公开(公告)号：US12128775B1

公开(公告)日：2024-10-29

申请号：US18540734

申请日：2023-12-14

Applicant: TONGJI UNIVERSITY

Inventor： Lin Zhang ,  Hong Chen ,  Haobo Sun ,  Hanghang Liu ,  Wei Pan

IPC: B60L3/10 ,  B60L15/20

CPC classification number: B60L3/106 ,  B60L15/2036 ,  B60L2240/22 ,  B60L2240/24 ,  B60L2240/423 ,  B60L2240/461 ,  B60L2240/463 ,  B60L2240/465

Abstract: The present disclosure relates to a multi-constraint optimal distribution method for a torque vectoring of a distributed drive electric vehicle, which includes: obtaining a vehicle real-time motion state, taking a pre-constructed tire rotation dynamics model as a control object of an optimal distribution problem, establishing an objective function for tracking a desired additional yaw moment, tracking a desired tire slip ratio, and suppressing a motor output energy consumption to a minimum value, establishing a corresponding system constraint, solving the optimal distribution problem, and obtaining an optimal distribution solution for a torque vectoring of each tire. Compared with the prior art, the present disclosure can effectively track a desired control target, can also effectively constrain an important state and a control input of the vehicle, and can avoid wrong solutions or no solution caused by an optimization problem.

公开(公告)号：US12097779B2

公开(公告)日：2024-09-24

申请号：US17704846

申请日：2022-03-25

Applicant: IPT Technology GmbH ,  Fraunhofer Gesellschaft zur Förderung der angewandten Forschung e.V.

Inventor： Sotirios Sotiriou ,  Daniel Cichon ,  Tobias Dräger

IPC: G01S5/04 ,  B60L53/124 ,  B60L53/37 ,  B60L53/38 ,  G01S5/02 ,  H02J50/10 ,  H02J50/40 ,  H02J50/60 ,  H02J50/90

CPC classification number: B60L53/38 ,  B60L53/124 ,  B60L53/37 ,  G01S5/0284 ,  G01S5/0294 ,  G01S5/04 ,  H02J50/10 ,  H02J50/40 ,  H02J50/60 ,  H02J50/90 ,  B60L2240/12 ,  B60L2240/24 ,  B60L2240/32

Abstract: A method is disclosed for determining a relative pose between a primary winding structure and a secondary winding structure of a system for inductive power transfer to a vehicle. The method includes obtaining first output values generated by multiple receiving devices of a first radio direction finding system. The first radio direction finding system further includes a transmitting device. The receiving devices generate the output values in response to receiving a position signal transmitted by the transmitting device. The method includes determining a motion value of the vehicle. The method includes providing the obtained first output values and the motion value as input values to a model. The method includes determining a first relative pose based on the model. The method includes determining the relative pose based on the first relative pose.

公开(公告)号：US20240278650A1

公开(公告)日：2024-08-22

申请号：US18571161

申请日：2022-06-28

Applicant: JTEKT CORPORATION

Inventor： Naoki SHOJI ,  Mitsuko YOSHIDA ,  Robert FUCHS

IPC: B60L15/20

CPC classification number: B60L15/20 ,  B60L2240/24 ,  B60L2240/423

Abstract: A motor control unit includes: an assist torque command value generation unit that generates an assist torque command value using steering torque; a manual steering command value generation unit that generates a manual steering command value using the steering torque and the assist torque command value; an integrated angle command value calculation unit that calculates an integrated angle command value by adding the manual steering command value to an automatic steering command value; and a switching unit that switches between a first control for controlling an electric motor based on the assist torque command value and a second control for controlling the electric motor based on the integrated angle command value, based on a switching signal.

公开(公告)号：US20240253637A1

公开(公告)日：2024-08-01

申请号：US18163086

申请日：2023-02-01

Applicant: Ford Global Technologies, LLC

Inventor： Zubair Feroz ,  Bang Cao ,  Joseph Jay Torres ,  Peter James Barrette ,  Jonathan Sullivan

IPC: B60W30/18 ,  B60L15/20

CPC classification number: B60W30/18172 ,  B60L15/2063 ,  B60L2240/12 ,  B60L2240/24 ,  B60L2250/26 ,  B60W2540/12 ,  B60W2552/40 ,  B60W2710/207 ,  B60W2720/28

Abstract: Methods and systems are provided for operating a vehicle in a mode to free the vehicle from being stuck in sand are presented. In one example, a speed of an electric machine is adjusted to determine when wheel jitter occurs. The electric machine speed may be maintained at a speed where wheel jitter occurs while the vehicle is stuck.

