公开(公告)号：US12195083B2

公开(公告)日：2025-01-14

申请号：US16452936

申请日：2019-06-26

Applicant: THE REGENTS OF THE UNIVERSITY OF MICHIGAN

Inventor： Tulga Ersal ,  Jeffrey L. Stein ,  John B. Wurts

IPC: B62D15/02 ,  B60W30/18 ,  B60W40/101

Abstract: A method in a data processing system including at least one processor and at least one memory including instructions executed by the at least one processor to implement a lane change system is provided by the present disclosure. The method includes receiving, from at least one of a plurality of sensors coupled to a vehicle, information associated with a location of an object longitudinally ahead of the vehicle, determining a sequence of control inputs associated with a time horizon to avoid a collision between the vehicle and the object based on a constraint and the location of the object, and the determining the sequence of control inputs including minimizing a maximum tire slip angle of the vehicle during the time horizon subject to the constraint, and causing a vehicle control system of the vehicle to perform a vehicle maneuver based on the sequence of control inputs.

公开(公告)号：US20240326781A1

公开(公告)日：2024-10-03

申请号：US18194979

申请日：2023-04-03

Applicant: TOYOTA RESEARCH INSTITUTE, INC.

Inventor： YAN MING GOH ,  PHUNG XUAN NGUYEN ,  HANH NGUYEN ,  IZUMI KARINO ,  JAMES A. DALLAS ,  MICHAEL THOMPSON ,  MINORU BRANDON ARAKI

IPC: B60W30/045 ,  B60W30/18 ,  B60W40/101 ,  B60W50/10

CPC classification number: B60W30/045 ,  B60W30/18145 ,  B60W40/101 ,  B60W50/10 ,  B60W2050/0083 ,  B60W2520/26 ,  B60W2520/28 ,  B60W2540/106

Abstract: Systems and methods provide for corrective assistance to maintain a stable controllable drift, while permitting a drift driving experience for the driver. Examples of the systems and methods disclosed herein include receiving first data corresponding to a current operational state of a vehicle while performing a controllable drift; receiving a request to operate the vehicle in a requested operational state; determining that the requested operational state exceeds a threshold operational state associated with an uncontrollable drift; and, in response to the determination, providing corrective assistance to operate the vehicle in a corrective operational state to prevent the vehicle from entering an uncontrollable drift.

公开(公告)号：US12071133B2

公开(公告)日：2024-08-27

申请号：US17751805

申请日：2022-05-24

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA ,  ADVICS CO., LTD.

Inventor： Hiroshi Asada

IPC: B60W30/18 ,  B60W40/101 ,  B60W40/107

CPC classification number: B60W30/18109 ,  B60W40/101 ,  B60W40/107

Abstract: A vehicle body speed estimation method applied to a four-wheel drive vehicle includes: acquiring an estimated vehicle body speed based on wheel speeds or a longitudinal acceleration of the vehicle; determining whether an operation condition that includes at least a condition that the estimated vehicle body speed is higher than an operation determination speed is satisfied; performing torque limitation to reduce a torque of a portion of wheels of the vehicle when the operation condition is satisfied; determining whether a stop condition that includes a condition that the estimated vehicle body speed is lower than or equal to a stop determination speed or a condition that a duration of a state where a wheel acceleration of the portion of the wheels is higher than zero is longer than or equal to a set period of time; and stopping the torque limitation when the stop condition is satisfied.

公开(公告)号：US11970154B2

公开(公告)日：2024-04-30

申请号：US17466869

申请日：2021-09-03

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Jie Yang ,  Robert L. Morris ,  Shaochun Ye ,  Vino Mathew

IPC: B60W30/02 ,  B60W30/18 ,  B60W40/10 ,  B60W40/101 ,  B60W50/02 ,  B60L15/10 ,  B60W40/103

CPC classification number: B60W30/02 ,  B60W30/18172 ,  B60W40/10 ,  B60W40/101 ,  B60W50/0205 ,  B60L15/10 ,  B60W40/103 ,  B60W2520/28

Abstract: A control system for a vehicle includes wheel slip control loop including a wheel slip controller configured to control wheel slip based on wheel speed measured at one or more wheels of the vehicle. A wheel flare control loop includes a wheel flare controller configured to control wheel flare based on transmission output speed at an output of a transmission of the vehicle. A controller is configured to select one of the wheel slip controller to control the wheel slip and the wheel flare controller to control the wheel flare during operation of the vehicle.

公开(公告)号：US11814051B2

公开(公告)日：2023-11-14

申请号：US17512411

申请日：2021-10-27

Applicant: ZF CV SYSTEMS HANNOVER GMBH

Inventor： Tobias Munko ,  Timo Pascal Behrens ,  Bernd Oldemeyer

IPC: B60W30/18 ,  B60W10/18 ,  B60W10/20 ,  B60W40/101 ,  B60W40/114 ,  B60W50/00 ,  B60W10/101

CPC classification number: B60W30/18145 ,  B60W10/101 ,  B60W10/18 ,  B60W10/20 ,  B60W40/114 ,  B60W2050/0033 ,  B60W2520/125 ,  B60W2520/14 ,  B60W2520/20 ,  B60W2540/18

Abstract: A method is for determining a side slip angle during the cornering of a vehicle. The following variables are recorded and interlinked via a mathematical vehicle model with assumptions of the linear single-track model: a predetermined or measured position of the center of gravity between a front and rear axle, the current vehicle velocity, a current vehicle cornering motion variable, the current steering angle on the front axle. To simplify the determination of the side slip angle, it is determined under the assumption that the difference between the side slip angle and the Ackermann side slip angle is proportional to the difference between the Ackermann angle and the steering angle. The actual side slip angle is deduced from the relationship of the measured steering angle and the Ackermann angle based on the proportionality relationship of the Ackermann side slip angle theoretically present when driving through the same curve without slip.

