公开(公告)号：WO2020057801A1

公开(公告)日：2020-03-26

申请号：PCT/EP2019/068943

申请日：2019-07-15

Applicant: JAGUAR LAND ROVER LIMITED

Inventor： KING, Paul ,  FAIRGRIEVE, Andrew ,  RAVI, Bineesh ,  JAYARAJ, Jithin ,  JAYAPRAKASH, Krishna ,  KOTTERI, Jithesh

IPC: G05D1/02 ,  B60W30/10

Abstract: 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.

公开(公告)号：WO2017012974A1

公开(公告)日：2017-01-26

申请号：PCT/EP2016/066757

申请日：2016-07-14

Applicant: JAGUAR LAND ROVER LIMITED

Inventor： DUNNING, Emma-Claire ,  KING, Paul

IPC: B60C23/00

CPC classification number: B60C23/003

Abstract: A central tyre inflation system (CTIS) for a vehicle comprises a reservoir (16) for supplying air to one or more vehicle tyres (12a, 12b, 12c, 12d), a pressure sensor (20) for monitoring air pressure in the reservoir (16), a compressor (22) for supplying compressed air along a first flow path (24) to the reservoir (16), a compressor timer (26) for monitoring the run-time of the compressor, a dryer (36) disposed on the first flow path (24) for drying air supplied by the compressor (22), a purging system (30) for routing air through the dryer (36) along a second flow path (34) to purge liquid from the dryer (36), and a control means for controlling the flow of air in the CTIS. The control means is configured: to activate the compressor (22) to supply air along the first flow path (24) to the reservoir (16) in response to a request for a compressor operation, after which operation the air in the reservoir (16) is at a post-operation pressure; when the compressor operation is complete, to determine a compressor activation period, and to determine if the compressor activation period is greater than or equal to a target period; and if the compressor activation period is less than the target period, to keep the compressor (22) activated until pressure in the reservoir (16) increases to a base target pressure greater than the post-operation pressure; and if the compressor activation period is greater than or equal to the target period, to keep the compressor (22) activated until pressure in the reservoir (16) increases to an elevated target pressure higher than the base target pressure and to activate the purging system (30) to route air from the reservoir (16) along the second flow path (34) to purge the dryer (36) of liquid.

Abstract translation: 用于车辆的中央轮胎充气系统（CTIS）包括用于向一个或多个车辆轮胎（12a，12b，12c，12d）供应空气的储存器（16），用于监测储存器中的空气压力的压力传感器（20） 16），用于将压缩空气沿着第一流路（24）供应到储存器（16）的压缩机（22），用于监测压缩机的运行时间的压缩机定时器（26），设置在压缩机 用于干燥由压缩机（22）供应的空气的第一流动路径（24），用于沿着第二流动路径（34）将空气引导通过干燥器（36）的净化系统（30），以从干燥器（36）清洗液体， 以及用于控制CTIS中的空气流的控制装置。 控制装置被配置为：响应于对压缩机操作的请求而启动压缩机（22）以将空气沿着第一流动路径（24）供应到储存器（16），之后操作储存器（16）中的空气 ）处于操作后的压力; 当压缩机操作完成时，确定压缩机启动期间，并确定压缩机启动周期是否大于或等于目标周期; 并且如果所述压缩机启动期间小于所述目标周期，则为了保持所述压缩机（22）的启动，直到所述储存器（16）中的压力增加到大于所述操作后压力的基准目标压力; 并且如果所述压缩机启动期间大于或等于所述目标周期，则为了保持所述压缩机（22）被激活，直到所述储存器（16）中的压力升高到高于所述基准目标压力的升高的目标压力并且启动所述清洗系统 （30）沿着第二流动路径（34）从储存器（16）引导空气以清除液体的干燥器（36）。

