公开(公告)号：US20190276043A1

公开(公告)日：2019-09-12

申请号：US16294994

申请日：2019-03-07

申请人： MITSUBISHI HEAVY INDUSTRIES, LTD.

发明人： Koji UCHIDA ,  Hiroyuki KONO ,  Akihisa KAWAUCHI

IPC分类号： B60W50/06 ,  B60W40/112 ,  B62D6/00 ,  B60W40/109 ,  B60W10/20 ,  B60W30/045

摘要： A steering control system includes: a deviation amount detection unit configured to detect a deviation amount of a car that travels on a track, from a reference traveling path of the car in a width direction of the track; a roll or lateral direction vibration amount detection unit configured to detect a roll or lateral direction vibration amount of the car; and a feedback control unit configured to perform feedback control of steering of the car so as to reduce the deviation amount and the roll or lateral direction vibration amount. The feedback control unit is configured to output a steering command value in which a specified frequency to be reduced is suppressed.

公开(公告)号：US20190204114A1

公开(公告)日：2019-07-04

申请号：US15862568

申请日：2018-01-04

申请人： Mitsubishi Electric Research Laboratories, Inc.

发明人： Karl Berntorp ,  Stefano Di Cairano

IPC分类号： G01C25/00 ,  B60R16/023 ,  B60W40/105 ,  B60W40/109 ,  B62D15/02 ,  B60W40/114 ,  G01D18/00 ,  G01P21/00 ,  G01C21/20 ,  G01C23/00 ,  G06F17/50 ,  G06F17/18

CPC分类号： G01C25/00 ,  B60R16/0231 ,  B60W40/105 ,  B60W40/109 ,  B60W40/114 ,  B60W2520/10 ,  B60W2520/125 ,  B60W2520/14 ,  B60W2540/18 ,  B62D15/021 ,  G01C21/20 ,  G01C23/00 ,  G01D18/00 ,  G01P21/00 ,  G05D1/027 ,  G05D1/0891 ,  G06F17/18 ,  G06F17/5009 ,  G06F2217/16

摘要： A system for controlling a vehicle a sensor to sense measurements indicative of a state of the vehicle and a memory to store a motion model of the vehicle, a measurement model of the vehicle, and a mean and a variance of a probabilistic distribution of a state of calibration of the sensor. The motion model of the vehicle defines the motion of the vehicle from a previous state to a current state subject to disturbance caused by an uncertainty of the state of calibration of the sensor in the motion of the vehicle. The measurement model relates the measurements of the sensor to the state of the vehicle using the state of calibration of the sensor. The system includes a processor to update the probabilistic distribution of the state of calibration based on a function of the sampled states of calibration weighted with weights determined based on a difference between the state of calibration sampled on a feasible space defined by the probabilistic distribution and the corresponding state of calibration estimated based on the measurements using the motion and the measurements models. The system includes a controller to control the vehicle using the measurements of the sensor adapted using the updated probabilistic distribution of the state of calibration of the sensor.

公开(公告)号：US20190084619A1

公开(公告)日：2019-03-21

申请号：US16007604

申请日：2018-06-13

申请人： SUBARU CORPORATION

发明人： Masato MIZOGUCHI

IPC分类号： B62D15/02 ,  G05D1/02 ,  B60W40/109 ,  B60W30/18

摘要： A traveling control apparatus of vehicle includes a lane change controller, a position detector, and a lane detector. The lane change controller includes first and second course generators that respectively generate first and second courses as target courses of a vehicle in first and second lanes. The first and the second course generators respectively calculate first and second target movement amounts, in width directions of the first and the second lanes, of the vehicle when the vehicle is moved along the first and the second courses, and respectively generate the first and the second courses on a basis of the first and the second target movement amounts and first and second jerks. The first and the second jerks are each a rate of change of acceleration of the vehicle in the width direction of the first lane in the first course or the second lane in the second course.

公开(公告)号：US20190047573A1

公开(公告)日：2019-02-14

申请号：US16023365

申请日：2018-06-29

申请人： Jaguar Land Rover Limited

发明人： Juan HERRERA

IPC分类号： B60W40/06 ,  B60W30/14 ,  B60W40/107 ,  B60W40/109 ,  B60W40/11 ,  B60W40/112

摘要： A surface roughness estimator for a vehicle configured to generate a first surface roughness index value indicative of terrain surface roughness and to output a signal in dependence at least in part on the first surface roughness index value, the estimator being configured to receive first acceleration information indicative of a first acceleration along a first axis, receive second acceleration information indicative of a second acceleration along a second axis, calculate a combined value in dependence on the first acceleration and second acceleration, and adjust the combined value in dependence on a speed of the vehicle to generate the first surface roughness index value.

公开(公告)号：US10053088B1

公开(公告)日：2018-08-21

申请号：US15437677

申请日：2017-02-21

申请人： Zoox, Inc.

