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公开(公告)号：US12091114B2
公开(公告)日：2024-09-17
申请号：US18395716
申请日：2023-12-25
Applicant: Zhengzhou University of Light Industry
Inventor： Zhijun Fu , Yaohua Guo , Dengfeng Zhao , Jinquan Ding , Chaohui Liu , Wenbin He , Wenchao Yang , Lei Yao , Fang Zhou , Hui Wang , Wuyi Ming
IPC: B62D7/15
CPC classification number: B62D7/159
Abstract: The present disclosure provides a self-learning collaborative control method for active steering and yaw moment for a motor vehicle, including a first step of constructing fundamental formulas which are stored in a vehicle ECU, and a second step of calculating an active steering angle δC and a yaw moment Mc on line by the vehicle ECU according to following sub-steps during a driving process of the motor vehicle, and controlling a driving state of the motor vehicle according to δC and Mc. The second step includes a first sub-step of collecting raw real-time parameter values, a second sub-step of performing calculation by the identifier and the control target reference model, a third sub-step of calculating δC and Mc. The present disclosure can realize the self-learning collaborative control of active steering and yaw moment without requiring a system control model and correct a driver's steering operation.
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2.发明公开公开(公告)号：US20240286671A1
公开(公告)日：2024-08-29
申请号：US18443514
申请日：2024-02-16
Applicant: CHINA AUTOMOTIVE SYSTEMS, INC.
Inventor： Haimian Cai , Yuchen Lin , Luoyan Peng
CPC classification number: B62D5/0463 , B62D7/159
Abstract: A method for compensating torque fluctuation in a steering column having at least one universal joint includes: measuring an input steering angle and an output angle of the steering column; determining a steering angular velocity value based on the input steering angle; determining a TAS angular velocity value based on the output angle; determining an angular velocity ratio signal based on a ratio of the steering angular velocity value and the TAS angular velocity value; determining, across a predetermined ranges of values of the input steering angle, a maximum value of the angular velocity ratio signal; determining, based on the maximum value of the angular velocity ratio signal, an equivalent angle and an equivalent phase to characterize the torque fluctuation; determining a compensation torque signal based on the equivalent angle and the equivalent phase; and producing, by an electric motor, a compensation torque based on the compensation torque signal.
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公开(公告)号：US12030569B2
公开(公告)日：2024-07-09
申请号：US18110585
申请日：2023-02-16
Applicant: JAGUAR LAND ROVER LIMITED
Inventor： Nick Solomon , David Armstrong , William Ward
Abstract: An apparatus (104) and a method (800) for controlling steering of rear wheels (103) of a vehicle (100) are disclosed. The apparatus (104) comprises a control means (105) configured to receive a first signal indicative of a front wheel steering angle and a second signal indicative of a selected mode selected from at least a first mode and a second mode. The control means is also configured to determine a proposed rear wheel steering angle in dependence on the first signal and the second signal and to provide an output signal configured to cause steering of rear wheels (103) at the proposed rear wheel steering angle.
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公开(公告)号：US12024237B2
公开(公告)日：2024-07-02
申请号：US17537794
申请日：2021-11-30
Applicant: KUBOTA CORPORATION
Inventor： Tsuyoshi Gono , Susumu Takeoka , Kazutaka Fujimoto
CPC classification number: B62D37/04 , B62D7/1572 , B62D7/159 , B62D49/085
Abstract: A work vehicle includes: a body frame; a front weight at a front end portion of the body frame; a support mechanism supporting the front weight in such a manner that the front weight is movable in a front-back direction relative to the body frame; and a drive actuator configured to move the front weight in the front-back direction relative to the body frame between (i) a back position, at which the front weight is close to the body frame, and (ii) a front position, at which the front weight is far from the body frame.
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5.发明公开公开(公告)号：US20240190503A1
公开(公告)日：2024-06-13
申请号：US18360940
申请日：2023-07-28
Applicant: HYUNDAI MOBIS CO., LTD.
Inventor： Tae Hong KIM
IPC: B62D7/15
CPC classification number: B62D7/159
Abstract: An emergency steering control apparatus of a four-wheel independent steering system includes a sensor module to detect a malfunction in a steering system of a vehicle provided with a wheel independent steering system and a processor to, when at least one leading wheel in a direction of movement of the vehicle malfunctions during forward movement or reverse movement of the vehicle, control normal wheels located opposite the at least one malfunctioning wheel in the direction of the movement so that the vehicle turns in an intended direction for emergency parking.
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Patent Agency Ranking
公开(公告)号：US20240140527A1
公开(公告)日：2024-05-02
申请号：US17975414
申请日：2022-10-27
Applicant: Trimble Inc.
