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公开(公告)号：US11292454B2
公开(公告)日：2022-04-05
申请号：US16576110
申请日：2019-09-19
摘要： A method and apparatus that determine parking feasibility are provided. The method includes determining a charging pad location based on information received from sensors or the charging pad, generating a path function corresponding to a path from a vehicle position to the charging pad location, determining whether a vehicle is within a parking maneuver feasibility region by comparing values of the generated path function, a minimum turning radius of the vehicle, and a maximum steering angle rate of the vehicle, and moving the vehicle to the charging pad location if the vehicle is in the parking maneuver feasibility region.
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公开(公告)号：US20210070274A1
公开(公告)日：2021-03-11
申请号：US16566122
申请日：2019-09-10
摘要： A method for providing low speed lateral steering control for an autonomously driven or semi-autonomously driven vehicle includes obtaining a desired final vehicle position relative to a current vehicle position, and calculating, by one or more data processors, a target vehicle position based on the current vehicle position and the desired final vehicle position. The method further includes calculating, by the one or more data processors, a road wheel angle command value based on the target vehicle position; determining, by the one or more data processors, a control signal based on the calculated road wheel command value; and providing the control signal to a steering controller.
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公开(公告)号：US11192584B2
公开(公告)日：2021-12-07
申请号：US16578665
申请日：2019-09-23
摘要： A method and apparatus that control lateral movement of a vehicle are provided. The method includes receiving vehicle information and path information of the vehicle, determining a center of vehicle rotation from the vehicle information, minimizing a path tracking error based on the path information of the vehicle, determining a road wheel angle command or a steering torque command using non-linear optimization based on the minimized path tracking error, and controlling an actuator according to the road wheel angle command or steering torque command.
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公开(公告)号：US11299137B2
公开(公告)日：2022-04-12
申请号：US16566122
申请日：2019-09-10
摘要： A method for providing low speed lateral steering control for an autonomously driven or semi-autonomously driven vehicle includes obtaining a desired final vehicle position relative to a current vehicle position, and calculating, by one or more data processors, a target vehicle position based on the current vehicle position and the desired final vehicle position. The method further includes calculating, by the one or more data processors, a road wheel angle command value based on the target vehicle position; determining, by the one or more data processors, a control signal based on the calculated road wheel command value; and providing the control signal to a steering controller.
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公开(公告)号：US11332152B2
公开(公告)日：2022-05-17
申请号：US16886976
申请日：2020-05-29
发明人： Nikolai K. Moshchuk , David Andres Pérez Chaparro , Kausalya Singuru , Hualin Tan , James H. Holbrook , Curtis L. Hay
IPC分类号： B60W40/105 , B60W40/11 , B60W40/112 , B60W30/02 , B60W40/101 , B60W40/13
摘要： A vehicle including a Global Positioning System (GPS) sensor, an Inertial Measurement Unit (IMU), and an Advanced Driver Assistance System (ADAS) is described. Operating the vehicle includes determining, via the GPS sensor, first parameters associated with a velocity, a position, and a course, and determining, via the IMU, second parameters associated with acceleration and angular velocity. Roll and pitch parameters are determined based upon the first and second parameters. A first vehicle velocity vector is determined based upon the roll and pitch parameters, the first parameters, and the second parameters; and a second vehicle velocity vector is determined based upon the roll and pitch parameters, road surface friction coefficient, angular velocity, road wheel angles and the first vehicle velocity vector. A final vehicle velocity vector is determined based upon fusion of the first and second vehicle velocity vectors. The vehicle is controlled based upon the final vehicle velocity vector.
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