公开(公告)号：US20240253611A1

公开(公告)日：2024-08-01

申请号：US18629622

申请日：2024-04-08

申请人： Or-Ment LLC

发明人： Zvi Or-Bach ,  Brian Cronquist

IPC分类号： B60W10/08 ,  B60W10/04 ,  B60W10/20

CPC分类号： B60W10/08 ,  B60W10/04 ,  B60W10/20 ,  B60W2710/083 ,  B60W2720/28 ,  B60W2720/403

摘要： An electrical passenger car, the electrical passenger car including: at least two electrically driven motors; a battery pack; motor control electronics; a communication control unit; where the motor control electronics are connected to the at least two electrically driven motors; wheels, where the wheels are connected to the at least two electrically driven motors; and sensors, where the sensors are connected to at least the motor control electronics, where the wheels include a first wheel and a second wheel, where the second wheel has a radius at least 7% greater than a radius of the first wheel, where the communication control unit is designed to communicate the motor control electronics with a cloud AI server, and where the electrical passenger car is designed to be driven on a paved road.

公开(公告)号：US11945443B2

公开(公告)日：2024-04-02

申请号：US17375265

申请日：2021-07-14

申请人： CLEARPATH ROBOTICS INC.

发明人： Ryan Christopher Gariepy ,  Shahab Kaynama

IPC分类号： B60W30/18 ,  G01C21/26 ,  B60K7/00 ,  G05D1/00

CPC分类号： B60W30/18172 ,  G01C21/26 ,  B60K7/0007 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2520/10 ,  B60W2520/28 ,  B60W2710/081 ,  B60W2720/28 ,  G05D1/0231 ,  G05D1/027 ,  G05D2201/0213

摘要： Methods and systems are provided for traction detection and control of a self-driving vehicle. The self-driving vehicle has drive motors that drive drive-wheels according to a drive-motor speed. Traction detection and control can be obtained by measuring the vehicle speed with a sensor such as a LiDAR or video camera, and measuring the wheel speed of the drive wheels with a sensor such as a rotary encoder. The difference between the measured vehicle speed and the measured wheel speeds can be used to determine if a loss of traction has occurred in any of the wheels. If a loss of traction is detected, then a recovery strategy can be selected from a list of recovery strategies in order to reduce the effects of the loss of traction.

公开(公告)号：US20150291153A1

公开(公告)日：2015-10-15

申请号：US14748668

申请日：2015-06-24

申请人： Toyota Motor Engineering & Manufacturing North America, Inc.

发明人： Mohammad E. Dufford

IPC分类号： B60W20/00 ,  B60W10/105 ,  B60W10/06 ,  B60W10/08 ,  B60W30/18 ,  B60W50/06

CPC分类号： B60W20/15 ,  B60K6/365 ,  B60K6/445 ,  B60W10/06 ,  B60W10/08 ,  B60W10/105 ,  B60W20/19 ,  B60W30/18 ,  B60W30/18027 ,  B60W50/06 ,  B60W50/082 ,  B60W50/14 ,  B60W2050/0089 ,  B60W2050/146 ,  B60W2520/26 ,  B60W2540/10 ,  B60W2540/12 ,  B60W2600/00 ,  B60W2710/0644 ,  B60W2710/0666 ,  B60W2710/083 ,  B60W2710/086 ,  B60W2710/1005 ,  B60W2720/28 ,  B60W2720/30 ,  Y02T10/6239 ,  Y02T10/6286 ,  Y02T10/7077 ,  Y10S903/93

摘要： A launch control system which maximizes hybrid vehicle acceleration from a standing start. A hybrid vehicle includes wheels, an engine, a motor-generator, a processor, and an actuation device. The processor controls an engine speed and an engine torque independently from a wheel speed and a wheel torque. While the hybrid vehicle is at a standstill, the actuation device is switched to an on state, and the engine speed and engine torque is raised to optimal values. When the actuation device is subsequently switched to an off state, the engine speed and the engine torque is applied to the plurality of wheels to launch the hybrid vehicle. The processor blends or further adjusts the torque applied to the plurality of wheels to maximize the acceleration while optimizing an amount of wheel slip. The processor then learns the launch to improve performance on subsequent launches.

