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1.发明授权Unified motion planning algorithm for autonomous driving vehicle in obstacle avoidance maneuver 有权自主驾驶车辆在避障机动中的统一运动规划算法公开(公告)号：US09457807B2
公开(公告)日：2016-10-04
申请号：US14297493
申请日：2014-06-05
CPC分类号： B60W30/09 , B60W10/20 , B60W30/10 , B60W2550/402 , B60W2720/10
摘要： A method for automated lane centering and/or lane changing purposes for a vehicle traveling on a roadway that employs roadway points from a map database to determine a reference vehicle path and sensors on the vehicle for detecting static and moving objects to adjust the reference path. The method includes reducing the curvature of the reference path to generate a reduced curvature reference path that reduces the turning requirements of the vehicle and setting the speed of the vehicle from posted roadway speeds from the map database. The method also includes providing multiple candidate vehicle paths and vehicle speeds to avoid the static and moving objects in front of the vehicle.
摘要翻译： 一种用于在巷道上行驶的车辆的自动车道对中和/或车道改变目的的方法，该车辆采用来自地图数据库的道路点以确定参考车辆路径，并且在车辆上用于检测静态和移动物体以调整参考路径的传感器。 该方法包括减小参考路径的曲率，以产生减小车辆的转弯要求的减小的曲率基准路径，并且从地图数据库设置车辆的速度与公路车道速度。 该方法还包括提供多个候选车辆路径和车辆速度以避免车辆前方的静态和移动物体。
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公开(公告)号：US10207699B2
公开(公告)日：2019-02-19
申请号：US15722357
申请日：2017-10-02
发明人： Chandra S. Namuduri , Venkata Prasad Atluri , Suresh Gopalakrishnan , Jin-Woo Lee , Kevin J. Robinet , Sai Rajagopalan , Chen-fang Chang , Michael Livshiz , Patrick J. O'leary
IPC分类号： B60W20/00 , B60W20/12 , B60W20/15 , B60W40/04 , B60W40/076
摘要： A vehicle propulsion system includes a combustion engine configured to output a propulsion torque to satisfy a propulsion demand, and a traction electric machine to generate a supplemental torque to selectively supplement the propulsion torque. The propulsion system also includes a controller programmed to forecast an acceleration demand based on at least one estimation model. The controller is also programmed to issue a command indicative of a required axle torque corresponding to the acceleration demand. The controller is further programmed to engage at least one fuel conservation action in response to the required axle torque being within a first predetermined torque threshold range.
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公开(公告)号：US10160484B2
公开(公告)日：2018-12-25
申请号：US15216916
申请日：2016-07-22
摘要： A system and method for determining whether a driver is holding a vehicle steering wheel. The vehicle will include an electric power steering system and may further include autonomous or semi-autonomous driving features, such as Lane Centering Control or Lane Keeping Assist. The system includes a passive detection technique which monitors steering torque and steering angle, determines a resonant frequency of oscillation of the steering system from the measured data, and compares the resonant frequency to a known steering system natural frequency to make a hands-on/off determination. If the passive technique results are below a confidence threshold, then an active technique is employed which provides a steering angle perturbation and measures the frequency response, where the perturbation signal has characteristics which are prescribed based on the results of the passive technique. A steering torque greater than a threshold value is also an indication of the driver holding the steering wheel.
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公开(公告)号：US08880287B2
公开(公告)日：2014-11-04
申请号：US13787318
申请日：2013-03-06
CPC分类号： B62D5/0481 , B62D15/025
摘要： A system and method for determining whether a vehicle driver is holding a steering wheel of the vehicle. The vehicle will include an electric power steering (EPS) system and may include an active front steering (AFS) system. The vehicle may further include autonomous or semi-autonomous driving features or safety features, such as Lane Centering Control (LCC) or Lane Keeping Assist (LKA). The system monitors steering torque and steering angle signals, determines a resonant frequency of oscillation of the steering system from the measured data, and compares the resonant frequency to a known natural frequency of the steering system. If the resonant frequency is lower than the known natural frequency, then the system knows that the vehicle driver is holding the steering wheel. A measured steering torque greater than a threshold value is also taken as an immediate indication of the driver holding the steering wheel.
摘要翻译： 一种用于确定车辆驾驶员是否正在保持车辆的方向盘的系统和方法。 车辆将包括电动助力转向（EPS）系统，并且可以包括主动前转向（AFS）系统。 车辆还可以包括自主或半自主的驾驶特征或安全特征，例如车道居中控制（LCC）或车道保持辅助（LKA）。 系统监测转向扭矩和转向角信号，根据测量数据确定转向系统的振荡的谐振频率，并将谐振频率与转向系统的已知固有频率进行比较。 如果谐振频率低于已知的固有频率，则系统知道车辆驾驶员正在保持方向盘。 大于阈值的测量转向转矩也被视为保持方向盘的驾驶员的即时指示。
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公开(公告)号：US09604649B1
公开(公告)日：2017-03-28
申请号：US15042883
申请日：2016-02-12
CPC分类号： B60W40/09 , B60W2510/202 , B60W2520/28 , B62D15/00 , B62D15/025
摘要： A method and system for determining whether a driver of a vehicle is in contact with a steering wheel of the vehicle is provided. One embodiment of the method includes the steps of generating a perturbation signal that causes vibration of the steering wheel and receiving a steering signal from a steering system sensor configured to provide an indication of at least one of a steering torque and a steering movement of a component of an electronic power steering system of the vehicle. The method further includes the steps of mixing the perturbation signal and the steering signal to produce a heterodyne signal and generating a driver contact signal indicative of whether the driver of the vehicle is in contact with the steering wheel of the vehicle, the value of the driver contact signal dependent on characteristics of the heterodyne signal relating to the perturbation signal.
