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公开(公告)号：US11926381B2
公开(公告)日：2024-03-12
申请号：US17573711
申请日：2022-01-12
发明人： José Vilca , Leon Henderson , Thorsten Helfrich , Jonathan Olsson , Mats Jonasson , Axel Ceder
IPC分类号： B62D6/04 , G06N20/00 , B60W60/00 , B60W40/114
CPC分类号： B62D6/04 , B60W40/114 , B60W60/001 , G06N20/00 , B60W2300/14
摘要： A system for estimating an articulation angle of a vehicle combination comprises a motion sensor for sensing one or more linear and/or angular motion quantities of the vehicle combination and a dynamics-based estimator configured to estimate state variables, including the articulation angle on the basis of the sensed motion quantities, wherein the dynamics-based estimator is dependent on one or more masses and moments of inertia of the vehicle combination.
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公开(公告)号：US11851116B2
公开(公告)日：2023-12-26
申请号：US17752071
申请日：2022-05-24
发明人： Tae Hong Kim
CPC分类号： B62D5/0484 , B62D5/0493 , B62D6/04
摘要： An electronic steering control apparatus to which a redundancy system is applied and which includes a first position controller and a second position controller. When communication is established between the first and second position controllers, the first position controller controls the position of a first motor based on command steering angles θ1 and θ2 from a control unit and feedback steering angles θm1 and θm2 from the first motor and a second motor, and the second position controller controls the position of the second motor based on the command steering angles θ1 and θ2 from the control unit and the feedback steering angles θm1 and θm2 from the first motor and the second motor.
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公开(公告)号：US11679805B2
公开(公告)日：2023-06-20
申请号：US16825413
申请日：2020-03-20
发明人： Jeffrey R. Meyer , Kameron M. Carey
CPC分类号： B62D6/04 , B62D5/0463
摘要： Technical solutions are described for mitigating traction steer using an electric power steering system (EPS). A control system for a power steering system including a processor and memory are provided. The memory includes instructions that, when executed by the processor, cause the processor to generate a motor command as a function of a handwheel velocity, and to modify the motor command based upon a traction torque signal. A method for controlling a power steering system is also provided. The method includes generating a motor command as a function of a handwheel velocity; modifying the motor command based upon a traction torque signal; and applying the motor command to an actuator of the power steering system.
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公开(公告)号：US11498617B2
公开(公告)日：2022-11-15
申请号：US17498239
申请日：2021-10-11
发明人： Yuta Akamatsu , Masahiro Kobayashi , Yasuhisa Taira , Osamu Fukata , Ko Sato
IPC分类号： B62D6/04 , B60W60/00 , B62D5/04 , B60W30/12 , B60W30/10 , B60W30/18 , B60W30/09 , B62D15/02 , B60W50/08 , B60W10/20
摘要： A vehicle control method for controlling a vehicle using a vehicle control apparatus includes: a sensor configured to detect a state outside a subject vehicle; and a control device. The vehicle control method includes: executing control of recovering a travel trajectory of the subject vehicle to a target trajectory, as ordinary control, by giving a steering amount in a lateral direction with respect to a travel lane of the subject vehicle; using detection data of the sensor to determine whether or not another vehicle is traveling in an adjacent lane to the travel lane of the subject vehicle; and when determining that the other vehicle is traveling in the adjacent lane ahead of the subject vehicle, increasing a response of the steering amount to a higher response than that in the ordinary control, before the subject vehicle passes the other vehicle.
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公开(公告)号：US11318986B2
公开(公告)日：2022-05-03
申请号：US16636270
申请日：2018-07-26
发明人： Takuya Ishihara , Toshiro Yoda
摘要： A steering device includes: a first steering mechanism including a first ball nut steering, and a first motor actuator, the first ball nut steering including a first output shaft, a first ball screw, and a first transmitting mechanism, the first motor actuator arranged to provide a rotation force to the first output shaft, a second steering mechanism including a second ball nut steering, and a second motor actuator, the second ball nut steering including a second output shaft, a second ball screw, and a second transmitting mechanism, the second motor actuator arranged to provide a rotation force to the second output shaft, a connection member arranged to connect the first transmitting mechanism and the second transmitting mechanism so as to interlock a movement of the first transmitting mechanism and a movement of the second transmitting mechanism.
