, via an automotive on-board communications network, and configured to cooperate with, the automotive on-board systems and the automotive user interface to provide an automotive autonomous driving system. The automotive electronic control unit is further configured to store and populate a database of recurrent low speed manoeuvres and cause recurrent low speed manoeuvres stored in the database of recurrent low speed manoeuvres to be repeated in autonomous driving mode.
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公开(公告)号：US20220080954A1
公开(公告)日：2022-03-17
申请号：US17418481
申请日：2019-12-27
Applicant: C.R.F. SOCIETA' CONSORTILE PER AZIONI
Inventor： Enrico RAFFONE , Claudio REI
IPC: B60W30/045 , B60W30/12 , B60W10/18 , B60W10/20 , B60W50/00
Abstract: An automotive electronic lateral dynamics control system of an autonomous motor vehicle, comprising a lateral driving path planner designed to plan a lateral driving path of the autonomous motor vehicle and defined by a reference curvature of the autonomous motor vehicle; an automotive electronic driving stability control system designed to control an automotive braking system to apply to the autonomous motor vehicle a yaw torque to hinder a driving instability condition of the autonomous motor vehicle; and an automotive electronic steering control system designed to control an automotive steering system to apply to the autonomous motor vehicle a steering angle or torque to cause the autonomous motor vehicle to follow the lateral driving path planned by the lateral driving path planner. The automotive electronic lateral dynamics control system is designed to cause an intervention of the automotive electronic steering control system to take account of an intervention of the automotive electronic driving stability control system.
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Patent Agency Ranking
86.发明授权公开(公告)号：US11192549B2
公开(公告)日：2021-12-07
申请号：US16760823
申请日：2018-11-09
Applicant: C.R.F. SOCIETA′ CONSORTILE PER AZIONI
Inventor： Claudio Lanfranco
Abstract: An automotive adaptive cruise control system for a host motor vehicle configured to operate in at least two different operating modes comprising a first operating mode, in which a current speed of the host vehicle is controlled to maintain a cruise speed, and a second operating mode, in which the current speed of the host vehicle is controlled to maintain a cruise distance to a leading vehicle, wherein the system is configured to: detect approaching to a traffic light and determine a light signal emitted thereby, signal to the driver the presence of the detected traffic light and the determined light signal, if the traffic light emits a red or amber light signal, estimating a driver reaction time, determining a higher threshold distance and a lower threshold distance from the traffic light, and warning the driver of the host vehicle of the need to slow it down if, after the driver reaction time has elapsed: i) the host motor vehicle has not decreased its speed by more than a calibratable threshold, ii) the current speed of the host vehicle is higher than a minimum speed, iii) either the distance of the host vehicle from the traffic light is lower than the higher threshold distance and the light signal emitted by the traffic light is red, or the distance of the host vehicle from the traffic light is between the higher and lower threshold distances and the light signal emitted by the traffic light is amber, and iv) a service brake of the host vehicle is unoperated.
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公开(公告)号：US20210118295A1
公开(公告)日：2021-04-22
申请号：US17041554
申请日：2019-09-24
Applicant: C.R.F. SOCIETA' CONSORTILE PER AZIONI
Inventor： Filippo VISINTAINER , Andrea STECCANELLA , Paolo DENTI , Marco DARIN , Luciano ALTOMARE , Alessandro MARCHETTO
IPC: G08G1/0968 , B60R16/023 , G01C21/36 , G07C5/00 , G01S19/13 , H04W4/46 , H04W4/48 , G08G1/16
Abstract: An advanced driver assistance system configured to implement one or more automotive V2V applications designed to assist a driver in driving a Host Motor-Vehicle. The advanced driver assistance system is configured to be connectable to an automotive on-board communication network to communicate with automotive on-board systems to implement one or different automotive functionalities aimed at assisting the driver in driving the Host Motor-Vehicle, controlling the Host Motor-Vehicle, and informing the driver of the Host Motor-Vehicle of the presence of Relevant Motor-Vehicles deemed to be relevant to the driving safety of the Host Motor-Vehicle. The advanced driver assistance system comprises an automotive V2V communication system operable to communicate with automotive V2V communication systems of Remote Motor-Vehicles via V2V messages containing motor-vehicle position-related, motion-related, and state-related data. The advanced driver assistance system is further configured to receive V2V messages transmitted by V2V communications systems of Remote Motor-Vehicles; identify from among the Remote Motor-Vehicles in communication with the Host Motor-Vehicle, Nearby Motor-Vehicles that may represent potential threats to the driving safety of the Host Motor-Vehicle, based on motor-vehicle position-related, motion-related, and state-related data in received V2V messages and on motor-vehicle position-related, motion-related, and state-related data of the Host Motor-Vehicle; and process the data contained in the V2V messages received from the Nearby Motor-Vehicles to identify from among the Nearby Motor-Vehicles Relevant Motor-Vehicles that may be relevant to the automotive functionalities aimed at assisting the driver in driving the Host Motor-Vehicle, controlling the Host Motor-Vehicle, at informing the driver of the Host Motor-Vehicle of the presence of Relevant Motor-Vehicles deemed to be relevant to the driving safety, and dispatch on the automotive on-board communication network a list of virtual objects containing information on the Host Motor-Vehicle and on the Relevant Motor-Vehicles, for exploitation by one or more of the functionalities aimed at assisting the driver in driving the Host Motor-Vehicle, controlling the Host Motor-Vehicle, and informing the driver of the Host Motor-Vehicle of the presence of the Relevant Motor-Vehicles deemed to be relevant to the driving safety of the Host Motor-Vehicle, or exploit the information on the Host Motor-Vehicle and on the Relevant Motor-Vehicles in the implementation of one or more of the automotive functionalities aimed at assisting the driver in driving the Host Motor-Vehicle, controlling the Host Motor-Vehicle, and informing the driver of the Host Motor-Vehicle of the presence of the Relevant Motor-Vehicles and of relevant events deemed to be relevant to the driving safety of the Host Motor-Vehicle.
