With Device For Programmably Operating Vehicles Steerable Wheels Patents (Class 180/204)
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Patent number: 10179585Abstract: A method of moving a vehicle from a start position to end position when the end position cannot be detected by the vehicle's built-in sensors involves determining the start position by a mobile terminal or by the vehicle and determining the end position by the mobile terminal. A driving trajectory of the vehicle is planned within the vehicle, a driving maneuver of the vehicle is initiated by the vehicle or the mobile terminal, and the planned driving maneuver is carried out to reach the end position.Type: GrantFiled: June 26, 2015Date of Patent: January 15, 2019Assignee: DAIMLER AGInventors: Christophe Bonnet, Andreas Hiller, Gerhard Kuenzel, Martin Moser, Heiko Schiemenz
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Patent number: 10173725Abstract: The present disclosure relates to device including at least: an automatic steering mode control unit that controls a steering motor torque, corresponding to automatic steering torque information or automatic steering angle information for running of a vehicle in an automatic steering mode, to be generated when the automatic steering torque information or the automatic steering angle information is received; an automatic steering mode release determination unit that determines whether to release the automatic steering mode when a steering torque or steering angle information generated according to a steering wheel operation of a driver is detected; and an automatic steering mode release unit that determines a release time of the steering motor torque applied in the automatic steering mode, by using the steering angle information generated according to the steering wheel operation of the driver when it is determined to release the automatic steering mode.Type: GrantFiled: January 11, 2017Date of Patent: January 8, 2019Assignee: MANDO CORPORATIONInventor: Hyeon Heo
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Patent number: 10166922Abstract: An image display device includes an imaging unit that captures an area including at least a part of a rear wheel of the vehicle and an electronic control unit that: determines whether the vehicle will turn and travel; displays a whole or a part of the area on a display as a non-turning-time image when it is determined by the electronic control unit that the vehicle will travel without turning; displays the whole or a part of the area on the display as a turning-time image when it is determined by the electronic control unit that the vehicle will turn and travel; and sets the turning-time image in such a way that a driver visually recognizes a state of the rear wheel more easily through the turning-time image than through the non-turning-time image.Type: GrantFiled: April 10, 2015Date of Patent: January 1, 2019Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHAInventor: Goro Asai
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Patent number: 10155534Abstract: A system for determining driver torque includes a rack torque estimator module that determines an estimated rack torque value based on a motor angle, and a motor velocity. The system further includes a driver intent detection module that computes a disturbance torque scaling factor based on the estimated rack torque value. The system further includes a blend module that generates a motor torque assist command based on a scaled value of the estimated rack torque value using the disturbance torque scaling factor.Type: GrantFiled: June 14, 2016Date of Patent: December 18, 2018Assignee: STEERING SOLUTIONS IP HOLDING CORPORATIONInventors: Tejas M. Varunjikar, Anthony J. Champagne
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Patent number: 10137928Abstract: In a steering assist device, a lane keep assist current value calculation unit calculates, based on a lateral deviation and a lateral deviation change rate, a lane keep assist current value that makes the lateral deviation and the lateral deviation change rate closer to zero. When the steering direction represented by the sign of control steering torque is the same as the steered direction represented by the sign of the fourth lane keep assist current value, a switch unit selects zero received at its second input terminal and outputs zero as a final lane keep assist current value.Type: GrantFiled: May 16, 2016Date of Patent: November 27, 2018Assignee: JTEKT CORPORATIONInventor: Toshiaki Oya
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Patent number: 10131379Abstract: A steering control device restrains not only a steered angle but also a steering angle from exceeding their upper limit values. A maximum value selection circuit selects a maximum value of a target steered angle and a target steering angle as an end angle and outputs the end angle to a limiting reaction force setting circuit. The limiting reaction force setting circuit increases a limiting reaction force rapidly if the end angle becomes equal to or larger than a common threshold. A target steering angle setting circuit sets a target steering angle based on torque applied to the steering minus the limiting reaction force etc. A steering angle control circuit sets reaction torque as a manipulated variable for feedback controlling the steering angle to the target steering angle. An operation signal generation circuit outputs an operation signal to a reaction force motor so as to achieve the reaction torque.Type: GrantFiled: July 18, 2016Date of Patent: November 20, 2018Assignee: JTEKT CORPORATIONInventor: Takashi Kodera
