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

IPC: B60W30/18 ,  B60W60/00 ,  B60W40/09

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.

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.

公开(公告)号：US20220371594A1

公开(公告)日：2022-11-24

申请号：US17627005

申请日：2020-09-18

Applicant: C.R.F. SOCIETA' CONSORTILE PER AZIONI

Inventor： Enrico RAFFONE ,  Claudio REI ,  Marco ROSSI

IPC: B60W30/18 ,  B60W30/12 ,  B60W30/09

Abstract: An automotive electronic dynamics control system for an automated motor-vehicle. The electronic dynamics control system is designed to implement two distinct Model Predictive Control (MPC)-based Trajectory Planners comprising a Longitudinal Trajectory Planner designed to compute a planned longitudinal trajectory for the automated motor-vehicle; and a Lateral Trajectory Planner designed to compute a planned lateral trajectory for the automated motor-vehicle. The electronic dynamics control system is further designed to cause the planned longitudinal trajectory to be computed before the planned lateral trajectory.

公开(公告)号：US20220169247A1

公开(公告)日：2022-06-02

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

IPC: B60W30/14 ,  B60W30/12 ,  B60W30/06 ,  B60W40/072 ,  B60W60/00 ,  B60W10/20 ,  B60W10/18

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.

公开(公告)号：US20220161819A1

公开(公告)日：2022-05-26

申请号：US17441957

申请日：2020-03-27

Applicant: C.R.F. SOCIETA' CONSORTILE PER AZIONI

Inventor： Roberto FEDELI ,  Enrico RAFFONE ,  Claudio REI ,  Massimo FOSSANETTI

IPC: B60W60/00 ,  B60W30/14

Abstract: An automotive electronic driving speed control system configured to control the driving speed of the motor-vehicle along a recurring path travelled by the motor-vehicle in assisted- or autonomous-driving based on one or more driver-specific driving speed profiles of the motor-vehicle learnt during one or more previous travels of the same path along which the motor-vehicle is manually driven by the specific driver.

公开(公告)号：US20200156638A1

公开(公告)日：2020-05-21

申请号：US16688414

申请日：2019-11-19

Applicant: C.R.F. SOCIETA' CONSORTILE PER AZIONI

Inventor： Claudio REI ,  Enrico RAFFONE ,  Massimo FOSSANETTI

IPC: B60W30/14 ,  B60W40/072

Abstract: An automotive electronic preventive active safety system designed to improve driving stability of a motor-vehicle and to: receive data indicative of a current position of the motor-vehicle, and of roads and their characteristics comprising a road curvature, and of potential driving routes of the motor-vehicle from a current position up to an electronic horizon thereof; identify the most driving-safety-critical road bend along the driving route of the motor-vehicle; backwards compute, from the most driving-safety-critical road bend and up to the current position of the motor-vehicle, a driving speed profile that the motor-vehicle should follow from its current position up to the identified most driving-safety-critical road bend to result in the latter being driven through at a driving speed that satisfies a driving safety criterion; compare the current and backwards-computed speeds of the motor-vehicle in the current position thereof; and, if the current speed of the motor-vehicle in its current position is greater than or equal to the backwards computed speed of the motor-vehicle in its current position, cause the motor-vehicle to decelerate to such an extent as to result in the most driving-safety-critical road bend being driven through at a driving speed that satisfies the driving safety criterion.