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    Systems and methods to control autonomous vehicle motion
    1.
    发明授权
    Systems and methods to control autonomous vehicle motion 有权

    公开(公告)号：US11899453B2

    公开(公告)日：2024-02-13

    申请号：US17533775

    申请日：2021-11-23

    申请人： UATC, LLC

    发明人： Eric Lloyd Wilkinson ,  Jacob Panikulam ,  J. Andrew Bagnell

    IPC分类号： G05D1/00 ,  G05D1/02 ,  B62D15/00 ,  G01C21/00

    CPC分类号： G05D1/0066 ,  B62D15/00 ,  G01C21/38 ,  G05D1/0088 ,  G05D1/0217 ,  G05D1/0221 ,  G05D2201/0213

    摘要： The present disclosure provides systems and methods that control the motion of an autonomous vehicle by rewarding or otherwise encouraging progress toward a goal, rather than simply rewarding distance travelled. In particular, the systems and methods of the present disclosure can project a candidate motion plan that describes a proposed motion path for the autonomous vehicle onto a nominal pathway to determine a projected distance associated with the candidate motion plan. The systems and methods of the present disclosure can use the projected distance to evaluate a reward function that provides a reward that is positively correlated to the magnitude of the projected distance. The motion of the vehicle can be controlled based on the reward value provided by the reward function. For example, the candidate motion plan can be selected for implementation or revised based at least in part on the determined reward value.

    Automated vehicle lane change control techniques
    4.
    发明授权
    Automated vehicle lane change control techniques 有权

    公开(公告)号：US11235804B2

    公开(公告)日：2022-02-01

    申请号：US16533229

    申请日：2019-08-06

    申请人： Mohammad S Huq ,  Javon D Pool

    发明人： Mohammad S Huq ,  Javon D Pool

    IPC分类号： B62D15/00 ,  B62D15/02 ,  B62D6/00

    摘要： Automated vehicle lane change systems and methods comprise determining a departing lane in which the vehicle is currently traveling and a merging lane in which the vehicle will be traveling after an automated lane change, determining a desired yaw rate of the vehicle based on a current speed of the vehicle, determining an end control point in each of a departing lane and a merging lane, determining a set of intermediate control points based on the end control points and the desired yaw rate, determining a basis spline (B-spline) defined by the end control points and the set of intermediate control points to obtain a desired path between the end control points, and commanding a steering system configured to control steering of the vehicle such that the vehicle follows the desired path.

    Systems and methods to control autonomous vehicle motion
    5.
    发明授权
    Systems and methods to control autonomous vehicle motion 有权

    公开(公告)号：US11194327B2

    公开(公告)日：2021-12-07

    申请号：US16445787

    申请日：2019-06-19

    申请人： UATC, LLC

    发明人： Eric Lloyd Wilkinson ,  Jacob Panikulam ,  J. Andrew Bagnell

    IPC分类号： G05D1/00 ,  G05D1/02 ,  G01C21/00 ,  B62D15/00

    摘要： The present disclosure provides systems and methods that control the motion of an autonomous vehicle by rewarding or otherwise encouraging progress toward a goal, rather than simply rewarding distance traveled. In particular, the systems and methods of the present disclosure can project a candidate motion plan that describes a proposed motion path for the autonomous vehicle onto a nominal pathway to determine a projected distance associated with the candidate motion plan. The systems and methods of the present disclosure can use the projected distance to evaluate a reward function that provides a reward that is positively correlated to the magnitude of the projected distance. The motion of the vehicle can be controlled based on the reward value provided by the reward function. For example, the candidate motion plan can be selected for implementation or revised based at least in part on the determined reward value.

    Optical tracking vehicle control system and method
    7.
    再颁专利
    Optical tracking vehicle control system and method 有权

    公开(公告)号：USRE48527E1

    公开(公告)日：2021-04-20

    申请号：US15196824

    申请日：2016-06-29

    申请人： AGJUNCTION LLC

    发明人： David R. Reeve ,  Andrew John Macdonald ,  Campbell Robert Morrison

    IPC分类号： G05D1/00 ,  G05D1/02 ,  B62D15/00 ,  B62D15/02 ,  G01S19/43 ,  G01S19/48

    摘要： A vehicle control system having a controller and a spatial database adapted to provide spatial data to the controller at control speed. The spatial data provided from the spatial database to the controller includes images collected from an optical sensor subsystem in addition to other data collected by a variety of sensor types, including a GNSS or inertial measurement system. The spatial data received by the controller from the database forms at least part of the control inputs that the controller operates on to control the vehicle. The advantage provided by the present invention allows control system to “think” directly in terms of spatial location. A vehicle control system in accordance with one particular embodiment of the invention comprises a task path generator, a spatial database, at least one external spatial data receiver, a vehicle attitude compensation module, a position error generator, a controller, and actuators to control the vehicle.

    Steering angle sensor with slotted magnet
    9.
    发明授权
    Steering angle sensor with slotted magnet 有权

    公开(公告)号：US10953919B2

    公开(公告)日：2021-03-23

    申请号：US16262641

    申请日：2019-01-30

    申请人： Bourns, Inc.

    发明人： Sommer Andreas ,  Johann Jahrstorfer ,  Miguel Cano ,  Benno Pichler

    IPC分类号： B62D15/00 ,  B62D15/02 ,  G01D5/12 ,  G01D5/14

    摘要： Embodiments relate to a vehicle including a chassis that is moveable in a driving direction, two rear wheels moveably carrying the chassis on the rear side seen in the driving direction, two front wheels moveably carrying the chassis on the front side seen in the driving direction, a steering wheel for turning a steering column around a rotation axis for steering the front wheels, and a steering angle sensor for measuring a rotation angle of the steering column around the rotation axis with an encoder that is stationary to the steering column and with a magnet sensor that is disposed axially displaced distance from the encoder on the rotation axis.