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Patent number: 10011274Abstract: A parking assistance system for parking a vehicle in a parking garage includes a measuring sensor system, with at least one sensor which is arranged on at least one end of the vehicle, and which measures a contour of the parking garage. The parking assistance system further includes a steering control unit, which automatically steers the vehicle from a stopping point into a parking end position inside the parking garage.Type: GrantFiled: December 16, 2014Date of Patent: July 3, 2018Assignee: ADC Automotive Distance Control Systems GmbHInventor: Guenter Holland-Letz
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Patent number: 9981691Abstract: A vehicle steering control apparatus having high robustness while ensuring the accuracy of automatic parking. The steering control apparatus includes a target parking position computing module to calculate a target parking position, a target line computing module to calculate a target parking line, an own vehicle position target attitude angle computing module to calculate an own vehicle position target attitude angle, an own vehicle attitude angle, and the target parking line, an own vehicle position target curvature computing module to calculate an own vehicle position target curvature, and a steering controller for calculating a target steering angle based on the own vehicle position target curvature and performing control such that the actual steering angle matches the target steering angle.Type: GrantFiled: June 14, 2016Date of Patent: May 29, 2018Assignee: Mitsubishi Electric CorporationInventors: Michitoshi Azuma, Yukiyasu Akemi, Kohei Mori, Yu Takeuchi, Toshihide Satake, Masaya Endo
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Patent number: 9974225Abstract: A method includes generating a non-continuous curvature end-of-row turn path for an agricultural vehicle, wherein the non-continuous curvature end-of-row turn path includes a plurality of initial segments that are curved or straight, adding at least one continuity segment between each of the initial segments, wherein the at least one continuity segment is a clothoid segment, and the initial segments and the at least one continuity segment combine to form a continuous curvature end-of-row turn path, and implementing the continuous end-of-row turn path, displaying the continuous end-of-row turn path, or both.Type: GrantFiled: January 14, 2016Date of Patent: May 22, 2018Assignees: CNH Industrial America LLC, Autonomous Solutions, Inc.Inventors: Nathan Eric Bunderson, Daniel John Morwood, Brian Robert Ray, Peter John Dix, Brendan Paul McCarthy, Bret Todd Turpin, Brett McClelland
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Patent number: 9968025Abstract: A method includes generating a non-continuous curvature end-of-row turn path for an agricultural vehicle, wherein the non-continuous curvature end-of-row turn path includes a plurality of initial segments that are curved or straight, adding at least one continuity segment between each of the plurality of initial segments, wherein the at least one continuity segment includes a clothoid segment, and the initial segments and the at least one continuity segment combine to form a continuous curvature end-of-row turn path, determining, via an iterative process, a maximum drivable speed based on a minimum speed and a target speed, and implementing the continuous end-of-row turn path at the maximum drivable speed.Type: GrantFiled: July 13, 2017Date of Patent: May 15, 2018Assignees: CNH Industrial American LLC, Autonomous Solutions, Inc.Inventors: Nathan Eric Bunderson, Daniel John Morwood, Brian Robert Ray, Peter John Dix, Brendan Paul McCarthy, Bret Todd Turpin, Brett McClelland
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Patent number: 9969386Abstract: A method and a system for an automated parking determines, using the geometry of the vehicle and the map of the parking space, a collision free geometric path connecting an initial state of the vehicle with a target state of parked vehicle through a set of waypoints and determines, using a kinematic model of the vehicle, a set of kinematic subgraphs forming a kinematic graph having multiple nodes connected with kinematic edges. Each waypoint defines a position and orientation of the vehicle, each kinematic subgraph connects a pair of neighboring waypoints of the geometric path, each node defines a state of the vehicle, and each kinematic edge connecting two nodes defines a collision free kinematic path connecting the two nodes according to kinematics of the vehicle. A kinematic path is selected form the kinematic graph and a reference trajectory tracking the kinematic path as a function of time is determined using a dynamic model of the vehicle.Type: GrantFiled: January 10, 2017Date of Patent: May 15, 2018Assignee: Mitsubishi Electric Research Laboratories, Inc.Inventors: Yebin Wang, Devesh Jha
