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公开(公告)号：US12122375B2
公开(公告)日：2024-10-22
申请号：US17264142
申请日：2019-08-01
申请人： Robert Bosch GmbH
发明人： Alexander Trofimov , Franz Dahlke
CPC分类号： B60W30/14 , B60L15/20 , B60T13/586 , B60W10/08 , B60W10/18 , B60L2240/12 , B60L2240/423 , B60T2220/04 , B60T2250/04 , B60T2270/604 , B60W2520/00
摘要： A method for operating a motor vehicle, which includes a drive system, including an electric drive machine, a friction braking system and an actuating element. The actuating element is continuously movable between a first end state and a second end state, a position of the actuating element in the first end state corresponding to a percentage value of 0%, and the position of the actuating element in the second end state corresponding to a percentage value of 100%. An acceleration torque for the motor vehicle is predefined if the positon has a percentage value that is greater than a predefined threshold value, and a deceleration torque for the motor vehicle being predefined if the position has a percentage value that is less than the threshold value. The friction braking system is activated in such a way that the friction braking system generates at least partially the predefined deceleration torque.
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公开(公告)号：US20240319729A1
公开(公告)日：2024-09-26
申请号：US18383967
申请日：2023-10-26
IPC分类号： G05D1/00 , B60R16/023 , B60W10/06 , B60W10/10 , B60W10/184 , B60W10/20 , B60W10/22 , B60W30/14 , B60W30/165 , B60W30/18 , B60W40/13 , G01G19/02 , G01G19/08 , G01S19/13 , G07C5/00 , G08G1/00 , G08G1/127 , H04L67/12 , H04W4/46 , H04W84/00
CPC分类号： G05D1/0293 , B60R16/0231 , B60W10/06 , B60W10/10 , B60W10/184 , B60W10/20 , B60W10/22 , B60W30/14 , B60W30/165 , B60W30/18 , B60W40/13 , G01G19/022 , G01G19/086 , G07C5/008 , G08G1/127 , G08G1/22 , B60W2300/12 , B60W2510/0657 , B60W2510/1005 , B60W2520/28 , B60W2530/10 , B60W2530/20 , B60W2540/10 , B60W2554/4041 , B60W2554/801 , B60W2554/804 , B60W2556/50 , B60W2556/65 , B60W2710/0605 , B60W2710/0627 , B60W2710/0661 , B60W2710/0666 , B60W2710/1005 , B60W2710/20 , B60W2710/22 , G01S19/13 , H04L67/12 , H04W4/46 , H04W84/005
摘要： Various applications for use of mass estimations of a vehicle, including to control operation of the vehicle, sharing the mass estimation with other vehicles and/or a Network Operations Center (NOC), organizing vehicles operating in a platoon and/or partially controlling the operation of one or more vehicles operating in a platoon based on the relative mass estimations between the platooning vehicles. When vehicles are operating in a platoon, the relative mass between a lead and a following vehicle may be used to scale torque and/or brake commands generated by the lead vehicle and sent to the following vehicle.
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3.发明授权公开(公告)号：US12054180B2
公开(公告)日：2024-08-06
申请号：US17589924
申请日：2022-02-01
CPC分类号： B60W60/0051 , B60W30/09 , B60W30/12 , B60W30/14 , B60W50/16 , B60W60/0061 , B60W2050/143 , B60W2050/146
摘要： A method for transitioning a drive mode of a vehicle from an assisted drive mode (AS) to an automated drive mode (AD), the method including: providing an assisted drive mode (AS) configured to support a driver controlling the vehicle at a medium support level; receiving an activation request for activating an automated drive mode (AD) configured to control a driving of the vehicle autonomously; reducing a support level (SL) to a safe assisted drive mode (ADAS) configured to support the driver at a low support level, the reduction of the SL from the AS to the ADAS including a first kinematic feedback; and if the activation request is successful, increasing the SL from the ADAS to the AD, the increase of the SL from the ADAS to the AD including a second kinematic feedback to the driver; or if the activation request fails, maintaining the ADAS.