公开(公告)号：WO2016198583A1

公开(公告)日：2016-12-15

申请号：PCT/EP2016/063270

申请日：2016-06-10

Applicant: JAGUAR LAND ROVER LIMITED

Inventor： CIOVNICU, Roxana ,  WOODLEY, Jonathan ,  KING, Paul

IPC: B60C23/00

CPC classification number: B60C23/003

Abstract: In one aspect of the invention there is provided a central tyre inflation system for a vehicle comprising: a plurality of inflation control valves for controlling inflation of a respective tyre; and a first gas source for supplying pressurised gas to the inflation control valves, the system further comprising a first gas inlet valve for controlling the supply of gas from the first gas source to a fluid gallery, the system comprising a plurality of gallery outlet valves each arranged to control gas flow between the fluid gallery and a respective tyre supply line, each tyre supply line being provided in fluid communication with the inflation control valve of a respective tyre and arranged to supply gas from the fluid gallery to the inflation control valve, the gallery being provided with an exhaust valve for exhausting gas therein and at least two gallery pressure sensors for measuring a pressure of gas in the gallery, at least one electronic controller being configured to perform at least one system check comprising a gallery pressure sensor check, the gallery pressure sensor check comprising, with the gallery outlet valves and first gas inlet valve closed, causing the gallery exhaust valve to open and monitoring the pressure in the gallery according to each of the at least two gallery pressure sensors, wherein if the pressure in the gallery according to the at least two gallery pressure sensors does not correspond substantially to a predetermined datum pressure, the electronic controller determines that the system has failed the system check, wherein if the control means determines that the system has failed a system check the electronic controller is configured not to permit inflation or deflation of one or more tyres by the system.

Abstract translation: 在本发明的一个方面，提供了一种用于车辆的中央轮胎充气系统，包括：多个用于控制相应轮胎的充气的充气控制阀; 以及用于向所述充气控制阀供应加压气体的第一气体源，所述系统还包括用于控制从所述第一气体源到流体槽的气体供应的第一气体入口阀，所述系统包括多个所述喷射出口阀， 布置成控制流体库和相应的轮胎供应管线之间的气体流动，每个轮胎供应管线设置成与相应轮胎的充气控制阀流体连通，并且布置成将气体从流体槽供应到膨胀控制阀， 设有一个用于排出气体的排气阀和至少两个画廊压力传感器，用于测量画廊中气体的压力，至少一个电子控制器被配置成执行至少一个包括画廊压力传感器检查的系统检查， 画廊压力传感器检查包括，画廊出口阀和第一个进气阀关闭，导致画廊 排气阀，以根据所述至少两个气缸压力传感器中的每一个来打开和监测所述气室中的压力，其中如果根据所述至少两个气缸压力传感器的所述气室中的压力基本上不对应于预定的基准压力， 电子控制器确定系统已经使系统检查失败，其中如果控制装置确定系统已经系统检查失败，则电子控制器被配置为不允许系统对一个或多个轮胎进行充气或放气。

公开(公告)号：WO2015176869A1

公开(公告)日：2015-11-26

申请号：PCT/EP2015/057893

申请日：2015-04-10

Applicant: JAGUAR LAND ROVER LIMITED

Inventor： KING, Paul ,  DUNNING, Emma-Claire ,  LESBIREL, Robbie ,  DODU, Maelle ,  TRAN, Thuy-Yung

IPC: B60C23/00

CPC classification number: B60C23/003

Abstract: The present invention relates to a processor (15) for controlling operation of a central tyre inflation system (CTIS). The processor (15) controls the central tyre inflation system (CTIS) to inflate a vehicle tyre (T) from a current tyre pressure to a target tyre pressure. The processor (15) is configured to generate one or more output signals to cause the central tyre inflation system (CTIS) to supply compressed air to inflate the tyre from said current tyre pressure to said target tyre pressure in at least first and second stages. In the first stage, the central tyre inflation system (CTIS) supplies compressed air to inflate the tyre (T) from said current tyre pressure to an intermediate tyre pressure. In the second stage, the central tyre inflation system (CTIS) supplies compressed air to inflate the tyre from said intermediate tyre pressure to said target tyre pressure. The first and second stages of the inflation are discrete from each other. Aspects of the invention also relates to a method and to a vehicle (VH).