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公开(公告)号：US09150246B2
公开(公告)日：2015-10-06
申请号：US14099719
申请日：2013-12-06
发明人： Jin-Woo Lee , Youssef A. Ghoneim
CPC分类号： B62D6/002 , B62D1/28 , B62D6/001 , B62D6/08 , B62D15/025
摘要： A system and method for converting a vehicle steering angle command to a vehicle steering torque command for a vehicle steering system in a vehicle. The method estimates a self-aligning torque that defines the torque that maintains a vehicle steering wheel at a neutral steering position or to a position that makes no slip angle at the road wheel, applies known total steering torque commands to the steering system at a plurality of sample time steps where the known steering torque commands include the self-aligning torque, and measures a vehicle steering angle at each time step. The method then models the steering system of the vehicle using the torque commands, the measured steering angles, a system delay and a plurality of unknown parameters.
摘要翻译： 一种用于将车辆转向角命令转换为车辆中的车辆转向系统的车辆转向转矩指令的系统和方法。 该方法估计自动调心扭矩，其限定将车辆方向盘保持在中立转向位置或在车轮处不产生滑移角度的位置的扭矩，将已知的总转向转矩指令以多个向转向系统施加 的已知转向转矩指令包括自对准转矩的采样时间步长，并且测量每个时间步长的车辆转向角。 该方法然后使用扭矩命令，测量的转向角，系统延迟和多个未知参数来对车辆的转向系统建模。
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公开(公告)号：US20150158524A1
公开(公告)日：2015-06-11
申请号：US14099719
申请日：2013-12-06
发明人： Jin-Woo Lee , Youssef A. Ghoneim
CPC分类号： B62D6/002 , B62D1/28 , B62D6/001 , B62D6/08 , B62D15/025
摘要： A system and method for converting a vehicle steering angle command to a vehicle steering torque command for a vehicle steering system in a vehicle. The method estimates a self-aligning torque that defines the torque that maintains a vehicle steering wheel at a neutral steering position or to a position that makes no slip angle at the road wheel, applies known total steering torque commands to the steering system at a plurality of sample time steps where the known steering torque commands include the self-aligning torque, and measures a vehicle steering angle at each time step. The method then models the steering system of the vehicle using the torque commands, the measured steering angles, a system delay and a plurality of unknown parameters.
摘要翻译： 一种用于将车辆转向角命令转换为车辆中的车辆转向系统的车辆转向转矩指令的系统和方法。 该方法估计自动调心扭矩，其限定将车辆方向盘保持在中立转向位置或在车轮处不产生滑移角度的位置的扭矩，将已知的总转向转矩指令以多个向转向系统施加 的已知转向转矩指令包括自对准转矩的采样时间步长，并且测量每个时间步长的车辆转向角。 该方法然后使用扭矩命令，测量的转向角，系统延迟和多个未知参数来对车辆的转向系统建模。
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公开(公告)号：US10272944B2
公开(公告)日：2019-04-30
申请号：US15659958
申请日：2017-07-26
发明人： Jin-Woo Lee , Bakhtiar B. Litkouhi
摘要： Methods and systems for generating haptic feel torque for a steering system for an automotive vehicle are provided. In an exemplary embodiment, a method for generating haptic feel torque for a steering system for an automotive vehicle includes inputting a steering command signal by manipulating a steering wheel mounted to a steering column of the automotive vehicle. In response to the steering command, the method includes changing an orientation of road wheels of the automotive vehicle. Also, the method includes communicating condition data of the road wheels to a controller. Further, the method includes calculating with the controller a turning acceleration of the steering column in response to changing the orientation of the road wheels by modeling a virtual spring and a virtual damper interconnected between the steering column and the road wheels based on the condition data. The method also includes applying the turning acceleration to the steering column.
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公开(公告)号：US20190033871A1
公开(公告)日：2019-01-31
申请号：US15660115
申请日：2017-07-26
发明人： Jin-Woo Lee
摘要： System and methods are provided for path finding for autonomous driving systems. The systems and methods receive a set of way points defining path segments between adjacent way points, formulate a b-spline function as a function of the path segments, and determine path data based on the formulated b-spline function. Autonomous driving systems use the output path data for controlling a vehicle.
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公开(公告)号：US20180105158A1
公开(公告)日：2018-04-19
申请号：US15722357
申请日：2017-10-02
发明人： Chandra S. Namuduri , Venkata Prasad Atluri , Suresh Gopalakrishnan , Jin-Woo Lee , Kevin J. Robinet , Sai Rajagopalan , Chen-fang Chang , Michael Livshiz , Patrick J. O'leary
IPC分类号： B60W20/12 , B60W20/15 , B60W40/076 , B60W40/04
CPC分类号： B60W20/12 , B60W20/15 , B60W40/04 , B60W40/076 , B60W2550/20 , B60W2710/083 , Y02T10/6286
摘要： A vehicle propulsion system includes a combustion engine configured to output a propulsion torque to satisfy a propulsion demand, and a traction electric machine to generate a supplemental torque to selectively supplement the propulsion torque. The propulsion system also includes a controller programmed to forecast an acceleration demand based on at least one estimation model. The controller is also programmed to issue a command indicative of a required axle torque corresponding to the acceleration demand. The controller is further programmed to engage at least one fuel conservation action in response to the required axle torque being within a first predetermined torque threshold range.
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