公开(公告)号：US20240227792A9

公开(公告)日：2024-07-11

申请号：US18275296

申请日：2022-01-26

申请人： Valeo Schalter und Sensoren GmbH

发明人： Luc Jansseune

IPC分类号： B60W30/095 ,  B60W30/06

CPC分类号： B60W30/0956 ,  B60W30/06 ,  B60W2050/0008 ,  B60W2420/403 ,  B60W2420/408

摘要： A method for operating a parking assistance system (105) for a vehicle (100) is proposed. The method comprises: a) projecting (S1) a predetermined pattern (PAT1-PAT6) onto a predetermined area (205), especially an area (205) by the vehicle (100), b) capturing (S2) an image, with at least a portion of the predetermined area (205) with the projection (220) being visible in the captured image, c) determining (S3) an object (210) arranged in the predetermined area (205) on the basis of the captured image, and d) updating (S4) a digital map of the surroundings (MAP0, MAP1) using the captured object (210).

公开(公告)号：US11897452B2

公开(公告)日：2024-02-13

申请号：US17418481

申请日：2019-12-27

申请人： C.R.F. SOCIETA' CONSORTILE PER AZIONI

发明人： Enrico Raffone ,  Claudio Rei

IPC分类号： B60W30/045 ,  B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  B60W50/00 ,  B60W60/00

CPC分类号： B60W30/045 ,  B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  B60W50/0098 ,  B60W60/001 ,  B60W2050/0008 ,  B60W2520/06 ,  B60W2520/10 ,  B60W2520/125 ,  B60W2520/14 ,  B60W2552/30 ,  B60W2710/18 ,  B60W2710/202 ,  B60W2710/207 ,  B60G2200/44 ,  B60T2201/122

摘要： An automotive electronic lateral dynamics control system of an autonomous motor vehicle, comprising a lateral driving path planner designed to plan a lateral driving path of the autonomous motor vehicle and defined by a reference curvature of the autonomous motor vehicle; an automotive electronic driving stability control system designed to control an automotive braking system to apply to the autonomous motor vehicle a yaw torque to hinder a driving instability condition of the autonomous motor vehicle; and an automotive electronic steering control system designed to control an automotive steering system to apply to the autonomous motor vehicle a steering angle or torque to cause the autonomous motor vehicle to follow the lateral driving path planned by the lateral driving path planner. The automotive electronic lateral dynamics control system is designed to cause an intervention of the automotive electronic steering control system to take account of an intervention of the automotive electronic driving stability control system.

公开(公告)号：US20230159047A1

公开(公告)日：2023-05-25

申请号：US17456545

申请日：2021-11-24

申请人： Baidu USA LLC

发明人： Shu JIANG ,  Zikang XIONG ,  Weiman LIN ,  Yu CAO ,  Qi LUO ,  Jiangtao HU ,  Jinghao MIAO

IPC分类号： B60W60/00 ,  B60W50/00 ,  G06N3/08

CPC分类号： B60W60/001 ,  B60W50/00 ,  G06N3/08 ,  B60W2050/0083 ,  B60W2050/0008

摘要： Described herein are a method of training a learning-based critic for tuning a rule-based motion planner of an autonomous driving vehicle, a method of tuning a motion planner using an automatic tuning framework that with the learning-based critic. The method includes receiving training data that incudes human driving trajectories and random trajectories derived from the human driving trajectories; training a learning-based critic using the training data; identifying a set of discrepant trajectories by comparing a first set of trajectories, and a second set of trajectories; and refining, at the neural network training platform, the learning-based critic based on the set of discrepant trajectories. The automatic tuning framework can remove human efforts in tedious parameter tuning, reduce tuning time, while retaining the physical and safety constraints of the ruled-based motion planner. Further, the automatic tuning framework can create personalized motion planners when the learning-based critic is trained using different human driving datasets.

公开(公告)号：US20230151774A1

公开(公告)日：2023-05-18

申请号：US17455472

申请日：2021-11-18

申请人： Mitsubishi Electric Research Laboratories, Inc.