Abstract translation: 本发明涉及一种用于控制中央轮胎充气系统（CTIS）的操作的处理器（15）。 处理器（15）控制中央轮胎充气系统（CTIS）使车辆轮胎（T）从当前轮胎压力膨胀到目标轮胎压力。 处理器（15）被配置为产生一个或多个输出信号，以使得中心轮胎充气系统（CTIS）在至少第一和第二阶段中供应压缩空气以使轮胎从所述当前轮胎压力膨胀到所述目标轮胎压力。 在第一阶段，中央轮胎充气系统（CTIS）提供压缩空气以使轮胎（T）从当前轮胎压力膨胀到中间轮胎压力。 在第二阶段，中央轮胎充气系统（CTIS）提供压缩空气以使轮胎从所述中间轮胎压力膨胀至所述目标轮胎压力。 通货膨胀的第一和第二阶段彼此离散。 本发明的方面还涉及一种方法和车辆（VH）。

公开(公告)号：WO2017220705A1

公开(公告)日：2017-12-28

申请号：PCT/EP2017/065337

申请日：2017-06-22

Applicant: JAGUAR LAND ROVER LIMITED

Inventor： YAN, Hongshi ,  FAIRGRIEVE, Andrew ,  KING, Paul

IPC: G06K9/00 ,  B60W30/10 ,  B60W30/14 ,  B60W40/06 ,  B60W50/00 ,  B60W50/14

Abstract: A control system (10, 19, 185C) for a vehicle (100), the system comprising a processing means (10, 19) arranged to receive, from terrain data capture means (185C) arranged to capture data in respect of terrain ahead of the vehicle by means of one or more sensors, terrain information indicative of the topography of an area extending ahead of the vehicle (100), wherein the terrain information comprises data defining at least one 2D image of the terrain ahead of the vehicle, wherein the processing means (10, 19) is configured to: perform a segmentation operation on image data defining one said at least one 2D image and identify in the image data edges of a predicted path of the vehicle; calculate a 3D point cloud dataset in respect of the terrain ahead of the vehicle based on the terrain information; determine the 3D coordinates of lateral edges of the predicted path of the vehicle by reference to the point cloud dataset, based on the coordinates of edges of the predicted path identified in the 2D image, to determine a 3D predicted path of the vehicle; and control the direction of travel of the vehicle in dependence at least in part on the 3D predicted path.

Abstract translation: （100）的控制系统（10,19,185C），所述系统包括处理装置（10,19），所述处理装置被布置为从地形数据捕捉装置（185C）接收地形数据捕捉装置（185C），所述地形数据捕捉装置 通过一个或多个传感器捕获关于车辆前方地形的数据，所述地形信息指示延伸到所述车辆（100）前方的区域的地形，其中所述地形信息包括定义所述车辆（100）的至少一个2D图像 其中处理装置（10,19）被配置为：对定义一个所述至少一个2D图像的图像数据执行分割操作，并且在图像数据中识别车辆的预测路径的边缘; 基于地形信息来计算关于车辆前方的地形的3D点云数据集; 基于在2D图像中识别的预测路径的边缘的坐标，通过参考点云数据集来确定车辆的预测路径的横向边缘的3D坐标以确定车辆的3D预测路径; 并且至少部分地根据3D预测路径来控制车辆的行驶方向。

公开(公告)号：WO2015176870A1

公开(公告)日：2015-11-26

申请号：PCT/EP2015/057897

申请日：2015-04-10

Applicant: JAGUAR LAND ROVER LIMITED

Inventor： KING, Paul ,  DUNNING, Emma-Claire ,  LESBIREL, Robbie ,  DODU, Maelle ,  TRAN, Thuy-Yung ,  LÄÄNEMETS, Laur ,  WOODLEY, Jonathan

IPC: B60C23/00

CPC classification number: B60C23/003 ,  B60C23/002 ,  B60C23/0408

Abstract: A processor for controlling operation of a central tyre inflation system (CTIS) (1) to change a tyre pressure of a tyre (T) of a vehicle (8) is configured to control the CTIS (1) to inflate or deflate the tyre (T) to a predetermined tyre pressure which is above a target tyre pressure for said tyre (T). The processor then controls the CTIS (1) to deflate said tyre (T) until the target tyre pressure is reached. In this manner, a second tyre inflation operation to achieve the target tyre pressure in the tyre (T) can be avoided.

