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公开(公告)号：US20220379858A1
公开(公告)日：2022-12-01
申请号：US17335497
申请日：2021-06-01
发明人： YAN MING JONATHAN GOH , JOHN SUBOSITS , MICHAEL THOMPSON , ALEXANDER R. GREEN , AVINASH BALACHANDRAN
IPC分类号： B60T8/1755 , B60T8/171 , B60T8/24
摘要： Systems and methods for controlling a vehicle may include receiving sensor data from a plurality of sensors, the sensor data including vehicle parameter information for the vehicle; using the sensor data to determine a vehicle state for a vehicle negotiating a corner, wherein the vehicle state comprises information regarding a magnitude of an effective understeer gradient for the vehicle; computing a yaw moment required to correct the effective understeer gradient based on the magnitude of the effective understeer gradient; and applying a brake torque to a single wheel of the vehicle, wherein an amount of brake torque applied is sufficient to lock up the single wheel to create a yaw moment on the vehicle to achieve the computed yaw moment required to correct the effective understeer gradient.
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2.发明公开公开(公告)号：US20230365108A1
公开(公告)日：2023-11-16
申请号：US18357913
申请日：2023-07-24
发明人： YAN MING JONATHAN GOH , JOHN SUBOSITS , MICHAEL THOMPSON , ALEXANDER R. GREEN , AVINASH BALACHANDRAN
IPC分类号： B60T8/1755 , B60W40/114 , B60W10/184 , B60W60/00
CPC分类号： B60T8/1755 , B60W40/114 , B60W10/184 , B60W60/00 , B60W2710/18 , B60W2510/18 , B60W2720/14 , B60W2540/18
摘要： Systems and Methods for controlling an autonomous vehicle, may include: receiving sensor data, the sensor data comprising vehicle parameter information for the autonomous vehicle; using the sensor data to determine a vehicle state for the autonomous vehicle, wherein the vehicle state comprises information regarding a magnitude of an actual or predicted effective understeer gradient for the vehicle; computing a yaw moment required to correct the effective understeer gradient based on the magnitude of the effective understeer gradient; and determining a combination of one or more vehicle control inputs, including applying a brake torque, to correct the effective understeer gradient; applying the brake torque to a single wheel of the vehicle, wherein an amount of brake torque applied is sufficient to lock up the single wheel to create a yaw moment on the vehicle to achieve the computed yaw moment required to correct the effective understeer gradient.
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3.发明申请公开(公告)号：US20220379855A1
公开(公告)日：2022-12-01
申请号：US17335567
申请日：2021-06-01
发明人： YAN MING JONATHAN GOH , JOHN SUBOSITS , MICHAEL THOMPSON , ALEXANDER R. GREEN , AVINASH BALACHANDRAN
IPC分类号： B60T8/1755 , B60W10/184 , B60W40/114 , B60W60/00
摘要： Systems and Methods for controlling an autonomous vehicle, may include: receiving sensor data, the sensor data comprising vehicle parameter information for the autonomous vehicle; using the sensor data to determine a vehicle state for the autonomous vehicle, wherein the vehicle state comprises information regarding a magnitude of an actual or predicted effective understeer gradient for the vehicle; computing a yaw moment required to correct the effective understeer gradient based on the magnitude of the effective understeer gradient; and determining a combination of one or more vehicle control inputs, including applying a brake torque, to correct the effective understeer gradient; applying the brake torque to a single wheel of the vehicle, wherein an amount of brake torque applied is sufficient to lock up the single wheel to create a yaw moment on the vehicle to achieve the computed yaw moment required to correct the effective understeer gradient.
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公开(公告)号：US20240083413A1
公开(公告)日：2024-03-14
申请号：US18514832
申请日：2023-11-20
发明人： AVINASH BALACHANDRAN , YAN MING JONATHAN GOH , JOHN SUBOSITS , MICHAEL THOMPSON , ALEXANDER R. GREEN
CPC分类号： B60W30/02 , B60W10/02 , B60W10/06 , B60W10/08 , B60W10/18 , B60W10/20 , B60W30/09 , B60W60/0015
摘要： Systems and methods of controlling a vehicle in a stable drift are provided. With the goal of enhancing the driver experience, the disclosed drift control systems provide an interactive drift driving experience for the driver of a vehicle. In some embodiments, a driver is allowed to take manual control of a vehicle after a stable drift is initiated. For safety reasons, an assisted driving system may provide corrective assistance to prevent the vehicle from entering an unstable/unsafe drift. In other embodiments, an autonomous driving system retains control of the vehicle throughout the drift. However, the driver may perform “simulated drift maneuvers” such as counter-steering, and clutch kicking in order to communicate their desire to drift more or less aggressively. Accordingly, the autonomous driving system will effectuate the driver's communicated desire in a manner that keeps the vehicle in a safe/stable drift.
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公开(公告)号：US20230037369A1
公开(公告)日：2023-02-09
申请号：US17394312
申请日：2021-08-04
摘要： Systems and methods of controlling a clutch in a hybrid vehicle with a manual transmission, are provided. With the goal of enabling autonomous/assisted clutch control in a hybrid vehicle, while preserving the familiar mechanical feeling at the clutch pedal that driving enthusiasts prefer, embodiments of the disclosed technology use a shuttle valve to blend control of clutch engagement between a driver and an ECU. In these embodiments, a clutch pedal in the vehicle may be mechanically connected to a piston in a first hydraulic cylinder (just like in a traditional mechanical/hydraulic clutch actuation system), and an ECU may actuate a second hydraulic cylinder. Accordingly, a shuttle valve may be used to route the fluid coming from the cylinder with the greater pressure (i.e. the driver actuated cylinder or the ECU actuated cylinder), to a third hydraulic cylinder which adjusts engagement of a clutch by a mechanical linkage.
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公开(公告)号：US20230022906A1
公开(公告)日：2023-01-26
申请号：US17377323
申请日：2021-07-15
发明人： AVINASH BALACHANDRAN , YAN MING JONATHAN GOH , JOHN SUBOSITS , MICHAEL THOMPSON , ALEXANDER R. GREEN
IPC分类号： B60W30/182 , B60R16/023 , B60W50/02 , B60W50/029 , B60W10/20 , B60W10/04 , B60W10/02 , B60W10/18 , G06N20/00
摘要： Systems and methods of autonomously controlling a vehicle across the grip driving and drift driving operating ranges, are provided. The contemplated autonomous control can be effectuated using a closed-loop control system. In some embodiments, closed-loop control may be accomplished by deriving control laws involving sideslip angle, yaw rate, wheel speed, and other vehicle states. These control laws may be used to control the vehicle in a stable drift condition.
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