公开(公告)号：US12215976B2

公开(公告)日：2025-02-04

申请号：US17663810

申请日：2022-05-17

Applicant: DENSO CORPORATION

Inventor： Yuuichi Minamiguchi

IPC: G01C21/16 ,  B60W40/068 ,  B60W40/103 ,  G01C21/32

Abstract: An estimation includes a dead reckoning unit, a map matching unit, and a parameter correction unit. The dead reckoning unit is configured to estimate a state quantity by dead reckoning based on (i) a dynamics model including a parameter that changes a behavior of the vehicle and (ii) internal information acquired from an inside of the vehicle. The map matching unit is configured to observe the state quantity by map matching based on (i) map information indicative of a traveling environment of the vehicle and (ii) external information acquired from an outside of the vehicle. The parameter correction unit is configured to correct the parameter, which is to be fed back for the dead reckoning, based on an offset amount that is a difference between the state quantity observed by the map matching and the state quantity estimated by the dead reckoning.

公开(公告)号：US11772679B2

公开(公告)日：2023-10-03

申请号：US16999875

申请日：2020-08-21

Applicant: Hyundai Motor Company ,  Kia Motors Corporation

Inventor： Jun Mo Lee

IPC: B60W60/00 ,  B60W30/02 ,  B60W40/13 ,  B60W40/103 ,  B60W10/18 ,  B60W10/20 ,  B60W40/109 ,  B60W40/107 ,  B60W40/114

CPC classification number: B60W60/001 ,  B60W10/18 ,  B60W10/20 ,  B60W30/02 ,  B60W40/103 ,  B60W40/107 ,  B60W40/109 ,  B60W40/114 ,  B60W40/13 ,  B60W2040/1315 ,  B60W2510/20

Abstract: A method is provided for steering control of a vehicle by using lateral velocity of two know points (or lateral velocity of one known point and yaw rate), longitudinal velocity and steer angle information. These factors are used to calculate a target steer angle based on the track angle based on yaw decomposition to thus adjust a current steer angle of the vehicle based on the target steer angle.

公开(公告)号：US11745706B2

公开(公告)日：2023-09-05

申请号：US17436778

申请日：2020-01-30

Applicant: Hitachi Astemo, Ltd.

Inventor： Satoshi Nakagawa

IPC: B60W60/00 ,  B60T8/1755 ,  B60W10/188 ,  B60W10/20 ,  B60W30/045 ,  B60W30/12 ,  B60W30/14 ,  B60W40/103 ,  B60W40/109 ,  B60W40/114

CPC classification number: B60T8/17552 ,  B60W10/188 ,  B60W10/20 ,  B60W30/045 ,  B60W30/12 ,  B60W30/143 ,  B60W40/103 ,  B60W40/109 ,  B60W40/114 ,  B60W60/001 ,  B60T2230/02 ,  B60T2250/03 ,  B60W2520/125 ,  B60W2520/14 ,  B60W2520/20

Abstract: In motion control in the present invention, operation amounts relating to braking and drive are set as a control command when a difference between a physical quantity relating to a target vehicle attitude which is based on a target trajectory and a physical quantity relating to a linear model vehicle attitude which is based on a linear model of a vehicle exceeds a threshold value, operation amounts relating to braking and steering are set as the control command when the difference is equal to or smaller than the threshold value, and an attitude of the vehicle in a yaw direction is controlled based on the control command.

公开(公告)号：US11731638B2

公开(公告)日：2023-08-22

申请号：US17372766

申请日：2021-07-12

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA ,  DENSO TEN Limited

Inventor： Hidetsugu Higuchi ,  Hiromi Tonegawa ,  Kenji Tsumura ,  Hideaki Miyazaki

IPC: B60W40/103 ,  B60W40/068 ,  B60W40/105 ,  H04L12/40

CPC classification number: B60W40/103 ,  B60W40/068 ,  B60W40/105 ,  H04L12/40 ,  B60W2552/40 ,  B60W2555/20 ,  B60W2556/45 ,  H04L2012/40215 ,  H04L2012/40273

Abstract: A driving assistance apparatus includes a processor having hardware. The processor is configured to acquire vehicle speed data before an ABS of a vehicle is activated and vehicle speed data when the ABS of the vehicle is stopped, calculate a coefficient of sliding friction based on the vehicle speed data before the ABS is activated and the vehicle speed data when the ABS is stopped, determine whether the coefficient of sliding friction is equal to or smaller than a threshold, and detect that a slip due to road freezing has occurred when the coefficient of sliding friction is equal to or smaller than the threshold.

公开(公告)号：US20230116247A1

公开(公告)日：2023-04-13

申请号：US17907902

申请日：2020-04-28

Applicant: Mitsubishi Electric Corporation

Inventor： Jumpei KAMIYA ,  Masaya ENDO

IPC: B60W40/103 ,  B60W40/09

Abstract: This vehicle relative-position calculation device includes: a vehicle state information acquisition unit for acquiring state information of an own vehicle during traveling; a surrounding object information acquisition unit for acquiring information of a surrounding object around the own vehicle; a relative-position information conversion input unit to which relative-position information determined from the state information of the own vehicle and the information of the surrounding object, is inputted, and which converts the inputted relative-position information to relative-position information for which a specific position on the own vehicle is set as an origin; a position information storage unit which stores the relative-position information converted and a vehicle-fixed coordinate conversion unit to which the state information of the own vehicle acquired, is inputted, and which converts the relative-position information stored in the position information storage unit to present-time relative-position information, and outputs the present-time relative-position information to the position information storage unit.