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Patent number: 9914219Abstract: A robot cleaner based on wall following and a controlling method thereof are provided. The robot cleaner includes a first detector configured to generate a wall detection signal by detecting a wall, a second detector configured to generate a first contact signal through contact with the wall, a cleaner main body in which the first and second detectors are disposed and which includes a driver configured to drive on a surface to be cleaned, and a controller which is mounted on the cleaner main body and to which the first and second detectors and the driver are electrically coupled.Type: GrantFiled: January 25, 2016Date of Patent: March 13, 2018Assignee: SAMSUNG ELECTRONICS CO., LTD.Inventors: Ju-sang Lee, Hong-jun Kim, Chin-woo Kang, Suk-hoon Song, Hee-suk Yoon, Ki-yong Lee
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Patent number: 9862383Abstract: A method for operating a vehicle, whereby a first setpoint trajectory is ascertained at a first point in time, based on which a setpoint trajectory of the vehicle is controlled, wherein, at a second point in time which is subsequent to the first point in time, it is checked whether or not the actual trajectory of the vehicle can continue to be controlled based on the first setpoint trajectory, and if yes, the actual trajectory of the vehicle continues to be controlled based on the first setpoint trajectory, while if no, a second setpoint trajectory is ascertained based on which the actual trajectory of the vehicle is controlled. A driver assistance system and a computer program product are also provided.Type: GrantFiled: December 2, 2014Date of Patent: January 9, 2018Assignee: ROBERT BOSCH GMBHInventor: Charlotte Grinenval
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Patent number: 9828027Abstract: A control system for a vehicle includes a steering control unit and an electronic control unit. The steering control unit is configured to control a steering angle of a wheel of the vehicle. The electronic control unit is configured to acquire a target steering angle set as a target to move the vehicle, adjust the acquired target steering angle such that the target steering angle does not exceed a first guard value determined in order to inhibit a change in the steering angle of the vehicle, larger than or equal to a first reference, output the adjusted target steering angle to the steering control unit in order for the steering control unit to control the steering angle to the adjusted target steering angle, and change the first guard value in response to a situation of the vehicle.Type: GrantFiled: September 10, 2015Date of Patent: November 28, 2017Assignees: AISIN SEIKI KABUSHIKI KAISHA, TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Shogi Fukukawa, Takatomo Asai, Motonari Obayashi, Hironobu Ishijima
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Patent number: 9696720Abstract: An apparatus for controlling autonomous navigation includes: a map data reception unit configured to receive parking lot map data indicating that a plurality of virtual lanes are located in a driving road in a parking lot and a grid point is located in each virtual lane by a certain interval from a parking server; and a controller configured to control driving of an autonomous vehicle based on a weight of each grid point included in the parking lot map data.Type: GrantFiled: November 17, 2015Date of Patent: July 4, 2017Assignee: HYUNDAI MOTOR COMPANYInventors: Min Wook Seo, Jun Soo Kim, Gil Won Seo, Sung Yun Kim, Bong Chul Ko, Joo Woong Yang
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Patent number: 9676327Abstract: Disclosed is a method of displaying a rear side obstacle of a vehicle, including: a first measuring step of measuring a first distance between a vehicle and an obstacle using a first sensor; a determining step of determining a position of the obstacle using the first distance, a moving distance of the vehicle, and a steering angle of the vehicle related with the moving distance; and a displaying step of displaying the position of the obstacle. Therefore, the position of the obstacle at the rear side of the vehicle is precisely predicted so that a driver may be notified in advance that the vehicle may hit the obstacle.Type: GrantFiled: May 1, 2015Date of Patent: June 13, 2017Assignee: Hyundai Mobis Co., Ltd.Inventor: Yang Woo Kwon
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Patent number: 9656691Abstract: The invention relates to a method for performing an at least semi-autonomous parking process of a motor vehicle (1) in a garage (16), wherein the garage (16) is detected and a current position of the motor vehicle (1) relative to the garage (16) is determined by means of a parking assistance system (2) of the motor vehicle (1), and wherein following detection of the garage (16) the at least semi-autonomous parking process is carried out depending on the current position of the motor vehicle (1) relative to the garage (16), wherein an image of the garage (16) is recorded by means of a camera (8, 10, 11, 12) of the parking assistance system (2) and the detection of the garage (16) comprises subjecting the image to pattern recognition regarding the garage entrance (17) by means of an image processor (6) of the parking assistance system (2) and identifying the garage (16) by means of the pattern recognition.Type: GrantFiled: November 12, 2013Date of Patent: May 23, 2017Assignee: VALEO Schalter und Sensoren GmbHInventors: Markus Heimberger, Vsevolod Vovkushevsky, Oliver Grimm
