公开(公告)号：US12128925B2

公开(公告)日：2024-10-29

申请号：US17007328

申请日：2020-08-31

Applicant: Ford Global Technologies, LLC

Inventor： Luke Niewiadomski ,  Li Xu ,  Hamid M. Golgiri

IPC: B60W60/00 ,  B60W30/09 ,  B60W30/095 ,  G01C21/34

CPC classification number: B60W60/0015 ,  B60W30/09 ,  B60W30/095 ,  G01C21/3461 ,  B60W2554/4029 ,  B60W2554/80

Abstract: For a vehicle at a first location, a blind zone is defined that is outside fields of view of available vehicle sensors. A path is determined that avoids the blind zone and moves the vehicle away from the first location. The path includes a straight portion having a first end at the first location, and a turning portion starting at a second end of the straight portion. The straight portion is defined such that, at the second end of the straight portion, the fields of view encompass the blind zone. The vehicle is determined to operate along the turning portion based on obtaining sensor data from the blind zone upon reaching the end of the straight portion.

公开(公告)号：US20190101925A1

公开(公告)日：2019-04-04

申请号：US15723104

申请日：2017-10-02

Applicant: Ford Global Technologies, LLC

Inventor： Kyle Simmons ,  Li Xu ,  Douglas Blue ,  Hongtei Eric Tseng

IPC: G05D1/02 ,  B62D15/02 ,  G05D1/00

Abstract: Method and apparatus are disclosed for autonomous parking of vehicles in perpendicular parking spots. An example vehicle includes a front corner, a sensor, and a parking controller. The parking controller is to detect, via the sensor, a perpendicular parking spot and determine a linear parking path located within the perpendicular parking spot along which the front corner is to travel. The parking controller also is to determine an approaching turn path to the linear parking path and autonomously turn along the approaching turn path and the linear parking path into the perpendicular parking spot.

公开(公告)号：US20180354474A1

公开(公告)日：2018-12-13

申请号：US15618454

申请日：2017-06-09

Applicant: Ford Global Technologies, LLC

Inventor： Chen Zhang ,  Li Xu ,  Yanan Zhao ,  George Edmund Walley, III ,  Mark Davison

IPC: B60T7/12 ,  B60T8/72 ,  B60T8/172

CPC classification number: B60T7/12 ,  B60T7/122 ,  B60T8/172 ,  B60T8/72 ,  B60T2201/02 ,  B60T2230/04

Abstract: A computer is programmed to determine a target brake torque that is below a preset holding brake torque and at least high enough to hold a vehicle at standstill; and upon detecting that a brake of the vehicle is applied and a speed of the vehicle is below a threshold, monotonically reduce a brake torque of the brake so that the brake torque reaches the target brake torque when the speed reaches substantially zero.

公开(公告)号：US09975391B2

公开(公告)日：2018-05-22

申请号：US14919923

申请日：2015-10-22

Applicant: FORD GLOBAL TECHNOLOGIES, LLC

Inventor： Eric Hongtei Tseng ,  Li Xu ,  Davor David Hrovat ,  Josko Deur ,  Mirko Coric

IPC: B60G17/015 ,  B60G17/016

CPC classification number: B60G17/0162 ,  B60G2400/41 ,  B60G2500/40 ,  B60G2600/182 ,  B60G2800/244 ,  B60G2800/246

Abstract: Arrangements (e.g., method, apparatus, computer-readable non-transitory media embodying a program) for compensating for understeer or oversteer behavior in a vehicle having a fully active suspension, including: determining whether an understeer or oversteer condition exists; determining a compensation torque needed to correct the understeer or oversteer condition; and generating the compensation torque by using the fully active suspension to shift tire loads between tires.

公开(公告)号：US12151614B2

公开(公告)日：2024-11-26

申请号：US18101238

申请日：2023-01-25

Applicant: Ford Global Technologies, LLC

Inventor： Li Xu ,  Kyle Simmons ,  Shannon Brooks-Lehnert ,  Katherine Rouen ,  Roger Arnold Trombley ,  Bo Bao ,  Seyed Armin Raeis Hosseiny

IPC: B60R1/00 ,  B60D1/36 ,  B60D1/06 ,  B60D1/62 ,  B60D1/64 ,  B60R1/26 ,  B60R11/04

Abstract: A vehicle hitching assistance system includes a controller acquiring image data from the vehicle and deriving a vehicle path to align a center of a hitch ball of the vehicle with a centerline of a trailer coupler within the image data. The controller also outputs a video image including a representation of a simplified path from the hitch ball to the coupler and outputs a steering signal to cause the vehicle to steer along the vehicle path.