发明人： Rien Quirynen ,  Stefano Di Cairano

IPC分类号： F02D13/02 ,  F02D28/00 ,  B60W50/00

CPC分类号： F02D13/0203 ,  F02D28/00 ,  B60W50/0097 ,  B60W2050/0008

摘要： To control a hybrid dynamical system, a predictive feedback controller formulates a mixed-integer nonlinear programming (MINLP) problem including nonlinear functions of continuous optimization variables representing the continuous elements of the operation of the hybrid dynamical system and/or one or multiple linear functions of integer optimization variables representing the discrete elements of the operation of the hybrid dynamical system. The MINLP problem is formulated into a separable format ensuring that the discrete elements of the operation are present only in the linear functions of the MINLP problem. The MINLP problem is solved over multiple iterations using a partial convexification of a portion of a space of the solution including a current solution guess. The partial convexification produces a convex approximation of the nonlinear functions of the MINLP without approximating the linear functions of the MINLP to produce a partially convexified MINLP.

公开(公告)号：US20180163857A1

公开(公告)日：2018-06-14

申请号：US15735323

申请日：2016-07-19

申请人： AISIN AW CO., LTD.

发明人： Yasuhiro ISHIHARA ,  Yasuhiko KOBAYASHI ,  Tetsuro KUWANO ,  Jin IZAWA

IPC分类号： F16H61/02 ,  G05D16/20 ,  F16H61/00

CPC分类号： F16H61/0251 ,  B60W2050/0008 ,  B60W2510/1075 ,  B60W2710/1077 ,  F16H61/0021 ,  F16H2061/0078 ,  F16H2061/0255 ,  G05D16/2013 ,  H01F7/1844 ,  H01F2007/1866

摘要： A control device that includes an electronic control unit that is configured to: detect an actual current value flowing through the solenoid valve; receive a current command value and the actual current value detected and generate a primary command voltage value while feeding back the current command value on the basis of the actual current value; calculate a dither command voltage value to cause a periodic voltage oscillation; filter the actual current value detected to remove a frequency corresponding to a period of the dither command voltage value and output the filtered actual current value; generate a secondary command voltage value by superimposing the dither command voltage value generated on the primary command voltage value generated; convert the secondary command voltage value generated into a PWM signal; and generate, on the basis of the PWM signal generated, an application voltage to be applied to the solenoid valve.

公开(公告)号：US20180057053A1

公开(公告)日：2018-03-01

申请号：US15683575

申请日：2017-08-22

申请人： DENSO CORPORATION

发明人： Hirotaka TOKORO

IPC分类号： B62D15/02 ,  B60W30/12

CPC分类号： B62D15/025 ,  B60W10/20 ,  B60W30/10 ,  B60W30/12 ,  B60W2050/0008 ,  B60W2520/14 ,  B60W2550/146 ,  B60W2720/14

摘要： An apparatus for performing driving aid control to cause a travel trajectory of a mobile object to follow a setpoint trajectory by transmitting a control command value to a yaw moment controller capable of controlling a yaw moment of the mobile object. In the apparatus, a first control command value calculator is configured to calculate a first control command value used to calculate the control command value. A straight-driving stabilizing compensator is configured to, when the mobile object is driving straight, calculate a first control command compensation value by decreasing the first control command value. A second control command value calculator is configured to calculate a second control command value used to calculate the control command value. A third control command value calculator is configured to calculate a final control command value based on the first control command compensation value and the second control command value.

公开(公告)号：US20170369058A1

公开(公告)日：2017-12-28

申请号：US15700272

申请日：2017-09-11

申请人： MAGNA ELECTRONICS INC.

发明人： Christopher L. Van Dan Elzen ,  Ka Chai Cheok ,  Micho Radovnikovich

IPC分类号： B60W30/12 ,  B60W30/16 ,  B60W50/14 ,  B62D15/02 ,  B60W10/04 ,  B62D6/00 ,  B60W10/20 ,  B60W50/16 ,  B60W50/00

CPC分类号： B60W30/12 ,  B60W10/04 ,  B60W10/20 ,  B60W30/16 ,  B60W50/14 ,  B60W50/16 ,  B60W2050/0008 ,  B60W2050/0037 ,  B60W2050/0071 ,  B60W2050/0073 ,  B60W2420/42 ,  B62D6/00 ,  B62D15/025

摘要： A lane centering system for use in a vehicle driving in a lane on a road includes a camera and a controller. Based on processing by a processor of image data captured by the camera, the controller determines the position of a left lane delimiter on the road on a left side of the vehicle and the position of a right lane delimiter on the road on a right side of the vehicle. The controller is operable to control a steering system of the vehicle that is configured to steer the vehicle. The controller is operable to determine a target path for the vehicle based on processing by the processor of image data captured by the camera. The determined target path maintains the longitudinal centerline of the vehicle centered between the left lane delimiter and the right lane delimiter.