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Patent number: 9493070Abstract: A total certainty factor indicating a total degree of certainty of the parking frame certainty degree and the parking frame entering certainty degree is calculated based on a parking frame certainty degree indicating the degree of certainty that a parking frame is present in a travel direction of a vehicle, and a parking frame entering certainty degree indicating the degree of certainty that the vehicle enters the parking frame. When the total certainty factor is low, acceleration of the vehicle controlled according to an operation amount of an accelerator pedal for instructing a driving force by operation of a driver is suppressed with a low suppression degree, as compared with a case where the total certainty factor is high. Further, the acceleration of the vehicle is suppressed at a low suppression degree according to the travel direction of the vehicle.Type: GrantFiled: November 22, 2013Date of Patent: November 15, 2016Assignee: Nissan Motor Co., Ltd.Inventors: Osamu Fukata, Yasuhisa Hayakawa, Daisuke Tanaka, Daisuke Oiki, Akira Morimoto
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Patent number: 9475492Abstract: Provided is a parking assist device such that, when a vehicle has reached an area corresponding to a backing start position, the angle of a current position with respect to a target parking position is placed in an appropriate range so as to facilitate subsequent guidance to the target parking position. In the parking assist device, when a vehicle (601) has reached any of a plurality of backing start positions (603 to 605), a state control unit (112) determines whether the angle of a current position with respect to a target parking position (602) is appropriate for guidance to a target parking position (602), and, if not, displays an angle correction indicating icon (606) on an image display means (102) to provide an indication for correcting the angle.Type: GrantFiled: November 1, 2013Date of Patent: October 25, 2016Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO, LTD.Inventors: Kenji Okano, Hirotaka Kamiyama
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Patent number: 9340116Abstract: There is provided a self-propelled electronic device that is supplied with power from a charging base installed in a predetermined position and automatically travels to a position away from the charging base, the self-propelled electronic device including: a travelling control unit that makes the self-propelled electronic device move automatically by controlling the rotation of a wheel; a rechargeable battery that supplies power for performing travelling control during the automatic travelling; a charging base searching unit that searches for the position of the charging base; and a control unit; wherein, when the control unit determines that returning to the charging base is required, the control unit performs return processing by which the self-propelled electronic device is made to come to rest and then rotate in a resting state by the travelling control unit and, when the charging base searching unit searches for the direction in which the charging base lies and detects the direction in which the chargingType: GrantFiled: November 19, 2012Date of Patent: May 17, 2016Assignee: Sharp Kabushiki KaishaInventor: Junichi Noiri
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Patent number: 9269270Abstract: A method and device for supporting a driver of a motor vehicle during a driving maneuver during which longitudinal guidance and/or lateral guidance is/are performed in an automated manner. A trajectory for performing the driving maneuver being determined and the vehicle being guided with automatic control along the trajectory, while the surroundings of the vehicle is being monitored during the driving maneuver. If the driver intervenes in the steering while lateral guidance is being performed or if the driver operates the accelerator while longitudinal guidance is being performed or if the driver intervenes in the steering or operates the accelerator while longitudinal guidance and lateral guidance are being performed, the control of the vehicle is returned to the driver. In the case of an imminent endangerment to the surroundings, control is not transferred to the driver.Type: GrantFiled: September 28, 2011Date of Patent: February 23, 2016Assignee: ROBERT BOSCH GMBHInventors: Meike Fehse, Marcus Schneider, Jochen Staack