公开(公告)号：US11987151B2

公开(公告)日：2024-05-21

申请号：US17676512

申请日：2022-02-21

Applicant: JAGUAR LAND ROVER LIMITED

Inventor： Riccardo Fracchia ,  Orrin Hipkin

IPC: B60L7/18 ,  B60L15/20 ,  B60T1/10 ,  B60T8/1761 ,  B60T13/58 ,  F16D61/00

CPC classification number: B60L7/18 ,  B60L15/2009 ,  B60T1/10 ,  B60T8/1761 ,  B60T13/586 ,  F16D61/00 ,  B60L2240/12 ,  B60L2240/16 ,  B60L2240/18 ,  B60L2240/24 ,  B60L2240/642 ,  B60L2240/647 ,  B60L2240/662 ,  B60T2210/12 ,  B60T2210/14 ,  B60T2270/60 ,  B60T2270/604

Abstract: The invention relates to a control system for controlling a torque generator of a vehicle. The control system is configured to receive one or more electrical signals indicative of a surface indicator; receive one or more electrical signals indicative of a deceleration demand; select a surface type from a plurality of predetermined surface types based on said one or more electrical signals indicative of a surface indicator; determine a target vehicle deceleration in dependence on the selected surface type; determine, based on said one or more electrical signals indicative of a deceleration demand, a requirement to decelerate the vehicle; and in dependence on determining said requirement, output a control signal to the torque generator. The control signal is configured to cause the torque generator to provide the target vehicle deceleration.

公开(公告)号：US11945530B2

公开(公告)日：2024-04-02

申请号：US18197023

申请日：2023-05-12

Applicant: Pebble Mobility, Inc.

Inventor： Bingrui Yang ,  Stefan Solyom

IPC: B62D59/04 ,  B60L15/20

CPC classification number: B62D59/04 ,  B60L15/2009 ,  B60L15/2036 ,  B60L2200/28 ,  B60L2240/24 ,  B60L2240/26 ,  B60L2240/423

Abstract: A method of implementing an autonomous electric-powered trailer during a towing operation includes sourcing, via the one or more computers, one or more streams of sensing data from one or more sensing sources during a towing event involving an autonomous electric-powered (AEP) trailer and a towing entity, generating, via a towing-assist control algorithm, a plurality of towing-assistance instructions based on an input of the one or more streams of sensing data; operating, via one or more electric motors, each wheel of the AEP trailer at a target propulsion based on the plurality of towing-assistance instructions, wherein the operating of the each wheel enables the AEP trailer to autonomously assist the towing entity during the towing event.

公开(公告)号：US11872892B2

公开(公告)日：2024-01-16

申请号：US17252903

申请日：2019-05-11

Applicant: Robert Bosch GmbH

Inventor： Martin Nordmann ,  Lars Bieniek

IPC: B60L15/20 ,  B60K1/02

CPC classification number: B60L15/20 ,  B60K1/02 ,  B60L2220/42 ,  B60L2220/46 ,  B60L2240/12 ,  B60L2240/14 ,  B60L2240/22 ,  B60L2240/24 ,  B60L2240/423 ,  B60L2240/461 ,  B60L2240/622 ,  B60L2260/28

Abstract: A method for operating a motor vehicle having multiple drive wheels and multiple drive machines, each drive machines being an electric machine and being allocated to a drive wheel. The method includes: acquiring a total setpoint drive torque; acquiring a current vehicle driving speed, a current steering angle, and optionally, the wheel loads of all drive wheels; determining wheel-individual movement speeds of the drive wheels over the roadway based on the current vehicle driving speed, the current steering angle, a known chassis geometry of the motor vehicle, and optionally, the wheel loads; determining a setpoint wheel speed for each drive wheel based on the determined movement speeds, and distributing the total setpoint drive torque to all drive wheels such that an actual curve path deviates from a setpoint curve path specified by the steering angle; actuating each drive machine to adjust the setpoint wheel speed at the respective drive wheel.

公开(公告)号：US20230398880A1

公开(公告)日：2023-12-14

申请号：US18328826

申请日：2023-06-05

Applicant: Hitachi, Ltd.

