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1.发明公开公开(公告)号：US20240132104A1
公开(公告)日：2024-04-25
申请号：US17938192
申请日：2022-10-05
CPC分类号： B60W60/0015 , B60W50/0098 , B60W60/0013 , B60W2050/0026 , B60W2555/60 , B60W2556/45
摘要： A trajectory planning system for an autonomous vehicle includes one or more controllers in electronic communication with one or more external vehicle networks that collect data with respect to one or more moving obstacles located in an environment surrounding the autonomous vehicle. The one or more controllers determine, based on the discrete-time relative vehicle state, a position avoidance set representing relative lateral positions and longitudinal positions that the autonomous vehicle avoids while bypassing the one or more moving obstacles when performing a maneuver. The one or more controllers select a trajectory from the plurality of relative state trajectories for the autonomous vehicle, where the autonomous vehicle follows the trajectory while performing the maneuver.
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公开(公告)号：US11673582B1
公开(公告)日：2023-06-13
申请号：US17542680
申请日：2021-12-06
CPC分类号： B60W60/00186 , B60W40/13 , B60W50/0225 , B60W50/045 , B60W2040/1315 , B60W2510/18 , B60W2510/20 , B60W2520/12 , B60W2520/14
摘要： A control allocation system for a vehicle includes an electric power steering (EPS) system, one or more redundant actuation systems for controlling a plurality of wheels of the vehicle, and one or more controllers in electronic communication with the EPS system and the one or more redundant actuation systems. The one or more controllers execute instructions to determine tracking errors and vehicle dynamics states based on a plurality of local path planning references and receive a fault signal indicating the EPS system is non-functional. In response to receiving the fault signal, the one or more controllers determine a plurality of corrective constraints in real-time. The one or more controllers solve a real-time constrained optimization problem for each sampling interval of the control allocation system to determine a plurality of control actions based on the plurality of corrective constraints and the tracking errors.
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公开(公告)号：US20240174243A1
公开(公告)日：2024-05-30
申请号：US18060049
申请日：2022-11-30
发明人： Shuqing Zeng , Yubiao Zhang , Bakhtiar B. Litkouhi
CPC分类号： B60W50/06 , B60W50/045 , B60W2050/0088 , B60W2050/041
摘要： A system for real-time control selection and calibration in a vehicle using a deep-Q network (DQN) includes sensors and actuators disposed on the vehicle. A control module has a processor, memory, and input/output (I/O) ports in communication with the one or more sensors and the one or more actuators. The processor executes program code portions that cause the sensors actuators to obtain vehicle dynamics and road surface estimation information and utilize the vehicle dynamics information and road surface estimation information to generate a vehicle dynamical context. The system decides which one of a plurality of predefined calibrations is appropriate for the vehicle dynamical context, generates a command to the actuators based on a selected calibration. The system continuously and recursively causes the program code portions to execute while the vehicle is being operated.
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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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5.发明公开公开(公告)号：US20240174246A1
公开(公告)日：2024-05-30
申请号：US18060023
申请日：2022-11-30
CPC分类号： B60W50/10 , B60W40/10 , B60W50/0097
摘要： A system for learning-model predictive control (LMPC) with multi-step prediction for motion control of a vehicle includes sensors and actuators. One or more control modules each having a processor, a memory, and input/output (I/O) ports are in communication with the sensors and actuators, the processor executing program code portions stored in the memory. The program code portions cause the sensors and actuators 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. A program code portion estimates actions of the actuators based on the vehicle state information and the driver input, and utilizes the vehicle state information, the driver input, and the estimated actions of the actuators to select one or more models of a physics-based vehicle model and a machine-learning model of the vehicle to selectively adjust commands to the actuators.
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公开(公告)号：US20230174107A1
公开(公告)日：2023-06-08
申请号：US17542680
申请日：2021-12-06
CPC分类号： B60W60/00186 , B60W50/0225 , B60W50/045 , B60W40/13 , B60W2510/20 , B60W2510/18 , B60W2520/12 , B60W2520/14 , B60W2040/1315
摘要： A control allocation system for a vehicle includes an electric power steering (EPS) system, one or more redundant actuation systems for controlling a plurality of wheels of the vehicle, and one or more controllers in electronic communication with the EPS system and the one or more redundant actuation systems. The one or more controllers execute instructions to determine tracking errors and vehicle dynamics states based on a plurality of local path planning references and receive a fault signal indicating the EPS system is non-functional. In response to receiving the fault signal, the one or more controllers determine a plurality of corrective constraints in real-time. The one or more controllers solve a real-time constrained optimization problem for each sampling interval of the control allocation system to determine a plurality of control actions based on the plurality of corrective constraints and the tracking errors.
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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：US11651633B2
公开(公告)日：2023-05-16
申请号：US17325709
申请日：2021-05-20
发明人： Yubiao Zhang , SeyedAlireza Kasaiezadeh Mahabadi , Seyedeh Asal Nahidi , Naser Mehrabi , Hualin Tan , Bakhtiar B. Litkouhi
IPC分类号： G07C5/08
CPC分类号： G07C5/0808
摘要： A system includes a clutch state module and a clutch torque module. The clutch state module is configured to determine whether a clutch of an electronic limited slip differential is locked or unlocked. The electronic limited slip differential couples an engine of a vehicle to left and right wheels of the vehicle. The clutch torque module is configured to estimate an actual torque transferred by the clutch using a first clutch torque model when the electronic limited slip differential is unlocked, and estimate the actual clutch torque using a second clutch torque model when the electronic limited slip differential is locked. The second clutch torque model is different than the first clutch torque model.
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公开(公告)号：US11613234B1
公开(公告)日：2023-03-28
申请号：US17568905
申请日：2022-01-05
摘要： A system and method of automatically activating a windshield wiper system of a vehicle having a front windshield with a front wiper and a rear windshield with a rear wiper are provided. The method comprises assessing at least one windshield classification of road conditions based on original information and capturing a front image of the front windshield, a rear image of the rear windshield, and an environment image of the environment. The method further comprises classifying the images to define a first windshield class. The method further comprises determining a front windshield perception, a rear windshield perception, and an environment perception of the first windshield class to define a first combination of detection sources. The method further comprises fusing the front windshield perception, the rear windshield perception and the environment perception, defining a first front probability of the first windshield class. The method further comprises activating the front wiper when the first front probability is greater than a front threshold.
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公开(公告)号：US20240336282A1
公开(公告)日：2024-10-10
申请号：US18296567
申请日：2023-04-06
发明人： Md Mhafuzul Islam , Arun Adiththan , Yubiao Zhang
CPC分类号： B60W60/0015 , B60W50/14 , B60W60/0027 , B60W2554/4026 , B60W2554/4046 , B60W2556/35 , B60W2556/65
摘要： A system for imitating target vehicle behavior in automated driving includes sensors capturing ego and target vehicle condition information, actuators selectively altering an ego vehicle state, and control modules. The control modules execute a target vehicle imitating (TVI) application. A first TVI control logic estimates a target vehicle state and trajectory. The ego and target vehicle condition information partially define the target vehicle state and trajectory. A second control logic evaluates target vehicle safety and performance constraints. A third control logic selectively initiates an imitation mode of the ego vehicle based on target and ego vehicle statuses relative to the target vehicle safety and performance constraints. A fourth control logic, models the target vehicle and optimizes a planned ego vehicle path subject to actuator constraints. A fifth control logic generates outputs to the actuators to cause the ego vehicle to follow the planned path and imitate the target vehicle.
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