公开(公告)号：US10407035B1

公开(公告)日：2019-09-10

申请号：US15667699

申请日：2017-08-03

Applicant: Apple Inc.

Inventor： Christopher D. Gadda ,  Carlos Alberto De Magalhaes Massera Filho ,  David A. Stronks ,  Gabriel M. Hoffmann ,  Miroslav Baric ,  Nathaniel B. Honka ,  Stefan Solyom ,  Timothee J. Cazenave

IPC: B60T8/1755 ,  B60W10/184 ,  B60W10/20 ,  B62D6/00 ,  B62D15/02 ,  G05D1/02 ,  G05D1/08 ,  B62D37/00

Abstract: A control system for a vehicle includes a plurality of vehicle actuators that are operable to affect actual chassis-level accelerations, a vehicle intelligence unit that determines a motion plan, a vehicle motion control unit that determines a chassis-level motion request based on the motion plan, and a chassis control unit that determines actuator commands for the plurality of vehicle actuators based on the chassis-level motion request.

公开(公告)号：US10919520B1

公开(公告)日：2021-02-16

申请号：US15667692

申请日：2017-08-03

Applicant: Apple Inc.

Inventor： Christopher D. Gadda ,  Carlos Alberto De Magalhaes Massera Filho ,  David A. Stronks ,  Gabriel M. Hoffmann ,  Miroslav Baric ,  Nathaniel B. Honka ,  Stefan Solyom ,  Timothee J. Cazenave

IPC: B60W30/02 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W40/114 ,  B60W40/105

Abstract: A control system for a vehicle includes a plurality of vehicle actuators that are operable to affect actual chassis-level accelerations, a vehicle intelligence unit that determines a motion plan, a vehicle motion control unit that determines a chassis-level motion request based on the motion plan, and a chassis control unit that determines actuator commands for the plurality of vehicle actuators based on the chassis-level motion request and actuator identity information that describes presently available actuators from the plurality of vehicle actuators.

公开(公告)号：US11465620B1

公开(公告)日：2022-10-11

申请号：US16902816

申请日：2020-06-16

Applicant: Apple Inc.

Inventor： Dimitar H. Lukarski ,  Siddharth Swaminathan ,  Miroslav Baric

IPC: B60W30/12 ,  B60W60/00

Abstract: A vehicle includes a lane generator that is configured to receive information that describes a first lane portion and a second lane portion and determine that a discontinuity is present. The lane generator obtains a sensor output and detects presence of a nearby vehicle in the first lane portion. A classification for the nearby vehicle is identified by analyzing the sensor output, and is used to select a vehicle kinematics model. The lane generator determines paths for a simulated vehicle from the first lane portion to the second lane portion using the vehicle kinematics model. A third lane portion is determined based on the paths such that the third lane portion defines a traversable route from the first lane portion to the second lane portion in accordance with the vehicle kinematics model. An automated vehicle control system generates control outputs based in part on the third lane portion.