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1.发明公开公开(公告)号：US20240231358A1
公开(公告)日：2024-07-11
申请号：US18151608
申请日：2023-01-09
发明人： Reza Hajiloo , SeyedAlireza Kasaiezadeh Mahabadi , Ehsan Asadi , Gianmarc Coppola , Bakhtiar B. Litkouhi
CPC分类号： G05D1/0088 , G05D1/0212 , G05D2201/0213
摘要： A method for controlling an autonomous vehicle includes receiving road data. The road data includes information about a plurality of potential events along the road ahead of the autonomous vehicle. The method further includes determining, in real time, a probability that the plurality of potential events along the road ahead of the autonomous vehicle will occur while the autonomous vehicle moves along the road and determining, in real time, an adjusted planned path using a probabilistic predictive control that takes into account the probability that the plurality of potential events along the road ahead of the autonomous vehicle will occur. Further, the method includes controlling the autonomous vehicle to cause the autonomous vehicle to autonomously follow the adjusted planned path.
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公开(公告)号：US20230406287A1
公开(公告)日：2023-12-21
申请号：US17824196
申请日：2022-05-25
发明人： Reza Hajiloo , Ehsan Asadi , Seyedeh Asal Nahidi , SeyedAlireza Kasaiezadeh Mahabadi , Gianmarc Coppola , Bakhtiar B. Litkouhi
CPC分类号： B60W30/02 , B60W50/00 , B60W2556/35 , B60W2520/14 , B60W2520/12 , B60W2520/125 , B60W2520/20
摘要： A method for vehicle motion control includes receiving sensor data from a plurality of sensors of a vehicle and monitoring a vehicle response of the vehicle using the sensor data. The vehicle response is represented by a plurality of vehicle-response signals. The method further includes fusing the plurality of vehicle-response signals to obtain at least one fused signal. The method further includes determining whether to activate a vehicle stability control of the vehicle based on the at least one fused signal and commanding the vehicle to activate the vehicle stability control in response to determining to activate the vehicle stability control of the vehicle based on the at least one fused signal.
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公开(公告)号：US20230313873A1
公开(公告)日：2023-10-05
申请号：US17713716
申请日：2022-04-05
发明人： Reza Hajiloo , Amir Khajepour , Seyedalireza Kasaiezadeh Mahabadi , Seyedeh Asal Nahidi , Bakhtiar B. Litkouhi , Ehsan Mohammadbagher
CPC分类号： F16H48/20 , F16H48/22 , F16H2048/205 , F16H2048/204
摘要： A system for managing vehicle body and wheel motion control with a dual clutch differential includes sensors and actuators disposed on the vehicle, the sensors measuring real-time static and dynamic data and the actuators altering static and dynamic behavior of the motor vehicle. A control module executes program code portions stored in memory. The program code portions receive the real-time static and dynamic data; selectively prioritize torque output from a prime mover of the vehicle through the differential to driven wheels of the vehicle to control a body and the driven wheels; model and estimate clutch torque for each clutch of the dual clutch differential; model and estimate a joint clutch torque, a tire force, and corner torque; and generate a torque output for each clutch of the dual clutch differential that is selected to maintain one or more of body control, wheel control, and stability of the motor vehicle.
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公开(公告)号：US11959536B2
公开(公告)日：2024-04-16
申请号：US17713716
申请日：2022-04-05
发明人： Reza Hajiloo , Amir Khajepour , Seyedalireza Kasaiezadeh Mahabadi , Seyedeh Asal Nahidi , Bakhtiar B. Litkouhi , Ehsan Mohammadbagher
CPC分类号： F16H48/20 , F16H48/22 , F16H2048/204 , F16H2048/205
摘要： A system for managing vehicle body and wheel motion control with a dual clutch differential includes sensors and actuators disposed on the vehicle, the sensors measuring real-time static and dynamic data and the actuators altering static and dynamic behavior of the motor vehicle. A control module executes program code portions stored in memory. The program code portions receive the real-time static and dynamic data; selectively prioritize torque output from a prime mover of the vehicle through the differential to driven wheels of the vehicle to control a body and the driven wheels; model and estimate clutch torque for each clutch of the dual clutch differential; model and estimate a joint clutch torque, a tire force, and corner torque; and generate a torque output for each clutch of the dual clutch differential that is selected to maintain one or more of body control, wheel control, and stability of the motor vehicle.