公开(公告)号：US09815449B2

公开(公告)日：2017-11-14

申请号：US15091230

申请日：2016-04-05

申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA

发明人： Shintaro Inoue ,  Hideo Inoue ,  Yutaka Hirano ,  Pongsathorn Raksincharoensak

IPC分类号： B60W10/20 ,  B60W10/04 ,  B60W10/184 ,  B60W50/00

CPC分类号： B60W10/20 ,  B60W10/04 ,  B60W10/184 ,  B60W2050/0008 ,  B60W2050/0024 ,  B60W2540/28 ,  B60W2540/30

摘要： An apparatus as an aspect of the invention acquires a vehicle motion index value, a driving state index value of a driver, a driving characteristic value that is estimated based on the vehicle motion index value and the driving state index value, and a vehicle motion target value and a driving state target value that are determined regardless of the driver's driving. Using these values, the apparatus determines a target value of a steering assist torque and a target value of a difference in braking/driving force between right and left wheels that converge at least one of a difference between the vehicle motion target value and the vehicle motion index value and a difference between the driving state target value and the driving state index value. The apparatus controls the steering assist torque and the difference in braking/driving force between the right and left wheels to their respective target values.

公开(公告)号：US20170247035A1

公开(公告)日：2017-08-31

申请号：US15392535

申请日：2016-12-28

申请人： FUJI JUKOGYO KABUSHIKI KAISHA

发明人： HIROSHI IENAGA

IPC分类号： B60W30/20 ,  B60W10/10 ,  B60K17/356 ,  B60W30/18 ,  B60K7/00 ,  B60W10/08 ,  B60W10/119

CPC分类号： B60W30/20 ,  B60K7/0007 ,  B60K17/356 ,  B60K28/16 ,  B60K2007/0061 ,  B60K2007/0092 ,  B60W10/08 ,  B60W10/10 ,  B60W10/119 ,  B60W30/18172 ,  B60W50/0098 ,  B60W2050/0008 ,  B60W2510/081 ,  B60W2520/26 ,  B60W2520/28 ,  B60W2540/10 ,  B60W2720/28 ,  Y02T10/7258

摘要： A vehicle control device includes: a requested torque acquisition module that acquires a requested torque requested to a motor that drives a wheel; a control subject designation module that designates one of a wheel speed and a motor rotation speed as a control subject on the basis of the requested torque; and a control module that performs feedback control in a manner that the control subject designated by the control subject designation module becomes equal to a target value.

公开(公告)号：US09744961B2

公开(公告)日：2017-08-29

申请号：US13983235

申请日：2012-01-31

申请人： Matthew Hancock

发明人： Matthew Hancock

IPC分类号： B60W20/00 ,  B60K6/48 ,  B60W10/02 ,  B60W10/06 ,  B60W50/00

CPC分类号： B60W20/00 ,  B60K6/48 ,  B60L11/14 ,  B60L15/2054 ,  B60L2240/423 ,  B60L2240/507 ,  B60W10/02 ,  B60W10/06 ,  B60W20/40 ,  B60W2050/0008 ,  B60W2050/0011 ,  B60W2510/0216 ,  B60W2510/0225 ,  B60W2510/0275 ,  B60W2510/0638 ,  B60W2510/0676 ,  B60W2710/0644 ,  Y02T10/6221 ,  Y02T10/645 ,  Y02T10/70 ,  Y02T10/7077 ,  Y02T10/72 ,  Y02T10/7275 ,  Y10S903/946

摘要： Embodiments of the present invention provide a controller for a hybrid electric vehicle having a first actuator and a second actuator operable to drive a driveline of the vehicle, the vehicle having releasable torque transmitting means operable releasably to couple the first actuator to the driveline, the releasable torque transmitting means being operable between a first condition in which the first actuator is substantially disconnected from the driveline and a second condition in which the first actuator is substantially connected to the driveline, the controller being operable to control the vehicle to transition between a first mode in which the releasable torque transmitting means is in the first condition and a second mode in which the releasable torque transmitting means is in the second condition, when a transition from the first mode to the second mode is required the controller being arranged to provide a control signal to the first actuator to control the speed thereof, the control signal being responsive to the speed of the first actuator and the amount of torque transfer provided by the releasable torque transmitting means.