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公开(公告)号：US10384672B1
公开(公告)日：2019-08-20
申请号：US15592440
申请日：2017-05-11
申请人： Diomidis Katzourakis , Huibert Mees , Christopher D. Gadda , Stefan Solyom , Johannes A. Huennekens
发明人： Diomidis Katzourakis , Huibert Mees , Christopher D. Gadda , Stefan Solyom , Johannes A. Huennekens
IPC分类号： B60W30/04 , B60W40/112 , B60W40/114 , B60W10/04 , B60W10/18 , B60W10/20 , B60W10/22
摘要： A control system for a vehicle includes an internal vehicle reference model that determines reference states for the vehicle that represent an expected vehicle response, sensors that determine measured states for the vehicle, and a vehicle motion control system that determines desired states for the vehicle. A stability determining module identifies a reference deviation between the reference states and the measured states, identifies a desired deviation between the desired states and measured states, and outputs a command for reducing the reference deviation and the desired deviation. Actuators are operable to reduce the reference deviation and the desired deviation in response to the command.
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公开(公告)号：US10351162B1
公开(公告)日：2019-07-16
申请号：US15652961
申请日：2017-07-18
申请人： Diomidis Katzourakis , Huibert Mees , Johannes A. Huennekens , Robin A. Auckland , Paul W. Choin
发明人： Diomidis Katzourakis , Huibert Mees , Johannes A. Huennekens , Robin A. Auckland , Paul W. Choin
摘要： A vehicle has a wheel, a frame, a suspension component, a steering knuckle, and a steering system. The suspension component is connected to the frame. The steering knuckle is connected to the suspension component and is connected to the wheel. The suspension component is operable to control vertical movement of the steering knuckle and the wheel relative to the frame. The suspension component and the steering knuckle define a steering axis for the wheel. The steering axis has a caster inclination angle of zero degrees. The steering system is connected to the suspension component and controls a steering angle of the wheel based on an electronic control signal.
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公开(公告)号：US10814690B1
公开(公告)日：2020-10-27
申请号：US15935293
申请日：2018-03-26
申请人： Diomidis Katzourakis , Christopher L. Porritt , Johannes A. Huennekens , Huibert Mees , Paul J. Keas
发明人： Diomidis Katzourakis , Christopher L. Porritt , Johannes A. Huennekens , Huibert Mees , Paul J. Keas
IPC分类号： B60G17/0165 , B60G17/015
摘要： An active suspension system for a vehicle having a wheel that is subject to an external force includes an actuator having an output structure that is connected to the wheel, an energy storage device having a compressible chamber, a valve assembly that is operable to control flow of a working fluid between the actuator and the energy storage device, and a controller that determines whether to permit or resist motion of the output structure in response to the external force. The controller permits motion of the output structure by allowing fluid to flow from the actuator to the energy storage device using the valve assembly, thereby compressing the compressible chamber. The controller resists motion of the output structure by allowing fluid to flow from the energy storage device to the actuator using the valve assembly, thereby expanding the compressible chamber.
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公开(公告)号：US11845453B1
公开(公告)日：2023-12-19
申请号：US17308089
申请日：2021-05-05
IPC分类号： B60W50/029 , B60W10/22 , B60W10/18 , B60W10/04 , B60W10/20 , B60W50/02 , B62D5/04 , B60T17/22 , B60G17/0185
CPC分类号： B60W50/029 , B60G17/0185 , B60T17/221 , B60W10/04 , B60W10/18 , B60W10/20 , B60W10/22 , B60W50/0205 , B62D5/0484 , B60T2270/413 , B60W2050/021 , B60W2050/022 , B60W2050/0292 , B60W2050/0295
摘要： An actuator system includes an actuator, a first actuator controller that is operable to control operation of the actuator and is operable to determine a first value for a parameter that relates to operation of the actuator, a second actuator controller that is operable to control operation of the actuator and is operable to determine a second value for the parameter, and at least one additional component that is operable to determine a third value for the parameter. A fault is identified in response to determining that the first value does not agree with at least one of the second value or the third value. In response to identification of the fault, the first actuator controller changes from an activated state to a deactivated state and the second actuator controller changes from a deactivated state an activated state.
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公开(公告)号：US11370475B1
公开(公告)日：2022-06-28
申请号：US17015722
申请日：2020-09-09
摘要： A steering system includes an actuator, a steering wheel that generates inputs for the actuator in a manual steer-by-wire control state, and a controller that determines operating conditions for the actuator, the steering wheel, or both. The controller determines blended steering angles based on manual steering angles of the steering wheel and automatic steering angles associated with an automated steer-by-wire control state. The controller transitions operation of the steering system from the manual steer-by-wire control state to the automated steer-by-wire control state when all operating conditions are satisfied and uses a blending function that applies weighting values to the manual steering angles and the automated steering angles to determine the blended steering angles. The controller controls the actuator using the blended steering angles.
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公开(公告)号：US10787192B1
公开(公告)日：2020-09-29
申请号：US15935257
申请日：2018-03-26
摘要： A method for controlling a vehicle includes operating a steering system in manual steer-by-wire control state and determining that a transition to an automated steer-by-wire control state is to be performed by the steering system. The method also includes entering the automated steer-by-wire control state upon determining that all conditions from a group of state entry conditions are satisfied, and operating the steering system in the automated steer-by-wire control state until determining that any condition from a group of state exit conditions is satisfied. The method also includes entering the manual steer-by-wire control state upon determining that any condition from the group of state exit conditions is satisfied.
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公开(公告)号：US10661764B1
公开(公告)日：2020-05-26
申请号：US15907358
申请日：2018-02-28
摘要： A method for controlling a vehicle includes operating a braking system in robotic control state, determining that an emergency stop state is to be entered by the braking system, entering the emergency stop state upon determining that all conditions from a group of state entry conditions are satisfied, decelerating the vehicle using the braking system while in the emergency stop state, determining, while in the emergency stop state, that all conditions from a group of state exit conditions are satisfied, and exiting the emergency stop state in response to determining that all conditions from the group of state exit conditions are satisfied.
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公开(公告)号：US11046330B1
公开(公告)日：2021-06-29
申请号：US15666799
申请日：2017-08-02
IPC分类号： B60W50/029 , B60T17/22 , B62D5/04 , B60G17/0185 , B60W50/02 , B60W10/04 , B60W10/18 , B60W10/20 , B60W10/22
摘要： A vehicle actuator system includes an actuator, a first actuator controller that is operable to control operation of the actuator and is operable to determine a first value for a parameter that relates to operation of the actuator, a second actuator controller that is operable to control operation of the actuator and is operable to determine a second value for the parameter, and at least one additional component that is operable to determine a third value for the parameter. A fault is identified in response to determining that the first value does not agree with at least one of the second value or the third value. In response to identification of the fault, the first actuator controller changes from an activated state to a deactivated state and the second actuator controller changes from a deactivated state an activated state.
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公开(公告)号：US10996673B1
公开(公告)日：2021-05-04
申请号：US17015711
申请日：2020-09-09
摘要： A method of control includes operating in autonomous mode and steering according to a tracking angle. The method also includes receiving a torque signal indicating a measured torque being applied to a steering control device and determining a difference between an expected torque and the measured torque, and based on a direction of the expected torque, the direction of the measured torque, and the difference between the two, switching from autonomous mode of operation to manual mode operation.
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