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公开(公告)号：US10578457B2
公开(公告)日：2020-03-03
申请号：US15705486
申请日：2017-09-15
摘要： An onboard robust and stable vision-inertial navigation system that makes an unmanned vehicle autonomous in its navigation capabilities in the absence of external navigation aids like a global positioning system (GPS). The system is robust to the sensor noise properties of the onboard vision and inertial sensors, as well as errors in initial estimates of the position and orientation of the vehicle. The system enables any unmanned vehicle to autonomously navigate an unfamiliar or unknown environment. The system is also stable and robust to uncertainties in the measurement noise and dynamics of the unmanned vehicle, and does not exhibit any instability when sensors are changed or when sensor noise properties change over time.
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公开(公告)号：US20200277053A1
公开(公告)日：2020-09-03
申请号：US16646682
申请日：2017-09-15
摘要： An integrated guidance and feedback control scheme for steering an underactuated vehicle through desired waypoints in three-dimensional space. The guidance and control algorithm takes as an input the desired trajectory for the translational motion that passes through the given waypoints, and autonomously generates the desired trajectory for the attitude based on the desired thrust direction to achieve the translational motion trajectory. A feedback control law is obtained to steer the underactuated vehicle towards the desired trajectories in translation and rotation.
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公开(公告)号：US20180164124A1
公开(公告)日：2018-06-14
申请号：US15705486
申请日：2017-09-15
摘要： An onboard robust and stable vision-inertial navigation system that makes an unmanned vehicle autonomous in its navigation capabilities in the absence of external navigation aids like a global positioning system (GPS). The system is robust to the sensor noise properties of the onboard vision and inertial sensors, as well as errors in initial estimates of the position and orientation of the vehicle. The system enables any unmanned vehicle to autonomously navigate an unfamiliar or unknown environment. The system is also stable and robust to uncertainties in the measurement noise and dynamics of the unmanned vehicle, and does not exhibit any instability when sensors are changed or when sensor noise properties change over time.
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4.发明申请公开(公告)号：US20070289400A1
公开(公告)日：2007-12-20
申请号：US11424897
申请日：2006-06-19
IPC分类号： F16H61/00
CPC分类号： F16H59/70 , F16H63/50 , F16H2059/186 , F16H2059/706 , F16H2061/0477 , Y10T74/19251 , Y10T477/675
摘要： A method and associated computer-executable code for controlling an automotive powertrain featuring a manual transmission determines a current transmission output speed based at least in part on the vehicle speed achieved in response to a torque request signal; determines an effective transmission gear ratio based on the engine speed and the transmission output speed; and compares the effective transmission gear ratio to each of the predetermined transmission gear ratios. A transmission shift is deemed to be in progress when the effective transmission gear ratio is not within a predetermined tolerance of any of the predetermined transmission gear ratios. Relatively-aggressive smoothing of the torque request signal upon pedal tip-out is advantageously canceled when a shift is deemed to be in progress, thereby reducing the likelihood of unintended engine speed and/or transient flares when a declutching event follows shortly after the pedal tip-out.
摘要翻译： 用于控制具有手动变速器的汽车动力系的方法和相关联的计算机可执行代码至少部分地基于响应于转矩请求信号而获得的车辆速度来确定当前变速器输出速度; 基于发动机速度和变速器输出速度确定有效变速比; 并将有效传动比与每个预定变速齿轮比进行比较。 当有效传动比不在任何预定变速齿轮比的预定公差范围内时，传动变速被认为正在进行。 当换档被认为正在进行时，有利地抵消转向请求信号在踏板甩出时的相对积极的平滑化，从而当在踏板尖端之后不久的发生事件发生时，减少发动机转速和/或瞬态张力的可能性 出来
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5.发明授权Method of determining distribution of vapors in the intake manifold of a banked engine 有权确定分组发动机进气歧管中蒸气分布的方法公开(公告)号：US06167877A
公开(公告)日：2001-01-02
申请号：US09231234
申请日：1999-01-15
IPC分类号： F02D4118
CPC分类号： F02M25/08 , F02D41/1441 , F02D41/1456 , F02D41/2458 , F02D2041/1409 , F02D2041/1422
摘要： A method is provided for accommodating the purge vapors from an evaporative emission control system of an automotive vehicle. The method includes a means of learning the bank-to-bank distribution of purge vapors within the engine manifold. As such, the fuel to air ratio delivered from various injectors can be selectively controlled to accommodate the purge vapor at that bank of the engine and maintain the desired fuel to air ratio.
