Patent application number | Description | Published |
20080208406 | Nonlinear vehicle yaw/roll/sideslip command interpreter - A command interpreter for a vehicle stability enhancement system that uses a three degree-of-freedom vehicle model employing non-linear suspension and tire characteristics to calculate stability commands. The command interpreter includes a calculator that calculates a front tire lateral force, a calculator that calculates a rear tire lateral force and a command calculator that calculates a yaw-rate command signal, a lateral velocity command signal and a roll angle command signal. The front tire lateral force calculator and the rear tire lateral force calculator calculate the front and rear side-slip angles. The side-slip angles are then converted to a lateral force, where the conversion is selected based on the tire vertical load. The rear tire lateral force is modified for high side-slip angles so that the rear tire lateral force does not become saturated. | 08-28-2008 |
20090235724 | IDENTIFICATION OF VEHICLE CG HEIGHT AND MASS FOR ROLL CONTROL - A system and method for determining vehicle CG height and mass in real-time. The method includes selecting a set of vehicle parameters to be considered that includes the vehicle mass and the center of gravity height of the vehicle. Frequency responses are generated using the dynamic model and a plurality of different values for the selected vehicle parameters. During vehicle operation, frequency responses are calculated from a measured vehicle lateral acceleration to a roll angle and/or a roll rate of the vehicle. The generated frequency responses and the calculated frequency responses are compared to determine which of the generated frequency responses more closely matches the calculated frequency responses. The generated frequency responses that most closely match the calculated frequency responses are used to determine the center of gravity height and the vehicle mass from the values for the vehicle parameters. | 09-24-2009 |
20090260907 | Autonomous parking strategy based on available parking space - A method is provided for controlling a parallel parking of a vehicle. A distance between the first object and the second object is remotely sensed. The distance is compared to a first predetermined distance and a second predetermined distance. An autonomous first steering strategy maneuver is performed for parking the vehicle between the first object and second object if the distance is greater than the first predetermined distance. The first steering strategy maneuver consists of a first predetermined number of steering cycles for parking the vehicle. An autonomous second steering strategy maneuver is performed for parking the vehicle between the first and second object if the distance is between the first predetermined distance and the second predetermined distance. The second steering strategy maneuver consists of a second predetermined number of steering cycles for parking the vehicle where the second is greater than the first predetermined number of steering cycles. | 10-22-2009 |
20090319130 | METHOD AND SYSTEM FOR ADAPTIVELY COMPENSATING CLOSED-LOOP FRONT-WHEEL STEERING CONTROL - An active front-wheel vehicle steering control system that employs closed-loop control includes an adaptive compensation sub-system that compensates for changes in vehicle dynamic parameters. The control system includes a dynamic parameter estimation sub-system that provides an estimated front cornering compliance and rear cornering compliance based on a steering wheel angle signal, a vehicle lateral acceleration signal, a vehicle yaw rate signal and a vehicle speed signal. The closed-loop control includes active gain for each of vehicle yaw rate, yaw acceleration, side-slip and side-slip rate, all based on the vehicle speed and vehicle dynamic parameter changes for use in generating a steering angle control signal to the front wheels of the vehicle. | 12-24-2009 |
20100204866 | Path Planning for Autonomous Parking - A method is provided for determining a vehicle path for autonomously parallel parking a vehicle in a space between a first object and a second object. A distance is remotely sensed between the first object and the second object. A determination is made whether the distance is sufficient to parallel park the vehicle between. A first position to initiate a parallel parking maneuver is determined. A second position within the available parking space corresponding to an end position of the vehicle path is determined. A first arc shaped trajectory of travel is determined between the first position and an intermediate position, and a second arc shaped trajectory of travel is determined between the second position and the intermediate position. The first arc shaped trajectory is complementary to the second arc shaped trajectory for forming a clothoid which provides a smoothed rearward steering maneuver between the first position to the second position. | 08-12-2010 |