发明人： Jacob Lee Askeland

IPC分类号： B60W30/02 ,  B60T7/22 ,  B60R22/48 ,  B60N2/02 ,  B60W40/08 ,  B60N2/00 ,  B60W40/107 ,  B60W40/109 ,  G06K9/62 ,  G06K9/00 ,  H04N7/18

CPC分类号： B60W30/025 ,  B60K28/08 ,  B60K31/0008 ,  B60N2/002 ,  B60T7/22 ,  B60T2210/30 ,  B60W30/18 ,  B60W40/08 ,  B60W40/107 ,  B60W40/109 ,  B60W50/085 ,  B60W2040/0881 ,  B60W2720/106 ,  B60W2720/125 ,  H04N7/18 ,  H04N7/183

摘要： A vehicle control system includes variable maneuvering limits based at least in part on whether the vehicle is carrying cargo (i.e., passengers or other cargo). The system can include a cargo classification system comprising one or more internal sensors, an imager, and an image interpreter. The cargo classification system can determine if the vehicle is carrying cargo and classify the cargo (e.g., passengers or other cargo). Based at least in part on this classification, the vehicle control system can set various vehicle maneuvering limits. When the vehicle is empty, the vehicle control system can maneuver the vehicle at, or near, the actual maneuvering limits for the vehicle (e.g., maximum longitudinal acceleration, braking and lateral acceleration that can be generated by the vehicle). When the vehicle is carrying cargo, the vehicle control system can maneuver the vehicle at a lower threshold to prevent passenger discomfort and/or cargo damage or discomfort.

公开(公告)号：US20180208205A1

公开(公告)日：2018-07-26

申请号：US15412511

申请日：2017-01-23

申请人： GM Global Technology Operations LLC

发明人： Alexander J. MACDONALD ,  Christopher J. BARBER ,  Stephen A. PADILLA ,  Michael G. PETRUCCI

IPC分类号： B60W40/09 ,  B60W40/107 ,  B60W40/109 ,  B60W50/08 ,  B60W30/182 ,  B60R16/023

CPC分类号： B60W40/09 ,  B60W30/182 ,  B60W40/107 ,  B60W40/109 ,  B60W50/082

摘要： A vehicle control system includes a function that relates (i) pairs of lateral and longitudinal acceleration values to (ii) skill values. A skill module: receives both (i) a lateral acceleration of the vehicle and (ii) a longitudinal acceleration of the vehicle; and, using the function, determines a skill value of a driver of the vehicle based on both (i) the lateral acceleration of the vehicle and (ii) the longitudinal acceleration of the vehicle. A skill level module determines a skill level of the driver of the vehicle based on the skill value. An actuator control module, based on the skill level of the driver, selectively actuates a dynamics actuator of the vehicle.

公开(公告)号：US10029697B1

公开(公告)日：2018-07-24

申请号：US15412511

申请日：2017-01-23

申请人： GM Global Technology Operations LLC

发明人： Alexander J. MacDonald ,  Christopher J. Barber ,  Stephen A. Padilla ,  Michael G. Petrucci

IPC分类号： B60W40/09 ,  B60W40/107 ,  B60W40/109 ,  B60W50/08 ,  B60W30/182 ,  B60R16/023

摘要： A vehicle control system includes a function that relates (i) pairs of lateral and longitudinal acceleration values to (ii) skill values. A skill module: receives both (i) a lateral acceleration of the vehicle and (ii) a longitudinal acceleration of the vehicle; and, using the function, determines a skill value of a driver of the vehicle based on both (i) the lateral acceleration of the vehicle and (ii) the longitudinal acceleration of the vehicle. A skill level module determines a skill level of the driver of the vehicle based on the skill value. An actuator control module, based on the skill level of the driver, selectively actuates a dynamics actuator of the vehicle.

公开(公告)号：US20150032351A1

公开(公告)日：2015-01-29

申请号：US14314731

申请日：2014-06-25

申请人： Dr. Ing. h.c. F. Porsche Aktiengesellschaft

发明人： Michael Baum ,  Leonardo Pascali

IPC分类号： B60W40/109 ,  B60C23/00

CPC分类号： B60W40/109 ,  B60C23/00 ,  B60C23/0416 ,  B60C23/0488

摘要： A method for determining an installation location of a wheel sensor on a wheel of a motor vehicle, wherein the method includes the steps of sampling a transverse acceleration signal of the wheel sensor, comparing the received transverse acceleration signal with a transverse acceleration signal of the motor vehicle, and determining that the wheel sensor is located on a steerable axle of the motor vehicle if the transverse acceleration signals differ from one another.