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Patent number: 9211912Abstract: A method for calibrating a parking aid, which is configured to actively control a steering angle of a vehicle, by: automatically detecting a parking space with the aid of sensors and calculating a target course in light of the detected parking space. The steering angle is controlled based on the calculated target course, with a controllable actuator. The method accounts for an error by the actuator by: determining an actual course, which results from controlling according to the target course; comparing the actual course to the target course and ascertaining the error resulting from the comparison; and generating a correction parameter, which is linked to the error by a monotonic function. The correction parameter allows the actuator's behavior to be considered. Controlling the steering angle is done based on a combination of the set angle with the correction parameter. A related controller for implementing the method is also described.Type: GrantFiled: August 3, 2010Date of Patent: December 15, 2015Assignee: ROBERT BOSCH GMBHInventor: Volker Niemz
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Patent number: 9194475Abstract: Controlling means of a work vehicle includes, as speed change output setting data indicative of relationship between operational positions of the operational pedal and outputs from a stepless speed change device, first data for setting a deceleration completion position of the operational pedal where the output from the stepless speed change device is zero to provide a larger operational amount of the operational pedal from a stepping release position and second data for setting the deceleration completion position to provide a smaller operational amount of the operational pedal from the stepping release position.Type: GrantFiled: March 14, 2012Date of Patent: November 24, 2015Assignee: Kubota CorporationInventors: Yushi Matsuzaki, Atsushi Shinkai, Atsushi Haramoto
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Patent number: 9038763Abstract: A hydraulic power steering system includes: a hydraulic cylinder in which an interior is partitioned into first and second hydraulic chambers by a piston on a steered shaft; a variable displacement electric pump that supplies hydraulic fluid to the hydraulic cylinder; a selector valve selectively set in a mode in which the hydraulic fluid is supplied to the first hydraulic chamber and drained from the second hydraulic chamber or in a mode in which the hydraulic fluid is supplied to the second hydraulic chamber and drained from the first hydraulic chamber; a detector that detects torque, steering angle, and/or vehicle speed; and a controller.Type: GrantFiled: October 14, 2011Date of Patent: May 26, 2015Assignee: JTEKT CORPORATIONInventors: Ryouichi Kubo, Yasuhiro Tomagou, Akihiko Shiina, Masahiko Sakamaki, Tetsuya Ozaki
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Patent number: 9031745Abstract: A system for correcting steering wheel angle errors of a motor vehicle of the present disclosure may include a steering wheel angle sensor, an actuator angle sensor, and at least one of a wheel speed sensor and a lateral acceleration sensor. The system may further include a controller configured to receive signals from the steering wheel angle sensor, actuator angle sensor, and at least one of the wheel speed sensor and lateral acceleration sensor. The controller may be configured to calculate a correction angle based on the signals, and adjust a steering wheel angle of a steering wheel, as observed by a driver of the motor vehicle, based on the correction angle.Type: GrantFiled: January 14, 2014Date of Patent: May 12, 2015Assignee: Ford Global Technologies, LLCInventors: Miguel Bahena, Attila Benak, Andrew Brown, Sergio Condonesu, Darrel Alan Recker, Lodewijk Wijffels
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Patent number: 9020757Abstract: A path planning autopilot guides vehicles efficiently even when they are far from a desired path.Type: GrantFiled: May 11, 2012Date of Patent: April 28, 2015Assignee: Trimble Navigation LimitedInventors: John W Peake, Stephan Pleines
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Publication number: 20150083508Abstract: A multi-functional electric module (eModule) is provided for a vehicle having a chassis, a master controller, and a drive wheel having a propulsion-braking module. The eModule includes a steering control assembly, mounting bracket, propulsion control assembly, brake controller, housing, and control arm. The steering control assembly includes a steering motor controlled by steering controllers in response to control signals from the master controller. A mounting feature of the bracket connects to the chassis. The propulsion control assembly and brake controller are in communication with the propulsion-braking module. The control arm connects to the lower portion and contains elements of a suspension system, with the control arm being connectable to the drive wheel via a wheel input/output block. The controllers are responsive to the master controller to control a respective steering, propulsion, and braking function.Type: ApplicationFiled: September 20, 2013Publication date: March 26, 2015Applicants: The U.S.A As Represented by the Administrator of the National Aeronautics and Space Administration, GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: William J. Bluethmann, Thomas M. Waligora, Nathan Fraser-Chanpong, Ryan Reed, Akinjide Akinniyi Akinyode, Ivan Spain, Andrew D. Dawson, Joshua M. Figuered, Eduardo Herrera, Mason M. Markee, Robert L. Vitale, Chunhao J. Lee, Lucien Q. Junkin, Ross Briant Winn, James Jonathan Rogers, Raymond Guo
