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1.发明授权公开(公告)号：US12077154B2
公开(公告)日：2024-09-03
申请号：US17627032
申请日：2020-05-25
申请人： Hitachi Astemo, Ltd.
CPC分类号： B60W30/10 , B60W10/04 , B60W10/18 , B60W10/20 , B60W50/00 , B60W2050/0022 , B60W2520/10 , B60W2520/14 , B60W2552/30
摘要： A vehicle motion control device according to the present invention obtains a translation force for causing the position of a vehicle to trace a target travel path, on the basis of a lateral displacement amount which is an amount of displacement of the vehicle in a lateral direction with respect to a target movement point, obtain a rotational force for correcting an orientation of the vehicle with respect to the target travel path, on the basis of an orientation displacement amount which is an amount of displacement of the vehicle in a yaw direction with respect to the target movement point, weight the translation force and the rotational force on the basis of specifications relating to traveling of the vehicle, and output a control command for achieving a target lateral force obtained by adding up the weighted translation force and the weighted rotational force.
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公开(公告)号：US20240270312A1
公开(公告)日：2024-08-15
申请号：US18641667
申请日：2024-04-22
IPC分类号： B62D15/02 , B60W30/09 , B60W30/095 , B60W30/10 , B60W30/18 , B60W40/04 , B60W50/029 , B60W50/14 , G06F18/25 , G06T7/70 , G06V20/58
CPC分类号： B62D15/025 , B60W30/09 , B60W30/0953 , B60W30/10 , B60W30/18018 , B60W30/18159 , B60W40/04 , B60W50/029 , B60W50/14 , G06F18/25 , G06T7/70 , G06V20/584 , B60W2050/0292 , B60W2050/146 , B60W2420/403 , B60W2420/408 , B60W2552/53 , B60W2554/402 , B60W2554/404 , B60W2554/4041 , B60W2554/80 , G06T2207/30236 , G06T2207/30256
摘要： A vehicular control system includes a camera and a radar sensor disposed at an equipped vehicle. The system, via processing of image data and processing of sensor data, determines other vehicles present on the road ahead of the equipped vehicle. The system, responsive to determining the presence of a plurality of other vehicles present on the road, determines a threat level for each vehicle of the plurality of other vehicles. An emergency braking system of the equipped vehicle is controlled responsive to the determined threat levels. When a vehicle of the plurality of other vehicles is no longer detectable via processing of image data captured by the camera and processing of sensor data captured by the radar sensor, the system predicts a position for the no longer detectable vehicle of the plurality of other vehicles.
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公开(公告)号：US12043309B2
公开(公告)日：2024-07-23
申请号：US17445199
申请日：2021-08-17
IPC分类号： B60W30/00 , B60W30/09 , B60W30/095 , B60W30/10 , B60W30/18 , B60W40/04 , B60W50/029 , B60W50/14 , B62D15/02 , G06F18/25 , G06T7/70 , G06V20/58
CPC分类号： B62D15/025 , B60W30/09 , B60W30/0953 , B60W30/10 , B60W30/18018 , B60W30/18159 , B60W40/04 , B60W50/029 , B60W50/14 , G06F18/25 , G06T7/70 , G06V20/584 , B60W2050/0292 , B60W2050/146 , B60W2420/403 , B60W2420/408 , B60W2552/53 , B60W2554/402 , B60W2554/404 , B60W2554/4041 , B60W2554/80 , G06T2207/30236 , G06T2207/30256
摘要： A vehicular control system includes a camera that captures image data. The system includes an electronic control unit (ECU) for processing image data captured by the camera. The ECU, via processing by an image processor of image data captured by the camera, determines lane information of a traffic lane along a road being traveled by the equipped vehicle. The ECU determines a lane quality value that represents a confidence in the determined lane information. When the lane quality value exceeds a threshold value, and based at least in part on the determined lane information, the ECU provides a steering command to a steering system of the equipped vehicle to adjust a heading of the equipped vehicle to center the equipped vehicle within the traffic lane of the road being traveled by the equipped vehicle.
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公开(公告)号：US11999378B2
公开(公告)日：2024-06-04
申请号：US17278265
申请日：2019-07-15
发明人： Paul King , Andrew Fairgrieve , Bineesh Ravi , Jithin Jayaraj , Krishna Jayaprakash , Jithesh Kotteri
CPC分类号： B60W60/0011 , B60W30/10 , B60W40/06 , G06V20/588 , B60W2552/05 , B60W2556/10 , B60W2556/50
摘要： Embodiments of the present invention relate to a control system for a vehicle, the control system comprising at least one controller and being configured to: obtain image data relating to terrain to be traversed by the vehicle, and for each of a plurality of sub-regions of the image data: determine probability data relating to whether the respective sub-region relates to a path region or a non-path region of the terrain; and determine a cost for the vehicle to traverse a portion of the terrain to which the sub-region relates depending on the probability data meeting one or more path probability criteria indicating that the sub-region relates to the path region, one or more non-path probability criteria indicating that the sub-region relates to the non-path region or neither the path probability criteria nor the non-path probability criteria; and determining a vehicle path in dependence on the determined costs.