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公开(公告)号：US20240255291A1
公开(公告)日：2024-08-01
申请号：US18626701
申请日：2024-04-04
IPC分类号： G01C21/32 , B60W30/14 , B60W30/18 , B60W60/00 , B62D15/02 , G01C21/00 , G01C21/14 , G01C21/16 , G01C21/34 , G01C21/36 , G01S19/10 , G06F16/23 , G06F16/29 , G06T7/00 , G06V20/56 , G06V20/58 , G06V20/62 , G08G1/01 , G08G1/0962 , G08G1/0967 , G08G1/0968 , G08G1/16 , H04L67/12
CPC分类号： G01C21/32 , B60W30/14 , B60W30/18 , B60W60/00274 , B62D15/025 , G01C21/14 , G01C21/1652 , G01C21/1656 , G01C21/34 , G01C21/3407 , G01C21/3476 , G01C21/36 , G01C21/3602 , G01C21/3623 , G01C21/3644 , G01C21/3691 , G01C21/3896 , G06F16/2379 , G06F16/29 , G06V20/56 , G06V20/582 , G06V20/584 , G06V20/588 , G06V20/63 , G08G1/0112 , G08G1/09623 , G08G1/096725 , G08G1/096805 , G08G1/167 , B60W2420/403 , B60W2420/408 , B60W2552/53 , B60W2555/60 , B60W2556/35 , B60W2710/18 , B60W2710/20 , B60W2720/10 , G01C21/3811 , G01C21/3819 , G01C21/3822 , G01S19/10 , G06T7/00 , G06T2207/20081 , G06T2207/30256 , G06T2207/30261 , H04L67/12
摘要： A non-transitory computer-readable medium is provided. The computer-readable medium includes a sparse map for autonomous vehicle navigation along a road segment. The sparse map includes a polynomial representation of a target trajectory for the autonomous vehicle along the road segment, and a plurality of predetermined landmarks associated with the road segment. The sparse map has a data density of no more than 1 megabyte per kilometer.
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公开(公告)号：US12043271B2
公开(公告)日：2024-07-23
申请号：US17854902
申请日：2022-06-30
发明人： Shinhoon Kim
CPC分类号： B60W40/13 , B60W30/14 , B60W40/076 , B60W50/00 , B60W50/14 , B60W2050/0026 , B60W2050/0052 , B60W2300/12 , B60W2510/1005 , B60W2510/18 , B60W2510/20 , B60W2520/28 , B60W2530/10 , B60W2552/15
摘要： Systems and methods described herein concern estimating the mass of a vehicle. One embodiment uses a slope estimator to estimate the grade of a roadway on which the vehicle is traveling; inputs state estimates from the slope estimator, an estimated wheel force, and an estimated wheel acceleration to a secondary mass estimator that calculates a first estimated mass of the vehicle; selects, based at least in part on the first estimated mass, a calibration value using a tuning map; inputs the calibration value, the estimated wheel force, the state estimates, and a measurement noise value to a main mass estimator that calculates a second estimated mass of the vehicle that is more accurate than the first estimated mass due, at least in part, to the calibration value; and adjusts automatically one or more operational parameters of the vehicle based, at least in part, on the second estimated mass.
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公开(公告)号：US12001217B1
公开(公告)日：2024-06-04
申请号：US17717290
申请日：2022-04-11
申请人： Waymo LLC
发明人： David I. Ferguson , Jiajun Zhu
IPC分类号： G05D1/00 , B60K31/00 , B60W10/06 , B60W10/18 , B60W10/20 , B60W30/12 , B60W30/14 , B60W50/02 , B60W50/029 , G01C21/28 , G01S7/40 , G01S7/497 , G01S7/52 , G01S13/58 , G01S13/931 , G01S17/66 , G01S17/86 , G01S17/87
CPC分类号： G05D1/024 , B60K31/0008 , B60W10/06 , B60W10/18 , B60W10/20 , B60W30/12 , B60W30/14 , B60W50/0205 , B60W50/029 , G01C21/28 , G01S7/4004 , G01S7/497 , G01S7/4972 , G01S7/52004 , G01S13/58 , G01S13/931 , G01S17/66 , G01S17/86 , G01S17/87 , G05D1/00 , G05D1/0088 , G05D1/0246 , G05D1/0251 , G05D1/0255 , G05D1/0257 , G05D1/0274 , B60W2050/0215 , B60W2420/403 , B60W2420/408 , B60W2554/00 , B60W2554/801 , B60W2720/10 , B60W2720/24 , G01S7/4039 , G01S2007/4975
摘要： Methods and systems are disclosed for determining sensor degradation by actively controlling an autonomous vehicle. Determining sensor degradation may include obtaining sensor readings from a sensor of an autonomous vehicle, and determining baseline state information from the obtained sensor readings. A movement characteristic of the autonomous vehicle, such as speed or position, may then be changed. The sensor may then obtain additional sensor readings, and second state information may be determined from these additional sensor readings. Expected state information may be determined from the baseline state information and the change in the movement characteristic of the autonomous vehicle. A comparison of the expected state information and the second state information may then be performed. Based on this comparison, a determination may be made as to whether the sensor has degraded.