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Publication number: 20150083509Abstract: A modular robotic vehicle includes a chassis, driver input devices, an energy storage system (ESS), a power electronics module (PEM), modular electronic assemblies (eModules) connected to the ESS via the PEM, one or more master controllers, and various embedded controllers. Each eModule includes a drive wheel containing a propulsion-braking module, and a housing containing propulsion and braking control assemblies with respective embedded propulsion and brake controllers, and a mounting bracket covering a steering control assembly with embedded steering controllers. The master controller, which is in communication with each eModule and with the driver input devices, communicates with and independently controls each eModule, by-wire, via the embedded controllers to establish a desired operating mode. Modes may include a two-wheel, four-wheel, diamond, and omni-directional steering modes as well as a park mode.Type: ApplicationFiled: September 20, 2013Publication date: March 26, 2015Applicants: The U.S.A. As Represented by the Administrator of the National Aeronautics and Space Administration, GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Christopher E. Borroni-Bird, Robert L. Vitale, Chunhao J. Lee, Robert O. Ambrose, William J. Bluethmann, Lucien Q. Junkin, Jonathan J. Lutz, Raymond Guo, Anthony Joseph Lapp, Justin S. Ridley
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Patent number: 8989964Abstract: A vehicle speed control device is provided. The device includes a steering device which steers left and right wheels, first and second electric motors which separately apply power to the left and right wheels, an operation amount acquisition unit which acquires an acceleration operation amount by the driver of the vehicle, a steering angle acquisition unit which acquires a steering angle which is a value between an inner wheel steering angle and an outer wheel steering angle; a vehicle speed acquisition unit configured to acquire an actual speed of the vehicle; and a control unit configured to control the first electric motor and the second electric motor on the basis of the acceleration operation amount, the actual speed, the steering angle, and a steering geometry indicating a geometric relationship between the steering angle and a turning center of the vehicle.Type: GrantFiled: December 23, 2010Date of Patent: March 24, 2015Assignee: Advics Co., Ltd.Inventors: Yoshiyuki Yasui, Hiroaki Aizawa
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Patent number: 8897965Abstract: An assisting command value calculating unit calculates a first assisting factor on the basis of the value of a torque differential control volume added to a basic assist control volume based on a steering torque value, while increasing or decreasing, on the basis of an assisting gradient, the torque differential control volume based on a torque differential value. The pinion angle F/B control unit calculates a pinion angle command value, capable of being converted to a steering angle of the steering wheel, on the basis of the steering torque and the first assisting factor, and executes rotational angle feedback control. The assisting command value calculating unit calculates an assisting command value on the basis of the value of a second assisting factor, calculated by the pinion angle F/B control unit, added to the first assisting factor.Type: GrantFiled: March 28, 2012Date of Patent: November 25, 2014Assignee: JTEKT CorporationInventors: Terutaka Tamaizumi, Hirozumi Eki, Masayuki Kita, Isao Namikawa
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Patent number: 8880288Abstract: A method and a system of determining a driving direction of a vehicle traveling at a low speed. The method includes determining whether the vehicle is in one of three states: (1) an uphill state in which the vehicle is located on an upward sloping surface, (2) a downhill state in which the vehicle is located on a downward sloping surface, and (3) a flat surface state in which the vehicle is located on a flat surface. The method also includes obtaining information from a plurality of vehicle sensors and determining a direction of movement of the vehicle based upon the determined state of the vehicle and information from the plurality of vehicle sensors.Type: GrantFiled: February 11, 2010Date of Patent: November 4, 2014Assignee: Robert Bosch GmbHInventors: Qingyuan Li, Hsien-cheng (Kevin) Wu, Tim Hoerauf, Jiamu Hu, Timothy Ridley