Abstract translation: 用于控制用于改变车辆（8）的轮胎（T）的轮胎压力的中央轮胎充气系统（CTIS）（1）的操作的处理器被配置为控制CTIS（1）使轮胎充气或放气 T）达到高于所述轮胎（T）的目标轮胎压力的预定轮胎压力。 然后，处理器控制CTIS（1）使所述轮胎（T）放气，直到达到目标轮胎压力。 以这种方式，可以避免实现轮胎（T）中的目标轮胎压力的第二轮胎充气操作。

公开(公告)号：WO2020057895A1

公开(公告)日：2020-03-26

申请号：PCT/EP2019/072523

申请日：2019-08-22

Applicant: JAGUAR LAND ROVER LIMITED

Inventor： FAIRGRIEVE, Andrew ,  KING, Paul ,  MATTHIAS, Rebecca ,  SIMLETT, John ,  IACOVOU, Nicolas

IPC: B60W30/10 ,  B60W30/16 ,  B60W50/14 ,  B60W30/182

Abstract: Embodiments of the present invention provide a control system for a vehicle, the vehicle (800) being operable in an at least partly autonomous mode and a manual mode, the control system comprising input means (291, 292) for receiving a gaze signal (211) indicative of a direction of a gaze of an occupant of the vehicle (800), and a contact signal (212) indicative of physical contact between the occupant and a control of the vehicle, control means (250, 260, 270, 280, 290) configured to determine an estimate of the occupant's attention to a driving task in the at least partly autonomous mode in dependence on the gaze signal (211) and to determine when the occupant is at least partly obscured relative to the at least one imaging means (150, 220), wherein the control means (250, 260, 270, 280, 290) is configured to determine the estimate of the occupant's attention to the driving task in dependence on the contact signal when it is determined that the occupant is at least partly obscured.

公开(公告)号：WO2017012977A1

公开(公告)日：2017-01-26

申请号：PCT/EP2016/066762

申请日：2016-07-14

Applicant: JAGUAR LAND ROVER LIMITED

Inventor： DUNNING, Emma-Claire ,  KING, Paul ,  LESBIREL, Robbie ,  DODU, Maelle ,  TRAN, Thuy-Yung

IPC: B60C23/00

CPC classification number: B60C23/003

Abstract: A central tyre inflation system (CTIS) (1) of a vehicle (VH) for supplying compressed air to a tyre (T) of the vehicle (VH) to compensate for air loss from the tyre (T), the CTIS (1) comprising: means for determining a rate of air loss from the tyre (T); a sensor arranged to measure a temperature of a compressor (9) of the CTIS (1); and an electronic control unit (ECU) (15) configured to: compare the rate of air loss with a rate of air loss threshold, determine, based on the compressor temperature and the comparison of the rate of air loss with the rate of air loss threshold, whether the CTIS (1) can support compensation for the air loss; and control the CTIS (1) to supply compressed air to the tyre (T) to compensate for the air loss if the CTIS (1) can support compensation for the air loss.

Abstract translation: CTIS（1）用于向车辆（VH）的轮胎（T）供应压缩空气以补偿来自轮胎（T）的空气损失的车辆（VH）的中央轮胎充气系统（CTIS）（1） 包括：用于确定来自轮胎（T）的空气损失率的装置; 布置成测量CTIS（1）的压缩机（9）的温度的传感器; 以及电子控制单元（ECU）（15），其被配置为：将空气损失率与空气损失阈值的比率进行比较，基于压缩机温度和空气损失率与空气损失率的比较来确定 CTIS（1）是否可以支持赔偿空气损失; 并控制CTIS（1）向轮胎（T）供应压缩空气以补偿空气损失，如果CTIS（1）可以支持空气损失的补偿。