Inventor： Masaru YAMASAKI

IPC: B60L15/20 ,  B60L3/00

CPC classification number: B60L15/20 ,  B60L3/0061 ,  B60L2240/463 ,  B60L2240/461 ,  B60L2240/24 ,  B60L2240/16 ,  B60L2240/18 ,  B60L2240/22

Abstract: A motion control device independently drives left and right wheels by calculating a wheel torque value from a difference between a reference vehicle state quantity or an operation instruction of a higher driving device and an actual vehicle state quantity regarding a motion and a posture of the vehicle, and controlling a plurality of motors based on the wheel torque value. The motion control device calculates a momentum error from a difference between a reference momentum based on wheel speed and a tire steering angle and an actual momentum based on the the motion and the posture of the vehicle, extracts a momentum error, calculates a wheel torque correction amount based on the extracted momentum error caused by the torque difference of the motor, adds the wheel torque correction amount to the wheel torque value, and outputs a wheel torque command to the plurality of motors.

公开(公告)号：US11745591B2

公开(公告)日：2023-09-05

申请号：US17329668

申请日：2021-05-25

Applicant: GM Global Technology Operations LLC

Inventor： Daniel Marius Bangala ,  Yiran Hu ,  Sirui Song ,  Matthew James Meakin Brymer

IPC: B60L3/00 ,  B60L15/20

CPC classification number: B60L3/0038 ,  B60L15/20 ,  B60L2240/16 ,  B60L2240/18 ,  B60L2240/24 ,  B60L2240/423 ,  B60L2250/26 ,  B60L2260/28

Abstract: A propulsion torque distribution system for a vehicle includes a controller in electronic communication with a plurality of vehicle systems. The controller executes instructions to receive at least one or more computational faults, one or more sensor faults, and a driver torque request. In response to receiving at least one of the one or more computational faults and the one or more sensor faults, the controller determines a fault that affects calculation of a primary torque request has occurred. In response to determining the fault that affects calculation of the primary torque request has occurred, the controller determines a severity of the fault. The controller determines a remedial state based on the severity of the fault. The remedial state indicates a corresponding action that is executed by the propulsion torque distribution system.

公开(公告)号：US20190210479A1

公开(公告)日：2019-07-11

申请号：US16353732

申请日：2019-03-14

Applicant: Bayerische Motoren Werke Aktiengesellschaft

Inventor： Fabian BACHMANN ,  Robert BOBINGER ,  Elsa DAVY ,  Norbert DEIXLER ,  Richard EILETZ ,  Sebastian GIELISCH ,  Roland KOENIG ,  Alfred PRUCKNER ,  Dirk SCHLICHTE ,  Hubert SCHOLZ ,  Anette SEDLMAIER-FUCHS ,  Ludwig SEETHALER ,  Stefan SICKLINGER ,  Ralf STROPH ,  Stefan STUERZL ,  Martin WALDMANN

IPC: B60L53/35 ,  B60L53/34 ,  B60L53/14 ,  B60L53/38 ,  B60L53/12 ,  G05D1/00 ,  G05D1/02 ,  B60L15/38

CPC classification number: B60L53/35 ,  B60L15/38 ,  B60L50/15 ,  B60L53/00 ,  B60L53/12 ,  B60L53/14 ,  B60L53/34 ,  B60L53/38 ,  B60L53/665 ,  B60L2240/12 ,  B60L2240/16 ,  B60L2240/24 ,  B60L2240/62 ,  B60L2240/70 ,  B60L2260/32 ,  B60Y2300/28 ,  G05D1/0088 ,  G05D1/0225 ,  G05D1/0291 ,  G05D1/0297 ,  G05D2201/0213 ,  Y02T10/7005 ,  Y02T10/7072 ,  Y02T10/7077 ,  Y02T10/7291 ,  Y02T90/121 ,  Y02T90/122 ,  Y02T90/125 ,  Y02T90/128 ,  Y02T90/14 ,  Y02T90/16 ,  Y02T90/162 ,  Y02T90/163 ,  Y02T90/169 ,  Y04S30/14

Abstract: A method is provided for charging a battery-operated vehicle having a chargeable traction energy store and a system for autonomously guiding the vehicle with a charging vehicle having an energy generator and/or an energy store. The method forms at least one electrical coupling between the battery-operated vehicle and the charging vehicle via an autonomous driving manoeuver of the battery-operated vehicle and/or the charging vehicle. A charging of the traction energy store of the battery-operated vehicle occurs via the energy generator and/or the energy store of the charging vehicle during the driving of the paired battery-operated vehicle and charging vehicle.