20100271236 | FEASIBLE REGION DETERMINATION FOR AUTONOMOUS PARKING - A method is provided for initiating a parking maneuver for parallel parking a vehicle between a first object and a second object. A target parking space is measured. A determination is made whether the measured target parking space is sufficient to allow an autonomous parallel parking maneuver. A region of feasible starting locations is determined to successfully perform the parallel parking maneuver between the first object and the second object if the available parking space is sufficient. A position of a midpoint of a rear axle is determined in relation to the designated region. A determination is made whether the midpoint of the rear axle is within the designated region. A driver of the vehicle is signaled in response to an instantaneous location of the midpoint of the rear axle vehicle being a feasible starting location to initiate the parallel parking maneuver. | 10-28-2010 |
20100280711 | SYSTEM AND METHOD OF USING A PORTABLE DEVICE TO RECOGNIZE A FREQUENT DRIVER - A system and method for identifying a vehicle driver using a portable electronic device that the driver may be carrying that transmits a unique identification signal, and then using the identification of the driver to automatically put vehicle devices and systems in a desirable pre-set location for that driver. In one embodiment, the portable device is a wireless device employing Bluetooth communications protocol that wirelessly transmits an identification signal received by the vehicle to identify the driver. In another embodiment, the device is a USB device that is plugged into an appropriate USB port in the vehicle that allows the vehicle to identify the driver by the identified signal from the portable device. | 11-04-2010 |
20110087405 | Autonomous Parking Strategy of the Vehicle with Rear Steer - A method includes parallel parking a vehicle between a first object and a second object in response to an available parking distance therebetween. The vehicle includes front steerable wheels and rear steerable wheels. A distance between the first object and the second object is remotely sensed determining whether to apply a one or two cycle parking strategy. An autonomous one cycle parking strategy includes pivoting the front and rear steerable wheels in respective directions for steering the vehicle in a first reverse arcuate path of travel and then cooperatively pivoting the steerable wheels in a counter direction for steering the vehicle in a second reverse arcuate path of travel to a final park position. The autonomous two cycle parking strategy includes performing the one cycle parking maneuver and then changing a transmission gear to a drive gear and pivoting the front and rear steerable wheels in the first direction for moving the vehicle forward to a final park position. | 04-14-2011 |
20110295464 | METHODS AND APPARATUS FOR A VEHICLE EMERGENCY CONTROL SYSTEM - A vehicle control system defines a set of predetermined criteria relating to the motion of the vehicle and a set of vehicle actions associated with the set of predetermined criteria. The vehicle actions each specify a steering action and/or a braking action. Friction data indicative of a frictional attribute (for example, coefficient of friction) of the contact region between the vehicle and the surface is received. The predetermined criteria are modified based on the friction data. When one or more of the predetermined criteria are met, the system applies the corresponding steering and/or braking actions. | 12-01-2011 |
20120022747 | METHODS AND APPARATUS FOR DETERMINING TIRE/ROAD COEFFICIENT OF FRICTION - A vehicle control method includes iteratively modifying a level of braking of the vehicle until it is determined that the vehicle has substantially lost traction with respect to the road surface, then determining the coefficient of friction between the road surface and the tire based on the level of braking at the time the vehicle substantially lost fraction. In one embodiment, previous ABS or other vehicle control events are used as a basis for estimating an initial level of braking to be applied during the friction measurement procedure. Such a deterministic maneuver can also function as a collision warning to the driver of the vehicle. | 01-26-2012 |
20120029769 | ARCHITECTURE AND METHODOLOGY FOR HOLISTIC VEHICLE CONTROL - A method to control a vehicle includes monitoring desired vehicle force and moment, monitoring real-time corner constraints upon vehicle dynamics which includes monitoring corner states of health for the vehicle, and monitoring corner capacities for the vehicle. The method further includes determining a desired corner force and moment distribution based upon the desired vehicle force and moment and the real-time corner constraints, and controlling the vehicle based upon the desired corner force and moment distribution. | 02-02-2012 |
20120055744 | HYBRID BRAKE CONTROL - A method to control a vehicle including control of regenerative brakes and friction brakes includes monitoring a desired corner force and moment distribution, monitoring real-time actuator constraints including a braking torque limit of each of the regenerative brake, determining a regenerative braking torque for each of the regenerative brakes based upon the desired corner force and moment distribution and the real-time actuator constraints, determining a friction braking torque for each of the friction brakes based upon the desired corner force and moment distribution and the determined regenerative braking torque for each of the regenerative brakes, and controlling the vehicle based upon the determined regenerative braking torques and the determined friction braking torques. | 03-08-2012 |