公开(公告)号：WO2018192861A1

公开(公告)日：2018-10-25

申请号：PCT/EP2018/059584

申请日：2018-04-13

Applicant: JAGUAR LAND ROVER LIMITED

Inventor： CRIPPS, Gary ,  POWELL, Richard ,  GREENWOOD, Jeremy ,  CORNE, Hester ,  MORRISON, Alexander ,  FAIRGRIEVE, Andrew ,  KING, Paul

IPC: A61H1/02

CPC classification number: A61H1/0262 ,  A61H3/008 ,  A61H2201/0173 ,  A61H2201/0176 ,  A61H2201/018 ,  A61H2201/0196 ,  A61H2201/1207 ,  A61H2201/1215 ,  A61H2201/1238 ,  A61H2201/164 ,  A61H2201/1642 ,  A61H2201/1652 ,  A61H2201/1664 ,  A61H2201/1671 ,  A61H2201/5007 ,  A61H2201/5023 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5084 ,  A61H2203/0406 ,  A61H2205/088 ,  A61H2205/10 ,  A61H2205/12 ,  A61H2230/825

Abstract: The present disclosure relates to a releasable footplate assembly (6-1) for a gait training unit (5-1, 5-2). The releasable footplate assembly (6-1) includes a movable footplate (7-1) having fastening means (15) for fastening a user's foot (3-1, 3-2) to the movable footplate (7-1). A footplate carrier (12) having retaining means (10-1) is provided to generate a retaining force to retain the movable footplate (7-1). The retaining means (10-1) is controllable to adjust the retaining force. The retaining force may, for example, be controlled in dependence on a position and/or orientation of the releasable footplate assembly (6-1). In an alternative arrangement, the processor (41) may be configured to control the retaining means (10-1) to release the movable footplate (7-1) if an applied force is greater than a release force threshold (FT1). The processor (41) may be configured to adjust the release force threshold (FT1). The present disclosure also relates to a control unit (40) for controlling a releasable footplate assembly (6-1); and a gait training apparatus (1) comprising at least one releasable footplate assembly (6-1).

公开(公告)号：WO2017012975A1

公开(公告)日：2017-01-26

申请号：PCT/EP2016/066758

申请日：2016-07-14

Applicant: JAGUAR LAND ROVER LIMITED

Inventor： DUNNING, Emma-Claire ,  KING, Paul

IPC: B60C23/00

CPC classification number: B60C23/003

Abstract: A valve block (3) for a central tyre inflation system (CTIS) (1 ) for a vehicle tyre (T), the valve block (3) comprising: a gallery (33); a first compressed air port (17) and a second compressed air port (13); at least one inlet valve (V INC1 , V INC2 ), the or each inlet valve (V INC1 , V INC2 ) being operable to open or close communication between the gallery (33) and the first compressed air port (17); a control valve (V INSS ) operable to open or close communication between the gallery (33) and the second compressed air port (13), wherein the control valve (V INSS ) has an orifice that is smaller than an orifice of the or each inlet valve; at least one exhaust valve (E 1 , E 2 ) operable to open or close communication between the gallery (33) and an exhaust outlet (23); and at least one outlet valve (V O ) operable to open or close communication between the gallery (33) and a tyre supply line (TSL) for supplying compressed air to the vehicle tyre (T).

Abstract translation: 一种用于车辆轮胎（T）的中央轮胎充气系统（CTIS）（1）的阀块（3），所述阀块（3）包括：一个画廊（33）; 第一压缩空气端口（17）和第二压缩空气端口（13）; 至少一个入口阀（VINC1，VINC2），所述或每个入口阀（VINC1，VINC2）可操作以打开或关闭所述外壳（33）和所述第一压缩空气端口（17）之间的连通; 控制阀（VINSS），其可操作以打开或关闭所述库（33）和所述第二压缩空气端口（13）之间的连通，其中所述控制阀（VINSS）具有小于所述或每个入口阀 ; 至少一个排气门（E1，E2）可操作以打开或关闭所述廊（33）和排气出口（23）之间的连通; 以及至少一个出口阀（VO），其可操作以打开或关闭所述库（33）和用于向所述车辆轮胎（T）供应压缩空气的轮胎供应管线（TSL）之间的连通。