摘要翻译： 发动机控制系统，从起步最大化混合动力车辆加速。 混合动力车辆包括轮，发动机，电动发电机，处理器和致动装置。 处理器独立于车轮速度和车轮扭矩控制发动机转速和发动机转矩。 当混合动力车辆处于停止状态时，致动装置被切换到接通状态，并且将发动机转速和发动机扭矩提高到最佳值。 当致动装置随后切换到关闭状态时，发动机转速和发动机转矩被施加到多个车轮以启动混合动力车辆。 处理器混合或进一步调整施加到多个车轮的扭矩以最大化加速度，同时优化车轮滑移量。 然后处理器学习发射，以提高后续发射的性能。

公开(公告)号：US09108618B2

公开(公告)日：2015-08-18

申请号：US13805358

申请日：2011-06-27

申请人： Werner Muller

发明人： Werner Muller

IPC分类号： B60W10/02 ,  B60K23/04 ,  B60K17/16 ,  B60W10/115 ,  B60W30/18 ,  F16H48/10

CPC分类号： B60W10/023 ,  B60K17/165 ,  B60K23/04 ,  B60W10/115 ,  B60W30/18145 ,  B60W2540/18 ,  B60W2720/28 ,  B60W2720/406 ,  B60Y2200/22 ,  B60Y2200/41 ,  F16H48/10

摘要： A gearbox arrangement (1), which is arranged in a drive train of a multi-axle land vehicle (2), in particular a commercial vehicle, or a similar means of transportation, wherein at least one of said axles is driven, wherein at least one planetary drive (8) is associated with each of the axle halves (5) of a driven axle. The gearbox arrangement comprises at least one sensor device (7) for detecting a steering manipulation on the vehicle (2) and a control device (6). In order to have a gearbox arrangement (1) available that establishes a reliable, simply designed connection between the drive motor and driven wheels (4) with little effort and enables reliable control of the particular wheels (4) in regard to rotational speed and torque during drive and during deceleration, and thus realizes a controllable rotational speed compensation during cornering and significantly reduces the diameter and the constructed size of the power-split gearbox in particular for vehicles (2) having a high axle torque, the axle halves (5) are driven synchronously without differential and the control device (6) is provided with a hydrostatic device (11) that can be manipulated, by which hydrostatic device each of the wheels (4) rolling without slip maintains its torque.

摘要翻译： 一种齿轮箱装置（1），其布置在多轴陆地车辆（2）的传动系中，特别是商用车辆或类似的运输工具，其中至少一个所述车轴被驱动，其中在 至少一个行星驱动器（8）与从动轴的每个轴半部（5）相关联。 齿轮箱装置包括用于检测车辆（2）上的转向操纵的至少一个传感器装置（7）和控制装置（6）。 为了具有可用的齿轮箱装置（1），其能够以很小的努力在驱动马达和从动轮（4）之间建立可靠的，简单设计的连接，并且能够相对于转速和扭矩可靠地控制特定的车轮（4） 在驱动期间和减速期间，因此在转弯期间实现可控的转速补偿，并且显着地减小动力分配齿轮箱的直径和结构尺寸，特别是具有高轴转矩的车辆（2），轴半部（5） 在没有差速器的情况下同步地被驱动，并且控制装置（6）设置有可被操纵的静液压装置（11），通过该静液压装置，每个车轮（4）滚动而不滑动地保持其扭矩。

公开(公告)号：US09086104B2

公开(公告)日：2015-07-21

申请号：US12617748

申请日：2009-11-13

申请人： Gerry O. McCann ,  Yun Liu ,  Keith F. Harvey

发明人： Gerry O. McCann ,  Yun Liu ,  Keith F. Harvey

IPC分类号： G01C21/00 ,  F16D48/06 ,  B60K17/16 ,  B60K23/04 ,  B60W10/119 ,  B60W10/14 ,  B60W10/16 ,  B60W30/045 ,  B60W30/18