公开(公告)号：US20230077673A1

公开(公告)日：2023-03-16

申请号：US17447679

申请日：2021-09-14

Applicant: GM GLOBAL TECHNOLOGY OPRATIONS LLC

Inventor： Ehsan Asadi ,  Seyedeh Asal Nahidi ,  SeyedAlireza Kasaiezadeh Mahabadi ,  Yubiao Zhang ,  Hualin Tan ,  Naser Mehrabi

IPC: B60W30/02 ,  B60W40/114 ,  B60W40/103 ,  B60W40/109

Abstract: Systems and methods for controlling a vehicle are provided. The systems and methods include a sensor system and a processor configured to execute program instructions, to cause the at least one processor to: receive yaw rate values, lateral acceleration values and longitudinal velocity values for the vehicle from the sensor system, determine side slip angle parameter values based on the yaw rate values, lateral acceleration values and longitudinal velocity values, determine phase portrait angles based on the side slip angle parameter values and the yaw rate values, wherein the phase portrait angles each represent an angle between yaw rate and side slip angle for the vehicle in a phase portrait of yaw rate and side slip angle, detect or predict vehicle instability based at least on the phase portrait angles, and when vehicle instability is detected or predicted, control motion of the vehicle to at least partly correct the vehicle instability.

公开(公告)号：US11572075B2

公开(公告)日：2023-02-07

申请号：US16940948

申请日：2020-07-28

Applicant: HERE Global B.V.

Inventor： Leon Stenneth ,  Leo Modica

IPC: G07C5/00 ,  G07C5/08 ,  B60W40/103 ,  B60W40/101

Abstract: Dangerous driving events may be reported by detecting an occurrence of a dangerous event relating to the operation of a vehicle. A notification message of the dangerous event may be generated involving a time of occurrence of the dangerous event, a location of the dangerous event, and an event type of a plurality of event types for the dangerous event. The notification message may then be transmitted to communicate the occurrence dangerous driving event and information related to the dangerous driving event.

公开(公告)号：US11548589B2

公开(公告)日：2023-01-10

申请号：US16378801

申请日：2019-04-09

Applicant: KAWASAKI MOTORS, LTD.

Inventor： Daisuke Saeki

IPC: B62M6/50 ,  B62J45/41 ,  B62J45/415 ,  B62J45/423 ,  B62J6/01 ,  B62J6/05 ,  B60W40/112 ,  B60W40/114 ,  B60W40/103 ,  B62J6/022

Abstract: A motorcycle includes a pair of left and right front forks, a headlight, cover members (side cowls and light covers), and camera units. A front wheel is rotatably attached to the pair of left and right front forks. The headlight irradiates a forward side. The cover members each having an internal space are disposed at least laterally outside the pair of left and right front forks in a front view. The camera units detect the forward side by acquiring visible light which is one kind of electromagnetic waves (by acquiring images). In a front view, the camera units are disposed below the headlight and laterally outside the pair of left and right front forks. The camera units are disposed in the internal spaces of the cover members.

公开(公告)号：US11332151B2

公开(公告)日：2022-05-17

申请号：US16720756

申请日：2019-12-19

Applicant: Toyota Jidosha Kabushiki Kaisha

Inventor： Hiroaki Sasaki ,  Hisanori Mitsumoto

IPC: B60W40/103 ,  B60W10/188

Abstract: A slip angle estimation device for a vehicle comprises an imaging device for capturing an image of at least one of the front and the rear of the vehicle and a control unit. The imaging device is a CCD camera including a lens and an imaging sensor. The control unit is configured to determine a plurality of tracking points for a plurality of captured objects, determine an optical flow for the plurality of tracking points based on two images captured at predetermined elapsed time intervals, determine a vanishing point based on intersections of the plurality of optical flows, and calculate a slip angle of the vehicle based on a ratio of a horizontal distance between an image center and the vanishing point to a distance between a lens center of the CCD camera and an imaging sensor.

公开(公告)号：US20220135021A1

公开(公告)日：2022-05-05

申请号：US17512068

申请日：2021-10-27

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Hiroki Furuta

IPC: B60W30/02 ,  B60W40/06 ,  B60W40/103 ,  B60W10/22 ,  B60W40/08

Abstract: A control method of a vehicle includes determining a look-ahead time, calculating a predicted passage position by using specific vehicle information having at least a position of a wheel at the current time point, velocity of the vehicle, and the proceeding direction of the vehicle, acquiring a road surface displacement-associated value at the predicted passage position, calculating a final target control force based on the road surface displacement-associated value at the predicted passage position, and controlling a control force generator based on the final target control force.