摘要翻译： 提供了一种用于从汽车的蒸发排放控制系统容纳吹扫蒸汽的方法。 该方法包括学习发动机歧管内的清除蒸汽的银行对银行分配的方法。 因此，可以选择性地控制从各种喷射器输送的燃料与空气的比例，以适应发动机的该组的吹扫蒸气并保持所需的燃料与空气的比例。
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6.发明授权公开(公告)号：US06430515B1
公开(公告)日：2002-08-06
申请号：US09398904
申请日：1999-09-20
IPC分类号： F02D4130
CPC分类号： F02D41/18 , F02D2200/0404 , F02D2200/0406 , F02D2200/704
摘要： A method is provided for determining the barometric pressure external to an air intake of an internal combustion engine, comprising the steps of: (a) providing a pressure value indicative of an absolute pressure in the intake manifold of the engine; (b) providing a mass airflow value of the airflow into the engine; (c) characterizing a pressure drop across the intake system based on the mass airflow value; and (d) determining a barometric pressure based on the pressure value and the pressure drop, such that the pressure drop is indicative of the pressure differential between the atmospheric pressure and the pressure in the intake manifold. Furthermore, the determination of the barometric pressure may be triggered when the throttle blade reaches a predetermined throttle threshold position which is a function of the rotational speed of the engine.
摘要翻译： 提供了一种用于确定内燃机的进气口外部的气压的方法，包括以下步骤：（a）提供指示发动机的进气歧管中的绝对压力的压力值; （b）将气流的质量气流值提供给发动机; （c）基于所述质量气流值来表征所述进气系统上的压降; 和（d）基于压力值和压降来确定大气压力，使得压降指示大气压力和进气歧管中的压力之间的压力差。 此外，当节气门叶片达到作为发动机的转速的函数的预定节气门阈值位置时，可以触发大气压力的确定。
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公开(公告)号：US6148800A
公开(公告)日：2000-11-21
申请号：US283452
申请日：1999-04-01
申请人： Michael J. Cari , Timothy A. Coatesworth , Mark J. Duty , Chris D. Kapolnek , Gregory L. Ohl , Amit K. Sanyal , Rajiv Saxena , Mikhail Zarkhin
发明人： Michael J. Cari , Timothy A. Coatesworth , Mark J. Duty , Chris D. Kapolnek , Gregory L. Ohl , Amit K. Sanyal , Rajiv Saxena , Mikhail Zarkhin
CPC分类号： F02D41/20 , F02M51/061 , F02M51/0671 , F02D2041/2065
摘要： A method is provided for injecting fuel into an internal combustion engine. The method includes providing the engine with a plurality of fuel injectors, each including an electromechanical mechanism for receiving fuel under pressure via a fuel supply system and for injecting a measured amount of fuel into the engine in response to a command signal whose duration is indicative of the amount of fuel to be injected. The command signal is determined based upon a measured throttle position, engine speed and engine load. A resistance of a solenoid coil of the electromechanical mechanism is then calculated and the command signal is adjusted by incrementing or decrementing the command signal to compensate for variations in the measured resistance of the solenoid coil of electromechanical mechanism due to temperature variations.
摘要翻译： 提供了一种用于将燃料喷射到内燃机中的方法。 该方法包括向发动机提供多个燃料喷射器，每个燃料喷射器包括用于经由燃料供应系统在压力下接收燃料的机电机构，并且用于响应于其持续时间指示的指令信号将测量量的燃料喷射到发动机中 要喷射的燃料量。 基于测量的节气门位置，发动机转速和发动机负荷确定指令信号。 然后计算机电机构的螺线管线圈的电阻，并且通过递增或递减命令信号来调整命令信号，以补偿由于温度变化引起的机电机构的螺线管线圈的测量电阻的变化。
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