CPC分类号： F16D48/06 ,  B60K17/20 ,  B60K23/04 ,  B60W10/119 ,  B60W10/14 ,  B60W10/16 ,  B60W30/045 ,  B60W30/18145 ,  B60W2520/14 ,  B60W2520/22 ,  B60W2520/28 ,  B60W2720/10 ,  B60W2720/28 ,  B60W2720/403 ,  B60W2720/406 ,  B60Y2200/14 ,  B60Y2200/147 ,  B60Y2200/148 ,  B60Y2200/20 ,  B60Y2200/222 ,  F16D2500/10431 ,  F16D2500/3108 ,  Y10T477/606

摘要： An electronic traction optimization system includes a control unit adapted to produce a corner speed estimate signal for each wheel of a machine, produce an ideal target speed signal for each wheel having a value at least partially responsive to the corner speed estimate signals, produces a practical target speed signal for each wheel, generates an actual target speed signal having a value responsive to a comparison of the ideal target speed signal and the practical target speed signal for each wheel. The control unit compares each actual target speed signal to an associated wheel speed signal to obtain a wheel speed error signal for each wheel and converts each wheel speed error signal to a clutch control signal, wherein each differential clutch actuator is responsive to an associated clutch control signal.

摘要翻译： 电子牵引优化系统包括适于为机器的每个车轮产生拐角速度估计信号的控制单元，为每个车轮产生理想的目标速度信号，其具有至少部分地响应角速度估计信号的值，产生实用的 每个车轮的目标速度信号产生具有响应于每个车轮的理想目标速度信号和实际目标速度信号的比较的值的实际目标速度信号。 控制单元将每个实际目标速度信号与相关联的车轮速度信号进行比较以获得每个车轮的车轮速度误差信号，并将每个车轮速度误差信号转换成离合器控制信号，其中每个差速离合器致动器响应相关的离合器控制 信号。

公开(公告)号：US08818660B2

公开(公告)日：2014-08-26

申请号：US12255800

申请日：2008-10-22

申请人： Anthony H. Heap ,  Jason J McConnell ,  Seamus T McGrath ,  Robert L. Morris

发明人： Anthony H. Heap ,  Jason J McConnell ,  Seamus T McGrath ,  Robert L. Morris

IPC分类号： G06F17/00 ,  G06F19/00 ,  B60K6/387 ,  B60K6/38 ,  B60W10/00 ,  B60W10/08

CPC分类号： B60W10/06 ,  B60K1/02 ,  B60K6/26 ,  B60K6/365 ,  B60K6/445 ,  B60K6/547 ,  B60L2240/423 ,  B60L2240/443 ,  B60L2240/486 ,  B60W10/08 ,  B60W10/115 ,  B60W20/00 ,  B60W2510/0657 ,  B60W2510/0661 ,  B60W2510/0666 ,  B60W2510/083 ,  B60W2510/1005 ,  B60W2510/104 ,  B60W2510/105 ,  B60W2520/28 ,  B60W2540/10 ,  B60W2540/12 ,  B60W2550/142 ,  B60W2710/1038 ,  B60W2710/105 ,  B60W2710/1055 ,  B60W2720/28 ,  F16H3/728 ,  F16H2037/0866 ,  F16H2037/102 ,  F16H2037/104 ,  F16H2037/106 ,  Y02T10/6239 ,  Y02T10/6286 ,  Y02T10/642

摘要： A hybrid powertrain system includes a transmission device operative to transfer power between an input member, a torque machine and an output member, the output member coupled to a driveline coupled to a wheel to transfer tractive torque therebetween. A method for controlling the hybrid powertrain system includes monitoring an operator torque request, determining an operating range state of the transmission device, determining a net output torque to the output member based upon the operator torque request, determining a lash state of the driveline, and determining a command for transferring output torque to the output member based upon the operating range state of the transmission device, the net output torque, and the lash state of the driveline.