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公开(公告)号：US11970207B2
公开(公告)日：2024-04-30
申请号：US17263948
申请日：2018-09-20
发明人： Takahiro Urabe , Masaya Endo , Yasuyoshi Hori , Kunio Ueda
CPC分类号： B62D15/02 , B60W30/10 , B60W40/04 , G01C21/3407 , B60W2554/4041
摘要： To provide a vehicle position processing apparatus, a vehicle control apparatus, a vehicle position processing method, and a vehicle control method capable of increasing the number of the position information of front object used for generation of the trajectory and improving the generation accuracy of the trajectory. A vehicle position processing apparatus, a vehicle control apparatus, a vehicle position processing method, and a vehicle control method that obtains positions of a target object, sets a trajectory generation range which is a continuous range including a position of the target object close to a position of the present own vehicle, selects positions of the target object included in the trajectory generation range among the plural positions of the target object, as target object positions for trajectory generation, and generates a trajectory of the target object based on the target object positions for trajectory generation.
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公开(公告)号：US11853068B1
公开(公告)日：2023-12-26
申请号：US16389858
申请日：2019-04-19
申请人： Zoox, Inc.
CPC分类号： G05D1/0214 , B60W30/10 , G05D1/0088 , B60W2050/0031 , G05D2201/0213
摘要： Techniques for determining a safety margin by which to limit trajectory(ies) generated by a vehicle control system such that the vehicle will not exceed the safety margin more than a target occurrence rate. The techniques may include determining a first spectrum associated with trajectory data generated by one or more vehicles, generating a model of a vehicle, and determining a spectrum of an error signal based at least in part on the model and the first spectrum. Determining the safety margin may be based at least in part on the spectrum of the error signal and a target occurrence rate. Operation characteristics of components of the vehicle (e.g., controller, steering actuator) may be tuned based at least in part on the model, first spectrum, and/or second spectrum. The techniques enable determining safety margins for untested vehicles and/or for different operating states of a vehicle.
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公开(公告)号：US11794789B2
公开(公告)日：2023-10-24
申请号：US17284970
申请日：2019-10-11
CPC分类号： B60W60/007 , B60W30/10 , B60W40/08 , B60W60/0015 , G01C21/3415 , G01C21/3492 , G08G1/0116 , G08G1/095 , B60W2040/0836 , B60W2040/0872 , B60W2540/221 , B60W2540/24 , B60W2556/45
摘要： A road information exchange system includes a plurality of Guided Autonomous Information Network (GAIN) units (102) installed on a road. Each GAIN unit (102) communicates with another GAIN unit (102) of the plurality of GAIN units (102) to divide the road into virtual lanes by formation of microgrids and further communicates with a vehicle passing through the road information exchange system (100).
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公开(公告)号：US11780424B2
公开(公告)日：2023-10-10
申请号：US17762741
申请日：2019-12-06
发明人： Shota Kameoka
CPC分类号： B60W30/02 , B60W30/10 , B60W40/06 , B60W2510/20 , B60W2510/222 , B60W2520/105 , B60W2520/20 , B60W2555/20 , B60W2710/20 , B60W2720/10
摘要： In a vehicle control device, a switching hyperplane generation unit generates a switching hyperplane based on a travel state of a vehicle and cornering stiffness dependent on a travel surface state as a state of a road surface on which the vehicle travels. A deviation computation unit calculates a deviation between a target trajectory and an actual trajectory of the vehicle. A state estimation unit estimates a state to be controlled of the vehicle based on the deviation calculated by the deviation computation unit. A target steering angle and acceleration/deceleration computation unit calculates a target steering angle and a target acceleration/deceleration rate of the vehicle based on the switching hyperplane generated by the switching hyperplane generation unit and an estimated state as the state estimated by the state estimation unit.
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公开(公告)号：US20230278589A1
公开(公告)日：2023-09-07
申请号：US17687774
申请日：2022-03-07
发明人： Linyu SUN
CPC分类号： B60W60/0017 , B60W30/10 , B62D15/021 , B60W2554/4049
摘要： A method of simulating a sensor in an autonomous driving simulation includes obtaining values for a plurality of attributes of a target object to be sensed by a sensor simulator in the autonomous driving simulation. The sensor simulator may simulate an active sensor that outputs rays to an object and receives reflections of the rays from the object. The method also includes inputting the obtained values for the plurality of attributes to a predetermined reflection rate table to obtain a reflection rate mapped to the obtained values; and generating sensor data corresponding to the target object based on the obtained reflection rate.
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公开(公告)号：US20230227055A1
公开(公告)日：2023-07-20
申请号：US18067388
申请日：2022-12-16
申请人： SUBARU CORPORATION
发明人： Hiroaki KURAMOCHI , Satoshi NAKANO , Masashi OKANO , Shuhei DAIROKUNO , Motohiro HIDAKA , Tatsuro SUZUKI , Katsuyuki UMEZAWA
CPC分类号： B60W50/082 , B62D6/00 , B60W50/16 , B60W30/10 , B60W30/14 , B62D5/0409
摘要： A vehicle driving support apparatus includes a forward environment recognizing device configured to recognize a traveling environment forward of a vehicle, a control device configured to perform adaptive cruise control and active lane keep centering control based on the recognized traveling environment, an electric power steering device configured to control a turning angle of wheels in a ganged manner in accordance with a steering angle received from a steering handle, and a driver monitoring system configured to detect changes in biological information of a driver who drives the vehicle. When the driver monitoring system detects a drop in alertness of the driver, the control device is configured to perform the adaptive cruise control and the active lane keep centering control and execute a steering handle idle mode that stops the electric power steering device from controlling the turning angle in the ganged manner in accordance with the steering angle.
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