摘要翻译： 一种用于确定车辆传感器在机动车辆的车轮上的安装位置的方法，其中所述方法包括以下步骤：对所述车轮传感器的横向加速度信号进行采样，将所接收的横向加速度信号与所述电动机的横向加速度信号进行比较 并且如果横向加速度信号彼此不同，则确定车轮传感器位于机动车辆的可操纵的轴上。

公开(公告)号：US20050080545A1

公开(公告)日：2005-04-14

申请号：US10958407

申请日：2004-10-06

申请人： Tomohiro Takagi

发明人： Tomohiro Takagi

IPC分类号： B62D6/00 ,  B60K23/04 ,  B60T8/1755 ,  B60W30/00 ,  B60W30/02 ,  B60W40/10 ,  B60W40/109 ,  B60W40/114 ,  B62D101/00 ,  B62D113/00 ,  F16H48/08 ,  F16H48/26 ,  F16H48/36 ,  F16H48/38 ,  G06F19/00

CPC分类号： B60T8/1755 ,  B60G2300/082 ,  B60G2400/0533 ,  B60G2800/016 ,  B60G2800/212 ,  B60G2800/246 ,  B60G2800/952 ,  B60T2270/303 ,  F16H48/10

摘要： A vehicle-behavior detecting apparatus including a first-yaw-moment calculating unit, a second-yaw-moment calculating unit, and an indication-value calculating unit. Based on a linear bicycle model, the first-yaw-moment calculating unit calculates a first-yaw-moment during constant-speed turning. The second-yaw-moment calculating unit reads the longitudinal acceleration detected by an acceleration sensor in addition to the parameters read in the first-yaw-moment calculating unit, and calculates a second yaw moment during acceleration or deceleration. The indication-value calculating unit calculates a variation value in the yaw moment showing the vehicle behavior from the difference between the first yaw moment during constant-speed turning and the second yaw moment during accelerated or decelerated turning. The variation in the yaw moment due to the vehicle-load shift during accelerated or decelerated turning is compensated for by the variation value.

摘要翻译： 一种车辆行为检测装置，包括第一横摆力矩计算单元，第二横摆力矩计算单元和指示值计算单元。 基于线性自行车模型，第一横摆力矩计算单元计算恒速转弯期间的第一横摆力矩。 除了在第一偏航力矩计算单元中读取的参数之外，第二偏航力矩计算单元读取由加速度传感器检测的纵向加速度，并且在加速或减速期间计算第二横摆力矩。 指示值计算单元根据加速或减速转弯期间的恒速转弯中的第一横摆力矩与第二横摆力矩之间的差异来计算显示车辆行为的横摆力矩中的变化值。 在加速或减速转弯期间由于车辆载荷偏移引起的横摆力矩的变化由变化值补偿。

公开(公告)号：US5751211A

公开(公告)日：1998-05-12

申请号：US777196

申请日：1996-12-27

申请人： Noriaki Shirai ,  Katsuhiko Hibino ,  Takao Nishimura

发明人： Noriaki Shirai ,  Katsuhiko Hibino ,  Takao Nishimura

IPC分类号： B60R21/00 ,  B60K28/10 ,  B60Q1/00 ,  B60W30/00 ,  B60W40/10 ,  B60W40/109 ,  G01S7/295 ,  G01S13/44 ,  G01S13/60 ,  G01S13/93 ,  G01S17/88 ,  G01S17/93 ,  G03C1/16 ,  G08G1/16

CPC分类号： G01S17/936 ,  B60K28/10 ,  B60W10/04 ,  B60W10/10 ,  B60W30/18 ,  B60W30/1819 ,  G01S13/931 ,  G03C1/16 ,  B60W2550/10 ,  B60W2550/143 ,  G01S13/44 ,  G01S2013/9321 ,  G01S2013/9325 ,  G01S2013/9339 ,  G01S2013/9346 ,  G01S2013/935 ,  G01S2013/9353 ,  G01S2013/9364 ,  G01S2013/9375 ,  Y10S367/909

摘要： As provided here, an obstacle warning system for a vehicle is capable of issuing an alarm accurately according to the curved state of a road. When the road is curved, the system sets the correction time counter on the basis of the following conditions: whether or not the curvature radius of the curved road is small; whether or not a guardrail is detected immediately ahead of the vehicle; whether or not an erroneously-recognized object, such as a set of guardrail reflectors exhibiting large relative acceleration is immediately ahead of the vehicle; and whether or not the number of obstacles recognized reaches a value indicating that the vehicle is approaching a curved section of the road. When a stationary object enters the field of view indicating that there is a possibility of a collision, the obstacle warning system corrects the warning distance in response to the value of the correction time counter, thus making it possible to avoid a false alarm during cornering.

摘要翻译： 如这里所提供的，车辆的障碍物报警系统能够根据道路的弯曲状态准确地发出报警。 当道路弯曲时，系统基于以下条件设置校正时间计数器：曲面道路的曲率半径是否小; 是否立即在车辆前方检测到护栏; 是否在车辆之前立即将诸如表现出相对加速度较大的一组护栏反射器的错误识别的物体， 以及所识别的障碍物的数量是否达到表示车辆正在接近道路的弯曲部分的值。 当静止物体进入指示存在碰撞的可能性的视场时，障碍物报警系统响应于校正时间计数器的值来校正警告距离，从而可以避免转弯期间的假警报。