摘要翻译： 混合动力系统包括可操作以在输入构件，扭矩机和输出构件之间传递动力的传动装置，所述输出构件联接到联接到车轮的传动系统以在其间传递牵引力矩。 一种用于控制混合动力系统的方法，包括监视操作者扭矩请求，确定传动装置的工作范围状态，基于操作者扭矩请求确定输出构件的净输出扭矩，确定传动系的间隙状态，以及 基于传动装置的操作范围状态，传动系统的净输出扭矩和间隙状态来确定用于将输出扭矩传递到输出构件的命令。

公开(公告)号：US20130110366A1

公开(公告)日：2013-05-02

申请号：US13806614

申请日：2011-07-05

申请人： Shinichi Suzuki

发明人： Shinichi Suzuki

IPC分类号： F16H48/30 ,  B60K17/344

CPC分类号： F16H48/30 ,  B60K17/344 ,  B60K23/04 ,  B60K2023/043 ,  B60W10/16 ,  B60W30/045 ,  B60W2720/28 ,  B60W2720/403 ,  B60W2720/406 ,  F16H48/19 ,  F16H2048/205

摘要： A left-right drive force difference transient control computation value calculating section uses a map search, based on a change rate of a target yaw rate, to find a left-right rear wheel drive force difference transient control computation value, which is a basic target value for a turning response transiently requested by a driver. A left-right drive force difference transient control gain computing section sets a left-right drive force difference transient control gain to be smaller than 1 in a low vehicle speed region. A transient control computing section multiplies the left-right rear wheel drive force difference transient control computing value by the left-right drive force difference transient control gain to calculate a left-right rear wheel drive force difference transient control amount and contributes the same to a left-right wheel drive force distribution control.

摘要翻译： 左右驱动力差瞬变控制计算值计算部使用基于目标横摆率的变化率的地图搜索，求出作为基本目标的左右后轮驱动力差瞬变控制计算值 驾驶员瞬时要求的转向响应的值。 左右驱动力差瞬变控制增益计算部在低车速区域中将左右驱动力差瞬变控制增益设定为小于1。 瞬时控制运算部将左右后轮驱动力差瞬变控制运算值乘以左右驱动力差瞬变控制增益，计算左右后轮驱动力差暂变控制量，并将其作用于 左右轮驱动力分配控制。

公开(公告)号：US20130073161A1

公开(公告)日：2013-03-21

申请号：US13700359

申请日：2011-07-05

申请人： Yohei Tsushima

发明人： Yohei Tsushima

IPC分类号： B60W10/119

CPC分类号： B60W10/119 ,  B60K17/344 ,  B60K23/0808 ,  B60K2023/043 ,  B60W10/16 ,  B60W30/045 ,  B60W2720/28 ,  B60W2720/403 ,  B60W2720/406 ,  F16H48/19 ,  F16H2048/205

摘要： A rear wheel drive force difference setting gain is multiplied by a basic left-right rear wheel drive force difference steady-state control computation value for achieving a vehicle turning behavior steadily requested by a driver in order to calculate a final left-right rear wheel drive force difference steady-state control amount. The final left-right rear wheel drive force difference steady-state control amount is added to a left-right rear wheel drive force difference transient control amount to obtain left-right rear wheel rear wheel drive force difference. This difference is multiplied by feedback control coefficient to obtain a final rear wheel drive force difference. During an initial stage of turning in which a lateral acceleration is smaller than a turn initial stage determining value, the rear wheel drive force difference setting gain is set to A, which is larger than 1 and increases as the lateral acceleration decreases. As a result, the final rear wheel drive force difference is increased during the initial stage of turning and an initial turning response can be improved.

摘要翻译： 后轮驱动力差设定增益乘以用于实现驾驶员稳定要求的车辆转向行为的基本左后轮驱动力差异稳态控制计算值，以便计算最后的左后轮驱动 力差稳态控制量。 最终的左后轮驱动力差异稳态控制量被添加到左右后轮驱动力差瞬变控制量，以获得左右后轮后轮驱动力差。 该差乘以反馈控制系数，以获得最终的后轮驱动力差。 在横向加速度小于转弯初始阶段确定值的初始转弯阶段中，后轮驱动力差设定增益设定为大于1的A，并且随着横向加速度的减小而增加。 结果，最终的后轮驱动力差在转弯的初始阶段增加，并且可以提高初始的转动响应。

公开(公告)号：US20120059547A1

公开(公告)日：2012-03-08

申请号：US12876417

申请日：2010-09-07

申请人： Shih-Ken CHEN ,  Youssef A. GHONEIM ,  Weiwen DENG ,  Nikolai K. MOSHCHUK ,  Bakhtiar Brian LITKOUHI ,  Valery PYLYPCHUK