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公开(公告)号：US11787394B2
公开(公告)日：2023-10-17
申请号：US17539676
申请日：2021-12-01
发明人： Reza Hajiloo , SeyedAlireza Kasaiezadeh Mahabadi , Shamim Mashrouteh , Seyedeh Asal Nahidi , Ehsan Asadi , Yubiao Zhang , Bakhtiar B. Litkouhi
CPC分类号： B60W30/02 , B60W40/08 , B60W40/10 , B60W40/12 , B60W2520/14 , B60W2520/20 , B60W2520/28 , B60W2530/20 , B60W2540/10 , B60W2720/40
摘要： A system for supervisory control for eAWD and eLSD in a motor vehicle includes a control module, and sensors and actuators disposed on the motor vehicle. The sensors measure real-time motor vehicle data, and the actuators alter behavior of the motor vehicle. The control module receives the real-time data; receives one or more driver inputs to the motor vehicle; determines a status of a body of the motor vehicle; determines a status of axles of the motor vehicle; determines a status of each wheel of the motor vehicle; and generates a control signal to the actuators from the driver inputs and the body, axle, and wheel statuses. The control module also exercises supervisory control by actively adjusting constraints on the control signal to each of the actuators where actively adjusting constraints on the control signal alters boundaries of control actions in response to the one or more driver inputs.
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公开(公告)号：US12115974B2
公开(公告)日：2024-10-15
申请号：US17824196
申请日：2022-05-25
发明人： Reza Hajiloo , Ehsan Asadi , Seyedeh Asal Nahidi , SeyedAlireza Kasaiezadeh Mahabadi , Gianmarc Coppola , Bakhtiar B. Litkouhi
CPC分类号： B60W30/02 , B60W50/00 , B60W2520/12 , B60W2520/125 , B60W2520/14 , B60W2520/20 , B60W2556/35
摘要： A method for vehicle motion control includes receiving sensor data from a plurality of sensors of a vehicle and monitoring a vehicle response of the vehicle using the sensor data. The vehicle response is represented by a plurality of vehicle-response signals. The method further includes fusing the plurality of vehicle-response signals to obtain at least one fused signal. The method further includes determining whether to activate a vehicle stability control of the vehicle based on the at least one fused signal and commanding the vehicle to activate the vehicle stability control in response to determining to activate the vehicle stability control of the vehicle based on the at least one fused signal.
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公开(公告)号：US11858521B1
公开(公告)日：2024-01-02
申请号：US18302933
申请日：2023-04-19
发明人： Reza Hajiloo , Shamim Mashrouteh , Arash Hashemi , Ehsan Asadi , Seyedeh Asal Nahidi , Seyedalireza Kasaiezadeh Mahabadi
CPC分类号： B60W40/12 , B60W30/18172 , B60W50/0097 , B60W2050/0037 , B60W2510/20 , B60W2510/22 , B60W2520/26 , B60W2520/28 , B60W2720/403
摘要： A vehicle motion control system includes one or more input devices for generating one or more input signals associated with data indicative of a motion of the vehicle. The system further includes a computer, which has one or more processors. The computer further includes a non-transitory computer readable storage medium for storing instructions, such that the processor is programmed to compare a current tire state and a current tire prediction model to the data indicative of the motion of the vehicle. The processor is further programmed to calculate in real-time an adjusted tire state and an adjusted tire prediction model. The processor is further programmed to generate in real-time one or more actuation signals based on the adjusted tire state and the adjusted tire prediction model. The actuators in real-time adjust the motion of the vehicle in response to the actuator receiving the actuation signal from the processor.