公开(公告)号：US11479297B2

公开(公告)日：2022-10-25

申请号：US16565682

申请日：2019-09-10

Applicant: Ford Global Technologies, LLC

Inventor： Luke Niewiadomski ,  Li Xu ,  Donald Jacob Mattern ,  Mohamed El-sawah ,  Roger Arnold Trombley ,  Douglas Rogan ,  Nikhil Nagraj Rao ,  Arnav Sharma

IPC: B62D15/02 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  G05D1/02

Abstract: A vehicle system configured to control a trailer alignment routine includes a hitch mounted on a vehicle and a controller. The controller is configured to identify a coupler position of a trailer and control motion of the vehicle to toward an aligned position. The controller is further configured to control a braking procedure of the vehicle including a plurality of concurrent deceleration control procedures in response to a portion of the vehicle passing a gradual stopping distance. The concurrent deceleration procedures include monitoring an elapsed time following the portion of the vehicle passing the gradual stopping distance and monitoring a remaining distance to the aligned position based on a velocity of the vehicle and comparing the remaining distance to a rapid stopping distance.

公开(公告)号：US11358639B2

公开(公告)日：2022-06-14

申请号：US16815080

申请日：2020-03-11

Applicant: Ford Global Technologies, LLC

Inventor： Seyed Armin Raeis Hosseiny ,  Luke Niewiadomski ,  Roger Arnold Trombley ,  Donald Jacob Mattern ,  Craig Schmatz ,  Li Xu ,  Arnav Sharma

IPC: B60R1/00 ,  B60D1/36 ,  B62D15/00 ,  G06T11/00 ,  G06F17/00 ,  B62D15/02

Abstract: A system for assisting in aligning a vehicle for hitching with a trailer includes a controller that receives the scene data and identifying the trailer within the area to the rear of the vehicle, derives a backing path to align a hitch ball mounted on the vehicle to a coupler of the trailer, outputting a powertrain control signal to the vehicle powertrain control system, and a brake control signal to the vehicle brake system to maneuver the vehicle, including reversing along the backing path and stopping the vehicle at an endpoint of the path, and outputs a video image to the vehicle human-machine interface including a graphical overlay on the image data. The graphical overlay indicates potential movement of the hitch ball past the coupler and being positioned in the image data between a bumper of the vehicle and the hitch ball.

公开(公告)号：US20220138476A1

公开(公告)日：2022-05-05

申请号：US17083402

申请日：2020-10-29

Applicant: Ford Global Technologies, LLC

Inventor： Luke Niewiadomski ,  Phillip Curtiss Couture ,  Li Xu ,  Alexander Lee Hunton

IPC: G06K9/00 ,  G06T7/20 ,  G06T7/70 ,  H04N5/232 ,  B60R11/04

Abstract: A trailer detection system for a vehicle includes a trailer sensor, an imaging system, and a controller. The controller implements a trailer angle indication process including receiving and processing image data to identify a rotation point of a trailer coupled with the vehicle about a fifth-wheel hitch, left and right lateral edges of the trailer, and a distance between a rear portion of a cab of the vehicle and a front face of the trailer. Trailer yaw rate data is received and processed to determine an angle of the trailer about the rotation point, and an expected position of the front face of the trailer and at least one of the left and right lateral edges of the trailer with respect to the cab of the vehicle is calculated.

公开(公告)号：US11279405B2

公开(公告)日：2022-03-22

申请号：US16161540

申请日：2018-10-16

Applicant: Ford Global Technologies, LLC

Inventor： Li Xu ,  Douglas Blue ,  Kyle Simmons ,  Luke Niewiadomski ,  Eric Hongtei Tseng ,  Peter Ling

IPC: B60D1/36 ,  B62D15/02 ,  B62D13/06 ,  B60D1/24 ,  G01C21/36 ,  B60W50/14 ,  G05D1/02 ,  B60W10/20

Abstract: A hitch assist system is provided herein that includes a sensing system configured to detect a trailer and obstacles proximate the trailer. The hitch assist system also includes a controller in communication with the sensing system and configured to define a final vehicle heading direction relative to the trailer when a hitch ball of a vehicle is aligned with a coupler of the trailer; determine an uppermost/farthest position of the vehicle from the trailer; determine a lowermost/nearest position of the vehicle from the trailer; and determine a vehicle path that aligns the vehicle within the uppermost/farthest and lowermost/nearest positions.

公开(公告)号：US11180146B2

公开(公告)日：2021-11-23

申请号：US16411186

申请日：2019-05-14

Applicant: Ford Global Technologies, LLC

Inventor： Li Xu ,  Eric Hongtei Tseng ,  Luke Niewiadomski

IPC: B60W30/18 ,  B60T8/172 ,  B60T8/171 ,  B60T7/12 ,  B60T8/18 ,  B60T8/32 ,  B60T8/34 ,  B60T8/58 ,  B62D15/02 ,  B60W10/184 ,  B60W10/20 ,  B60W10/04 ,  G05D1/00

Abstract: A vehicle control system configured to control a braking operation of a hitch ball to a coupler on a trailer. The system may comprise a vehicle brake control system, a maneuvering system, an image sensor configured to capture an image data, and a velocity sensor. The system may also comprise a vehicle mass sensor configured to detect a vehicle mass and a controller. The controller may be configured to control the maneuvering system of the vehicle along a vehicle path. The controller may also identify a coupler distance based on the image data depicting a coupler of the trailer. The controller may also calculate a stopping distance for the braking operation based on a plurality of braking parameters, wherein the braking parameters comprise the velocity, the brake pressure, and the vehicle mass.