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    Motor-vehicle trajectory planning and control to cause automated motor-vehicles to perform low-speed manoeuvres in automated driving
    2.
    发明授权
    Motor-vehicle trajectory planning and control to cause automated motor-vehicles to perform low-speed manoeuvres in automated driving 有权

    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

    IPC: B60W30/06 ,  B60W30/12 ,  B60W60/00

    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.

    Automotive preventive electronic stability control
    3.
    发明授权
    Automotive preventive electronic stability control 有权

    公开(公告)号：US11273828B2

    公开(公告)日：2022-03-15

    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 comprising a control module configured to receive data indicative of a current position of a vehicle, of roads and characteristics thereof including road curvature, and of potential driving routes of the motor-vehicle from a current position up to an electronic horizon thereof. If a current speed of the vehicle at the current position is greater than or equal to a driving speed determined by a driving speed profile for the current position, the control module is configured to at least one of: command the motor-vehicle to decelerate to the driving speed determined by the driving speed profile for the current position; and generate a request to a driver of the motor-vehicle to decelerate the motor-vehicle to the driving speed determined by the driving speed profile for the current position.

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