发明人： Shih-Ken CHEN ,  Youssef A. GHONEIM ,  Weiwen DENG ,  Nikolai K. MOSHCHUK ,  Bakhtiar Brian LITKOUHI ,  Valery PYLYPCHUK

IPC分类号： B60W10/00 ,  B60T13/74 ,  B62D6/00 ,  B60W30/02 ,  B60W10/18 ,  B60W10/22 ,  B60W10/20 ,  G06F19/00 ,  B60G17/018

CPC分类号： B60W30/18145 ,  B60W10/04 ,  B60W10/184 ,  B60W10/20 ,  B60W10/22 ,  B60W30/02 ,  B60W2530/10 ,  B60W2530/20 ,  B60W2710/182 ,  B60W2710/207 ,  B60W2720/28 ,  B60W2720/30

摘要： A method to control a vehicle having a plurality of wheels includes monitoring desired vehicle dynamics, determining a desired corner force and moment distribution based upon the desired vehicle dynamics and a real-time closed form dynamics optimization solution, and controlling the vehicle based upon the desired corner force and moment distribution. The real-time closed form dynamics optimization solution is based upon a minimized center of gravity force error component, a minimized control energy component, and a maximized tire force reserve component.

摘要翻译： 控制具有多个车轮的车辆的方法包括监视所需的车辆动力学，基于期望的车辆动力学和实时闭合形式动力学优化解决方案来确定期望的角力和力矩分布，以及基于期望的车辆动力学优化解决方案来控制车辆 角力和力矩分布。 实时闭式动力学优化解决方案基于最小重心力误差分量，最小化的控制能量分量和最大轮胎力储备分量。

公开(公告)号：US20110257858A1

公开(公告)日：2011-10-20

申请号：US13033944

申请日：2011-02-24

申请人： Kazutaka Kobayashi ,  Yoshiyuki Aoyama ,  Takeshige Miyazaki ,  Akihiro Ohno ,  Ryohei Shigeta ,  Tomoaki Kato ,  Go Nagayama

发明人： Kazutaka Kobayashi ,  Yoshiyuki Aoyama ,  Takeshige Miyazaki ,  Akihiro Ohno ,  Ryohei Shigeta ,  Tomoaki Kato ,  Go Nagayama

IPC分类号： G06F17/00 ,  B60K23/08

CPC分类号： B60W30/18172 ,  B60K17/3462 ,  B60K17/35 ,  B60K23/08 ,  B60K23/0808 ,  B60K28/16 ,  B60W10/06 ,  B60W10/119 ,  B60W2520/28 ,  B60W2720/28 ,  F02D29/02

摘要： A drive state control apparatus is applied to a vehicle which has not only a transfer including a multi-disc clutch mechanism but also a changeover mechanism interposed in an axle and which can be switched between 2WD and 4WD. When a 2WD-to-4WD changeover condition is satisfied, the multi-disc clutch is immediately switched from a “decoupled state” to a “coupled state.” Meanwhile, a connecting operation of the changeover mechanism is started upon establishment of a state in which left and right rear wheels have no acceleration slippage, and a state in which rotational speeds of first and second axles on opposite sides of the changeover mechanism are approximately equal to each other. In addition, in the case where the left and right rear wheels have acceleration slippage after the 2WD-to-4WD changeover condition has been satisfied, an E/G output reduction control is executed. Thus, the connecting operation can be performed smoothly.

摘要翻译： 驱动状态控制装置被应用于不仅具有多盘式离合器机构的传递的车辆，而且还包括插入在车轴中并且可以在2WD与4WD之间切换的切换机构。 当满足2WD-to-4WD切换条件时，多盘离合器立即从“解耦状态”切换到“耦合状态”。同时，在建立状态时开始切换机构的连接操作 左后轮和右后轮没有加速滑动，并且转换机构的相对侧上的第一和第二轴的转速大致相等的状态。 此外，在满足2WD-4WD切换条件之后左右后轮具有加速滑移的情况下，执行E / G输出减少控制。 因此，可以顺利地进行连接动作。