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公开(公告)号：US20200324765A1
公开(公告)日：2020-10-15
申请号：US16760794
申请日：2018-11-09
Applicant: C.R.F. SOCIETA' CONSORTILE PER AZIONI
Inventor： Claudio LANFRANCO
IPC: B60W30/14 , B60W30/165 , B60W40/06
Abstract: An automotive adaptive cruise control system for a host motor vehicle configured to operate in at least two different operating modes comprising at least a first operating mode in which a current speed of the host motor vehicle is controlled to maintain a cruise speed, and a second operating mode, in which the current speed of the host motor vehicle is controlled to maintain a cruise distance from a leading motor vehicle. In the second operating mode, the automotive adaptive cruise control system is further configured to estimate the travel trajectory of the motor vehicle relative to that of a leading motor vehicle, and when the leading motor vehicle is estimated to be departing from the travel trajectory of the host motor vehicle, to adjust one or more of the control parameters on based of which the automotive adaptive cruise control system operates in the second operating mode.
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公开(公告)号：US10711892B2
公开(公告)日：2020-07-14
申请号：US15390091
申请日：2016-12-23
Applicant: C.R.F. SOCIETA CONSORTILE per AZIONI
Inventor： Andrea Piazza , Gianluigi Pregnolato , Lawrence Laba
IPC: F16H63/34 , F16H61/682 , F16H61/16 , F16H63/30
Abstract: Described herein is a gearbox for a motor vehicle including a plurality of forward gear ratios and a reverse gear ratio, the gearbox further including: a control device (configured for controlling the selection and the engagement of said forward gear ratios and of said reverse gear ratio; and a plurality of engagement devices that can be controlled by means of said control device for engaging the forward gear ratios or reverse gear ratio (RM) of the gearbox that are operatively associated to said devices. The gearbox includes a locking device, which is electrically controlled and configured for preventing actuation of the engagement device associated to a predetermined forward gear ratio, said locking device being configured for being actuated above a threshold speed of the motor vehicle on which said gearbox is installed.
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公开(公告)号：US10589469B2
公开(公告)日：2020-03-17
申请号：US15281351
申请日：2016-09-30
Applicant: C.R.F. Societa Consortile per Azioni
Inventor： Daniele Pullini
IPC: B29C65/00 , B29C65/70 , B23K26/362 , B32B15/08 , B21K23/00 , B21D22/02 , B29C65/16 , B29C65/44 , B29C65/48 , B29C65/50 , F16B2/00 , F16B5/08 , B23K26/361 , B29K101/12 , B29K105/08 , B29L31/30 , B29K105/12 , F16B11/00
Abstract: A welded joint between at least one metal material element and at least one thermoplastic material element is obtained by pressing the elements against each other while applying heat. Contact surfaces of the metal material, which are in contact with the thermoplastic material, are provided with uneven surface portions having a distribution of asperities. With heat applied, the thermoplastic material fills spaces between these asperities and maintains this configuration after subsequent cooling, thereby improving strength of the joint. The uneven surface portions are obtained in a preliminary forming step of the metal material in a press mold, which is configured with a forming surface for generating the uneven surface portions by mechanical deformation and/or with a device for guiding a laser or electron beam. By this technique, hybrid components are obtained made of one or more elements of metal material between which a shaped component of thermoplastic material is interposed.
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