20120059547 | OPTIMAL CORNER CONTROL FOR VEHICLES - A method to control a vehicle having a plurality of wheels includes monitoring desired vehicle dynamics, determining a desired corner force and moment distribution based upon the desired vehicle dynamics and a real-time closed form dynamics optimization solution, and controlling the vehicle based upon the desired corner force and moment distribution. The real-time closed form dynamics optimization solution is based upon a minimized center of gravity force error component, a minimized control energy component, and a maximized tire force reserve component. | 03-08-2012 |
20120101701 | VEHICLE COLLISION AVOIDANCE AND WARNING SYSTEM - A collision avoidance system in a host vehicle that employs combined automatic braking and steering. The collision avoidance system defines thresholds that identify a time to collision with a target vehicle by the host vehicle that are based on the speed of the host vehicle, the acceleration of the host vehicle, the speed of the target vehicle, the acceleration of the target vehicle, the distance to the target vehicle from the host vehicle and a coefficient of friction of the roadway. The collision avoidance system provides full automatic collision avoidance braking if the time to collision is less than one threshold and the lane adjacent to the host vehicle is not clear. The collision avoidance system provides both automatic steering and braking of the host vehicle if the time to collision is less than another threshold and the lane adjacent to the host vehicle is clear. | 04-26-2012 |
20120101713 | OPTIMAL ACCELERATION PROFILE FOR ENHANCED COLLISION AVOIDANCE - A system and method for providing an optimal collision avoidance path for a host vehicle that may potentially collide with a target vehicle. The method includes providing off-line an optimization look-up table for storing on the host vehicle that includes an optimal vehicle braking or longitudinal deceleration and an optimal distance along the optimal path based on a range of speeds of the host vehicle and coefficients of friction of the roadway surface. The method determines the current speed of the host vehicle and the coefficient of friction of the roadway surface during the potential collision, and uses the look-up table to determine the optimal longitudinal deceleration or braking of the host vehicle for the optimal vehicle path. The method also determines an optimal lateral acceleration or steering of the host vehicle for the optimal vehicle path based on a friction ellipse and the optimal braking. | 04-26-2012 |
20120197469 | REAL-TIME ALLOCATION OF ACTUATOR TORQUE IN A VEHICLE - A method for allocating forces among the corners of a vehicle having a redundant actuator suite includes determining a set of desired forces at the center of gravity of the vehicle, and allocating the set of desired forces among the corners of the vehicle as virtual control commands using a controller. The method also includes mapping the virtual control commands at the corners to actual or true control commands at the corners, and controlling a plurality of actuators at the corners using the actual or true control commands. The actuators may include friction brakes and wheel motors. Mapping the virtual control commands may include using a Least Squares formulation. Control of the actuators may be prioritized with respect to each other using weighting matrices. A vehicle includes a controller having actuators and a controller configured for executing the above method. | 08-02-2012 |
20120226413 | HIERARCHICAL RECOGNITION OF VEHICLE DRIVER AND SELECT ACTIVATION OF VEHICLE SETTINGS BASED ON THE RECOGNITION - A process for identifying a vehicle driver according to a pre-determined hierarchy. The process includes determining, in a first determination act, whether a first sub-process, of a group of multiple sub-processes, can be used to identify the vehicle driver. The first sub-process is pre-determined to be a most reliable sub-process of the group for identifying the vehicle driver. The process also includes determining, in a second determination act, only if the first determination act has a negative result, whether a second sub-process of the group can be used to identify the vehicle driver. The second sub-process is pre-determined to be a second-most reliable sub-process of the group for identifying the vehicle driver. | 09-06-2012 |
20120283907 | LANE CENTERING FAIL-SAFE CONTROL USING DIFFERENTIAL BRAKING - Method, system and non-transitory computer-readable medium for fail-safe performance of a lane centering system. An electrical power steering (EPS) system of a vehicle is monitored for a failure and operation of the lane centering system is switched to a differential braking controller to output differential braking commands to a differential breaking system upon determining that a failure of the EPS system has occurred, where the output braking commands direct the differential braking system to apply force a brake for a wheel of vehicle, such by the applied braking force the vehicle follows a desired path determined for a lane centering operation. | 11-08-2012 |
20130030651 | COLLISION AVOIDANCE MANEUVER THROUGH DIFFERENTIAL BRAKING - A collision avoidance system in a host vehicle that provides automatic steering control using differential braking in the event that the normal steering control fails. The system determines whether a collision with an object, such as a target vehicle, in front of the host vehicle is imminent, and if so, determines an optimal path for the host vehicle to travel along to avoid the object if the collision is imminent. The collision avoidance system may determine that automatic steering is necessary to cause the vehicle to travel along the optimal path to avoid the target. If the collision avoidance system does determine that automatic steering is necessary and detects that normal vehicle steering has failed, the system uses differential braking to steer the vehicle along the path. | 01-31-2013 |