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公开(公告)号：US20240112337A1
公开(公告)日：2024-04-04
申请号：US18480531
申请日：2023-10-04
发明人： Sylvie Wacquant
IPC分类号： G06T7/00 , A61B5/00 , B60Q9/00 , B60W30/09 , B60W30/12 , B60W30/14 , B60W50/08 , G06V20/52 , G06V20/59 , G08G1/16
CPC分类号： G06T7/0012 , A61B5/0077 , B60Q9/00 , B60W30/09 , B60W30/12 , B60W30/14 , B60W50/085 , G06V20/52 , G06V20/597 , G08G1/167 , A61B2503/22 , B60W2420/42 , B60W2540/221 , B60W2540/229 , B60W2540/24 , B60W2555/60 , B60W2556/45 , B60W2710/18 , G06T2207/20081 , G06T2207/30196 , G06T2207/30232 , G06T2207/30268
摘要： A vehicular driver monitoring system includes a camera that views the driver of a vehicle. The vehicular driver monitoring system accesses a driver profile associated with the driver that includes status of a health parameter of the driver. The vehicular driver monitoring system, responsive at least in part to processing at an electronic control unit (ECU) of image data captured by the camera, determines a current status of the health parameter of the driver. The driver profile associated with the driver includes at least one previously determined status of the health parameter of the driver. The vehicular driver monitoring system determines a health rating of the driver based on a comparison of (i) the determined current status of the health parameter of the driver and (ii) the at least one previously determined status of the health parameter of the driver.
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公开(公告)号：US11872989B2
公开(公告)日：2024-01-16
申请号：US17126784
申请日：2020-12-18
发明人： Paul G. Otanez , Yiran Hu , Hualin Tan , Daniel L Baibak , Ruixing Long
IPC分类号： B60W30/182 , B60W10/04 , B60W50/08 , B60W40/114 , B60W40/109 , B60W40/08 , B60W10/18 , B60W40/105 , B60W10/20 , B60W30/14 , B60W30/12
CPC分类号： B60W30/182 , B60W10/04 , B60W10/18 , B60W10/20 , B60W30/12 , B60W30/14 , B60W40/08 , B60W40/105 , B60W40/109 , B60W40/114 , B60W50/082 , B60W2520/10 , B60W2540/10 , B60W2540/12 , B60W2540/18
摘要： The concepts described herein relate to a calculation of desired future longitudinal horizons related to torque or acceleration, and desired future lateral horizons related to yaw rate and lateral velocity, and their use in response to driver-selectable modes. In the longitudinal direction, driver inputs of pedal and brake position as well as drivability metrics are used to calculate the desired future torque trajectory. In the lateral direction, the front and rear steering angles may be used with a bicycle model to derive the trajectories. The trajectories are used in a vehicle motion controller that uses weighting to tradeoff competing requests and deliver performance that is consistent with a selected driver mode, such as a tour mode, a sport mode, an off-road mode, a trailering mode, etc.
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公开(公告)号：US20240001938A1
公开(公告)日：2024-01-04
申请号：US17854902
申请日：2022-06-30
发明人： Shinhoon Kim
IPC分类号： B60W40/13 , B60W40/076 , B60W50/00 , B60W30/14 , B60W50/14
CPC分类号： B60W40/13 , B60W40/076 , B60W50/00 , B60W30/14 , B60W50/14 , B60W2050/0052 , B60W2300/12 , B60W2552/15 , B60W2530/10 , B60W2050/0026 , B60W2510/1005 , B60W2510/18 , B60W2510/20 , B60W2520/28
摘要： Systems and methods described herein concern estimating the mass of a vehicle. One embodiment uses a slope estimator to estimate the grade of a roadway on which the vehicle is traveling; inputs state estimates from the slope estimator, an estimated wheel force, and an estimated wheel acceleration to a secondary mass estimator that calculates a first estimated mass of the vehicle; selects, based at least in part on the first estimated mass, a calibration value using a tuning map; inputs the calibration value, the estimated wheel force, the state estimates, and a measurement noise value to a main mass estimator that calculates a second estimated mass of the vehicle that is more accurate than the first estimated mass due, at least in part, to the calibration value; and adjusts automatically one or more operational parameters of the vehicle based, at least in part, on the second estimated mass.
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公开(公告)号：US11858511B2
公开(公告)日：2024-01-02
申请号：US17069093
申请日：2020-10-13
申请人： Robert Bosch GmbH
CPC分类号： B60W30/14 , B60W50/14 , G06N20/00 , B60W2050/0011 , B60W2050/0028 , B60W2050/0088 , B60W2540/10 , B60W2540/12 , B60W2540/18 , B60W2540/30 , B60W2554/80
摘要： A control system for a motor vehicle, for outputting a controlled variable, with the aid of which a directly controlled variable of a motor vehicle is adjustable via suitable control operations, in order to adapt the directly controlled variable to a reference variable of the control system. The control system includes a controller, which is configured to output a first output variable on the basis of the directly controlled variable of the motor vehicle, and on the basis of the reference variable of the control system. The control system further includes a predictive model, which may be trained to output a second output variable that reflects a deviation of a driving behavior of a driver of the motor vehicle from the first output variable of the controller. The controlled variable of the control system encompasses an addition of the first output variable and the second output variable.
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