公开(公告)号：US11572074B2

公开(公告)日：2023-02-07

申请号：US16882193

申请日：2020-05-22

Applicant: CNH Industrial America LLC

Inventor： Phillip Duane Dix ,  Daniel Geiyer ,  Aditya Singh ,  Navneet Gulati

IPC: B60W40/101 ,  G07C5/08 ,  G01S19/51

Abstract: A system for estimating tire parameters for an off-road vehicle in real time, the system including a processing circuit including a processor and memory, the memory having instructions stored thereon that, when executed by the processor, cause the processing circuit to measure a position of the vehicle at a first time, determine, based on the position, motion characteristics of the vehicle, predict, based on the motion characteristics, a position of the vehicle at a second time, measure a position of the vehicle at the second time, and generate a tire parameter associated with the vehicle based on the predicted position and the measured position of the vehicle at the second time.

公开(公告)号：US11192532B2

公开(公告)日：2021-12-07

申请号：US16426404

申请日：2019-05-30

Applicant: MANDO CORPORATION

Inventor： In Hye Park

IPC: B60T8/1755 ,  B60W30/02 ,  B60W30/18 ,  B60W40/101

Abstract: Disclosed herein is a vehicle control system capable of improving driving stability and providing safe fun driving to a driver by varying and controlling a regenerative braking torque generated by a motor during coasting. The vehicle control system according to an embodiment of the disclosure includes: a motor configured to provide a driving force to a wheel; a wheel sensor configured to detect a rotational speed of the wheel; and a controller configured to control the motor to generate a first regenerative braking torque during coasting, and to control the motor to generate a second regenerative braking torque lower than the first regenerative braking torque when a wheel slip of the wheel is detected based on an output of the wheel sensor.

公开(公告)号：US11097739B2

公开(公告)日：2021-08-24

申请号：US15902637

申请日：2018-02-22

Applicant: GM Global Technology Operations LLC

Inventor： Alon Capua ,  Mario Jodorkovsky

IPC: B60W40/068 ,  B60W30/02 ,  B60W30/14 ,  B60W40/076 ,  B60W40/101 ,  B60W40/105 ,  B60W40/109 ,  B60W40/107

Abstract: Technical solutions are described for estimating tire-road friction in a vehicle pro-actively, prior to safety systems of the vehicle are engaged. An example method includes computing a slip for the vehicle based on one or more wheel speeds, acceleration, and tire pressure measurement. The method further includes determining a slope (α) as indicator of tire-road friction for the vehicle based on the acceleration and the slip. Further, the method includes sending the slope to an autonomous controller of the vehicle for adjusting vehicle kinematics according to the estimated friction using the slope.

公开(公告)号：US10793136B2

公开(公告)日：2020-10-06

申请号：US16084982

申请日：2017-03-30

Applicant: MAZDA MOTOR CORPORATION

Inventor： Toru Yoshioka ,  Daisuke Umetsu ,  Osamu Sunahara ,  Yasunori Takahara ,  Masaki Chiba

IPC: B60W10/06 ,  B60W10/04 ,  B62D6/00 ,  B60W10/20 ,  B60W30/02 ,  B60W40/101

Abstract: There is provided a vehicle behavior control device capable of improving responsivity of a vehicle behavior and a linear feeling with respect to a steering wheel operation without causing a driver to experience a strong feeling of intervention of the control and, at the same time, capable of controlling behavior of a vehicle in such a manner as to also improve stability of the vehicle attitude and riding comfort. In a vehicle behavior control device applied to a vehicle having steerable front road wheels, the vehicle behavior control device includes a PCM which acquires a steering speed of the vehicle, and generates a deceleration jerk which is a rearward jerk in a longitudinal direction of the vehicle when the steering speed becomes equal to or greater than a given threshold TS1 which is greater than zero.

公开(公告)号：US10308259B1

公开(公告)日：2019-06-04

申请号：US16005319

申请日：2018-06-11

Applicant: Caterpillar Inc.

Inventor： Nolan A. Graves ,  Nicholas R. Vogel

IPC: B60Q1/00 ,  B60W40/101 ,  B60W40/109 ,  B60W40/107

Abstract: A system for determining movement characteristics of a mobile machine may comprise: a sensor coupled to the machine and configured to communicate a signal indicative of a velocity of the machine, wherein the sensor is coupled to a portion of the machine that is disparate from a rear axle of the machine; an inertial measurement unit coupled to the machine and configured to communicate a signal indicative of an acceleration and an angular velocity of the machine; and a controller configured to: receive (a) the velocity signal and (b) the acceleration and angular velocity signal; and using (a) the velocity signal and (b) the acceleration and angular velocity signal, determine a lateral velocity of the rear axle of the machine.