20130054128 | SYSTEM AND METHOD FOR COLLISION AVOIDANCE MANEUVER PATH DETERMINATION WITH JERK LIMIT - In a vehicle, an optimal path curvature limited by one or more constraints may be determined. The constraints may be related to lateral jerk and one or more vehicle dynamics constraints. Based on the optimal path curvature, an optimal vehicle path around an object may be determined. The optimal vehicle path may be output to a collision avoidance control system. The collision avoidance control system may cause the vehicle to take a certain path. | 02-28-2013 |
20130151075 | SYSTEM AND METHOD FOR VEHICLE ROLLOVER PREDICTION - A rollover avoidance method may include determining tire loading for at least two tires of a vehicle. A stability of the vehicle with regard to rolling over may be predicted based at least on the determined tire loading. The vehicle may be controlled at least on the basis of the predicted stability. | 06-13-2013 |
20130179036 | LANE TRACKING SYSTEM WITH ACTIVE REAR-STEER - A lane tracking system for a vehicle includes a front steering controller, a rear steering controller, and a lane tracking processor. The front steering controller is configured to rotate a front wheel of the vehicle through a front steering angle in response to a front steering torque command, and the rear steering controller is configured to rotate a rear wheel of the vehicle through a rear steering angle in response to a rear steering torque command. The lane tracking processor is configured to determine a desired course of the vehicle along a roadway, estimate a trajectory of the vehicle based on sensed vehicle motion, compute an error between the determined desired course and the estimated trajectory, and provide a front steering torque command to the front steering controller, and a rear steering torque command to the rear steering controller to minimize the computed error. | 07-11-2013 |
20130218396 | SYSTEM AND METHOD FOR ENHANCED VEHICLE CONTROL - A method and system may determine, in a vehicle, a desired path around an object based on a location of the object relative to the vehicle, relative speed, road parameters and one or more vehicle parameters. The method and system may calculate one or more vehicle control parameter values which minimize a predicted deviation from the desired vehicle path. The method and system may determine whether the one or more vehicle control parameter values would cause the vehicle to exceed one or more vehicle stability constraints. If the one or more vehicle control parameter values would cause the vehicle to exceed one or more vehicle stability constraints, the one or more vehicle control parameter values may be reduced to one or more vehicle control parameter values not causing the vehicle to exceed the one or more vehicle stability constraints. The method and system may output the one or more vehicle control parameter values to a vehicle automated control device. | 08-22-2013 |
20140032049 | Steering Assist in Driver Initiated Collision Avoidance Maneuver - A collision avoidance system for assisting a driver in avoiding a collision between a host vehicle and obstacle. A processor recursively calculates a time-to-collision with the obstacle and an optimal collision avoidance path for avoiding the collision. The optimum collision avoidance path is recursively generated based on a position and speed of the host vehicle relative to the obstacle and an updated calculated time-to-collision. A sensing device determines whether the driver of the vehicle has initiated a steering maneuver to avoid the obstacle. A steering assist mechanism maintains the host vehicle along the optimum collision avoidance path. The steering assist mechanism applies a steering assist torque for producing steering adjustments to assist in guiding the host vehicle along the optimum collision avoidance path to the target lane. The steering assist torque generated by the steering assist mechanism is recursively adjusted based on a recent updated optimum collision avoidance path. | 01-30-2014 |
20140052336 | DIRECTING VEHICLE INTO FEASIBLE REGION FOR AUTONOMOUS AND SEMI-AUTONOMOUS PARKING - A method of guiding a vehicle to a region for initiating a parallel parking maneuver. A region of feasible starting locations for successfully performing a parallel parking maneuver is determined by a processor. A position of the vehicle relative to the region of feasible starting locations is determined. A determination is made whether the vehicle is in a zero heading position. The vehicle is guided along an initial target path by controlling a steering actuator until the vehicle is in a zero heading position relative to the road of travel in response to the vehicle is not in the zero heading position. A planned path is generated that includes two arc-shaped trajectories extending between the vehicle at the zero heading position and a position within the region of feasible starting locations as determined by the processor. The steering actuator is controlled to follow the planned path to the feasible region. | 02-20-2014 |