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公开(公告)号：US20230166722A1
公开(公告)日：2023-06-01
申请号：US17539676
申请日：2021-12-01
发明人： Reza Hajiloo , SeyedAlireza Kasaiezadeh Mahabadi , Shamim Mashrouteh , Seyedeh Asal Nahidi , Ehsan Asadi , Yubiao Zhang , Bakhtiar B. Litkouhi
CPC分类号： B60W30/02 , B60W40/12 , B60W40/10 , B60W40/08 , B60W2540/10 , B60W2530/20 , B60W2520/14 , B60W2520/28 , B60W2520/20 , B60W2720/40
摘要： A system for supervisory control for eAWD and eLSD in a motor vehicle includes a control module, and sensors and actuators disposed on the motor vehicle. The sensors measure real-time motor vehicle data, and the actuators alter behavior of the motor vehicle. The control module receives the real-time data; receives one or more driver inputs to the motor vehicle; determines a status of a body of the motor vehicle; determines a status of axles of the motor vehicle; determines a status of each wheel of the motor vehicle; and generates a control signal to the actuators from the driver inputs and the body, axle, and wheel statuses. The control module also exercises supervisory control by actively adjusting constraints on the control signal to each of the actuators where actively adjusting constraints on the control signal alters boundaries of control actions in response to the one or more driver inputs.
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公开(公告)号：US12115996B2
公开(公告)日：2024-10-15
申请号：US17518244
申请日：2021-11-03
发明人： Seyedeh Asal Nahidi , SeyedAlireza Kasaiezadeh Mahabadi , Ruixing Long , Yubiao Zhang , James H. Holbrook , Ehsan Asadi , Reza Hajiloo , Shamim Mashrouteh
IPC分类号： B60W40/101 , B60W30/02 , B60W40/107 , B60W40/109 , B60W40/114
CPC分类号： B60W40/101 , B60W30/02 , B60W40/107 , B60W40/109 , B60W40/114 , B60W2520/26
摘要： A system for managing chassis and driveline actuators of a motor vehicle includes a control module executing program code portions that: cause sensors to obtain vehicle state information, receive a driver input and generate a desired dynamic output based on the driver input and the vehicle state information, and then estimate actuator actions based on the vehicle state information, generate one or more control action constraints based on the vehicle state information and estimated actuator actions, generate a reference control action based on the vehicle state information, the estimated actions of the one or more actuators and the control action constraints, and integrate the vehicle state information, the estimated actuator actions, desired dynamic output, reference control action and the control action constraints to generate an optimal control action that falls within a range of predefined actuator capacities and ensures driver control of the vehicle.
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公开(公告)号：US11866032B2
公开(公告)日：2024-01-09
申请号：US17396466
申请日：2021-08-06
发明人： Shamim Mashrouteh , SeyedAlireza Kasaiezadeh Mahabadi , Reza Hajiloo , Seyedeh Asal Nahidi , Yubiao Zhang , Bakhtiar B. Litkouhi
CPC分类号： B60W30/02 , B60W10/16 , B60W10/30 , B62D37/02 , F16H48/34 , B60W2510/207 , B60W2520/10 , B60W2520/14 , B60W2520/20 , B60W2520/263 , B60W2530/00 , B60W2540/00 , B60W2710/125 , B60W2710/30
摘要： A system includes a primary control module, a stability status module, and a supervisory control module. The primary control module is configured to determine at least one control action for at least one of an electronic limited slip differential and an aerodynamic actuator of a vehicle based on a driver command. The stability status module is configured to determine whether at least one component of the vehicle is stable or unstable based on an input from a sensor on the vehicle. The at least one component includes at least one of a vehicle body, a front axle, a rear axle, front wheels, and rear wheels. The supervisory control module is configured to adjust the at least one control action when the at least one component is unstable.
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