Inventor： Joshua Rands , Justin Creaby , Brandon Sights
CPC classification number: B62D7/159 , A01B69/008 , B62D7/142 , B62D15/021 , G01S19/393
Abstract: Disclosed are a method and apparatus for determining the heading of a 4WS vehicle. The 4WS vehicle's dynamic pivot point is calculated from the steering angles. A distance between the dynamic pivot point and a Global Navigation Satellite System (GNSS) antenna is determined. A time delay is determined in the form of the distance between the GNSS antenna and the pivot point divided by the current vehicle horizontal velocity. The time delay is multiplied by a vehicle yaw rate to obtain a result which is added to a GNSS antenna heading to give a true heading. A control point for the 4WS vehicle is selected to allow that control point to follow a desired trajectory.
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公开(公告)号：US20240132152A1
公开(公告)日：2024-04-25
申请号：US18395716
申请日：2023-12-25
Applicant: Zhengzhou University of Light Industry
Inventor： Zhijun Fu , Yaohua Guo , Dengfeng Zhao , Jinquan Ding , Chaohui Liu , Wenbin He , Wenchao Yang , Lei Yao , Fang Zhou , Hui Wang , Wuyi Ming
IPC: B62D7/15
CPC classification number: B62D7/159
Abstract: The present disclosure provides a self-learning collaborative control method for active steering and yaw moment for a motor vehicle, including a first step of constructing fundamental formulas which are stored in a vehicle ECU, and a second step of calculating an active steering angle δC and a yaw moment Mc on line by the vehicle ECU according to following sub-steps during a driving process of the motor vehicle, and controlling a driving state of the motor vehicle according to δC and Mc. The second step includes a first sub-step of collecting raw real-time parameter values, a second sub-step of performing calculation by the identifier and the control target reference model, a third sub-step of calculating δC and Mc. The present disclosure can realize the self-learning collaborative control of active steering and yaw moment without requiring a system control model and correct a driver's steering operation.
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公开(公告)号：US20240109585A1
公开(公告)日：2024-04-04
申请号：US17957756
申请日：2022-09-30
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Liam Gallagher , Marin Kobilarov , Vincent Andreas Laurense , Mark Jonathon McClelland , Sriram Narayanan , Kazuhide Okamoto , Jack Riley , Jeremy Schwartz , Jacob Patrick Thalman , Olivier Amaury Toupet , David Evan Zlotnik
IPC: B62D7/15
CPC classification number: B62D7/159
Abstract: Systems and techniques for determining a sideslip vector for a vehicle that may have a direction that is different from that of a heading vector for the vehicle. The sideslip vector in a current vehicle state and sideslip vectors in predicted vehicles states may be used to determine paths for a vehicle through an environment and trajectories for controlling the vehicle through the environment. The sideslip vector may be based on a vehicle position that is the center point of the wheelbase of the vehicle and may include lateral velocity, facilitating the control of four-wheel steered vehicle while maintaining the ability to control two-wheel steered vehicles.
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公开(公告)号：US11932308B1
公开(公告)日：2024-03-19
申请号：US17502843
申请日：2021-10-15
Applicant: Zoox, Inc.
Inventor： Zachary Stuart Churukian , David Evan Zlotnik , Joseph Funke
CPC classification number: B62D15/025 , B62D7/159 , B62D6/003 , G05D1/0214 , G05D1/0221
Abstract: Four-wheel steering of a vehicle, e.g., in which leading wheels and trailing wheels are steered independently of each other, can provide improved maneuverability and stability. Steering angle constraints may be used to limit or prevent saturation of steering by only one set of wheels as well as to reduce sideslip. The steering angle constraints are vehicle independent and applicable across a fleet of different vehicles based on vehicle speed. For instance, the steering angle constraints establish angle limits that dynamically adjust based on vehicle speed to ensure vehicle velocity and acceleration remain within predefined limits as established by autonomous vehicle system design.
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公开(公告)号：US11820367B2
公开(公告)日：2023-11-21
申请号：US17476100
申请日：2021-09-15
Applicant: ADVICS CO., LTD. , DENSO CORPORATION , AISIN CORPORATION , JTEKT CORPORATION , J-QuAD DYNAMICS INC.
Inventor： Yosuke Omori
CPC classification number: B60W30/09 , B60W10/04 , B60W10/18 , B60W10/20 , B60W50/0097 , B62D7/159 , B62D15/0265 , B60W2520/14 , B60W2710/18 , B60W2710/20
Abstract: A turning controller for a vehicle is configured to execute: a time obtaining process that obtains collision prediction time; a lateral movement amount determining process that determines whether a target lateral movement amount is greater than or equal to a lateral movement amount determination value; and an automatic turning process that, in a case in which the collision prediction time is shorter than or equal to a determination prediction time, outputs a command for steering the front wheel to the front wheel steering device and outputs a command for steering the rear wheel to the rear wheel steering device, in order to avoid a collision between the vehicle and the obstacle; a counter-phase process in the automatic turning process in a case in which the target lateral movement amount is determined to be greater than or equal to the lateral movement amount determination value.
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