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公开(公告)号：US20220024515A1
公开(公告)日：2022-01-27
申请号：US17498239
申请日：2021-10-11
发明人： Yuta Akamatsu , Masahiro Kobayashi , Yasuhisa Taira , Osamu Fukata , Ko Sato
IPC分类号： B62D6/04 , B60W30/18 , B60W30/09 , B62D5/04 , B60W30/12 , B60W30/10 , B60W60/00 , B60W10/20 , B62D15/02 , B60W50/08
摘要： A vehicle control method for controlling a vehicle using a vehicle control apparatus includes: a sensor configured to detect a state outside a subject vehicle; and a control device. The vehicle control method includes: executing control of recovering a travel trajectory of the subject vehicle to a target trajectory, as ordinary control, by giving a steering amount in a lateral direction with respect to a travel lane of the subject vehicle; using detection data of the sensor to determine whether or not another vehicle is traveling in an adjacent lane to the travel lane of the subject vehicle; and when determining that the other vehicle is traveling in the adjacent lane ahead of the subject vehicle, increasing a response of the steering amount to a higher response than that in the ordinary control, before the subject vehicle passes the other vehicle.
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公开(公告)号：US11142243B2
公开(公告)日：2021-10-12
申请号：US16255079
申请日：2019-01-23
申请人： JTEKT CORPORATION
发明人： Shingo Maeda , Takashi Kodera
IPC分类号： B62D6/04 , B60W40/064 , B62D6/00
摘要： Provided is a steering control device that controls a steer-by-wire steering system for a vehicle and that is capable of reducing erroneous detection of a grip state and improving the robustness in controlling a steering reaction force. The control device includes a road surface axial force calculation circuit that calculates a road surface axial force, based on road surface information. The control device includes a second estimated axial force calculation circuit that calculates a lateral force applied to a rack shaft, based on a yaw rate and a lateral acceleration. The control device includes a grip factor calculation circuit that calculates a grip factor, based on the road surface axial force and the lateral force. The control device varies the steering reaction force in accordance with the grip factor.
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公开(公告)号：US11091148B2
公开(公告)日：2021-08-17
申请号：US16039788
申请日：2018-07-19
摘要： A method for determining whether hands of an operator of a vehicle are positioned on a hand wheel of the vehicle is provided. The method generates a first frequency content below a first frequency from a hand wheel torque signal. The method generates a second frequency content above a second frequency from the first frequency content of the hand wheel torque signal. The method generates a hands on wheel (HOW) estimate signal based on the first frequency content and the second frequency content by determining a first contribution of the first frequency content to the HOW estimate signal, determining a second contribution of the second frequency content to the HOW estimate signal, and combining the first contribution and the second contribution to generate the HOW estimate signal. The method causes a system in a vehicle to operate based on the HOW estimate signal.
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公开(公告)号：US11014606B2
公开(公告)日：2021-05-25
申请号：US16776422
申请日：2020-01-29
申请人： Motional AD LLC
发明人： Ning Wu , Hans Andersen , Francesco Seccamonte
摘要： Among other things, we describe techniques for electric power steering torque compensation. Techniques are provided for a method implemented by a computer, e.g., a computer onboard an autonomous vehicle. A planning circuit onboard the vehicle and connected to an EPS of the vehicle determines a compensatory torque signal to modify an actual steering angle of a steering wheel of the vehicle to match an expected steering angle of the steering wheel. The planning circuit transmits the compensatory torque signal to a control circuit that controls the steering angle of the steering wheel. The EPS modifies the actual steering angle based on the compensatory torque signal resulting in a modified steering angle. The control circuit operates the vehicle based on the modified steering angle.
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公开(公告)号：US10780914B2
公开(公告)日：2020-09-22
申请号：US16140830
申请日：2018-09-25
申请人： Trimble Inc.
发明人： Brandon Sights , Justin Creaby
摘要： A method of detecting steering wheel angle instability in an auto-guided vehicle includes measuring a steering wheel angle at a plurality of time instances within a pre-determined time window to obtain an array of values of the steering wheel angle, performing a frequency analysis of the array of values of the steering wheel angle to obtain a frequency spectrum of the steering wheel angle, comparing the frequency spectrum of the steering wheel angle to a pre-defined threshold frequency spectrum to determine whether a magnitude of the frequency spectrum of the steering wheel angle at any frequency exceeds a magnitude of the threshold frequency spectrum, and upon determining that a magnitude of the frequency spectrum of the steering wheel angle at one or more frequencies exceeds a magnitude of the pre-defined threshold frequency spectrum, determining that a steering wheel angle instability is present.
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