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Patent number: 8874322Abstract: A vehicle steering controller includes a shape recognizer that recognizes a shape of a road on the basis of a captured image, a steering control unit that controls steering of a vehicle on the basis of the shape of the road recognized by the shape recognizer, and a determiner that determines whether or not the shape of the road recognized by the shape recognizer is that of a transitional section between a curved road section and a linear road section. If the determination made by the determiner is negative, then the shape recognizer recognizes the shape of the road by performing an approximation using an approximation expression having a degree of one or two, otherwise the shape recognizer recognizes the shape of the road by performing an approximation using an approximation expression having a degree of three.Type: GrantFiled: February 11, 2014Date of Patent: October 28, 2014Assignee: Honda Motor Co., LtdInventors: Naoki Mori, Tatsuya Ishikawa
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Patent number: 8798860Abstract: The invention relates to a drive assisting method for the reversal path of a vehicle which consists of a tow track and a trailer pivotable with respect thereto and is provided with a conventional mechanical steering device. The inventive method consists in selecting a target point (C), which the vehicle path should pass through, Determination in calculating the steering angle instruction ?0 according to said target point (C) and the vehicle geometry and in displaying said steering angle instruction ?0 in comparison with an actual steering angle ?, which corresponds to the position of the member (21) of the steering device, on a display device accessible to a driver.Type: GrantFiled: June 24, 2005Date of Patent: August 5, 2014Assignee: Renault TrucksInventor: Francois Dechamp
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Patent number: 8779939Abstract: A method for assisting a driver of a vehicle when parking in a parking space is disclosed. The method involves measuring a possible parking space, calculating a parking trajectory on the basis of a current parking space geometry determined from the measurement of the parking space and on the basis of a vehicle position relative to the parking space, and a parking process is subsequently carried out during which the vehicle is steered along the parking trajectory into the parking space, continuing to determine, during the parking process, the current parking space geometry and is compared with a previous parking space geometry determined before the start of the parking process, where, if the two parking space geometries differ from one another, a deviation which is present is evaluated and the parking trajectory corrected and/or re-calculated.Type: GrantFiled: June 2, 2009Date of Patent: July 15, 2014Assignees: VALEO Schalter und Sensoren GmbH, Volkswagen AktiengesellschaftInventors: Harald Barth, Nicolas Jecker
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Patent number: 8762005Abstract: In control of a vehicle that is provided with a steering torque supply device that supplies a steering torque to a steering device coupled to a steered wheel and a steering transmission ratio variation device that changes a steering transmission ratio, the control includes: setting a target state quantity for keeping the vehicle in a target lane; controlling the steering transmission ratio variation device so that a state quantity of the vehicle becomes the set target state quantity; controlling the steering torque supply device so that a steering reaction restriction torque that restricts a steering reaction torque generated in the steering device is supplied with the steering device as the steering torque when the vehicle is kept within the target lane; and correcting the steering reaction restriction torque on the basis of a steering input when the steering input from a driver of the vehicle is produced.Type: GrantFiled: June 24, 2011Date of Patent: June 24, 2014Assignee: Toyota Jidosha Kabushiki KaishaInventors: Theerawat Limpibunterng, Yoshiaki Tsuchiya, Shoji Asai
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Patent number: 8731778Abstract: An electronic control unit determines the steering direction of rear wheels on the basis of the turning operation direction of a steering wheel when a detected vehicle speed is “0”, i.e. when the vehicle is stopped. If the steering direction of the rear wheels is a return-side steering direction to obtain a neutral steering position, the unit operates a rear wheel-side steering mechanism by driving and controlling an electric motor, whereby allowing return-side stationary steering for the rear wheels.Type: GrantFiled: July 22, 2009Date of Patent: May 20, 2014Assignee: Toyota Jidosha Kabushiki KaishaInventor: Hiromitsu Kageyama
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Patent number: 8718859Abstract: A traveling vehicle (12) is self-propelled and docked in a quadrilateral docking area (20) having an entrance (55) on one side thereof, and includes: a docking point obtainment unit which obtains first to fourth points indicating positions of four corners of the docking area and represented in relative coordinates with respect to a position of the traveling vehicle (12); a reference distance detection unit (35) which obtains a reference distance indicating a distance between the traveling vehicle (12) and the docking area (20); and a movement control unit (33) which controls movement of the traveling vehicle (12) moving to the docking area (20), based on the first and second points when the reference distance Ls is not shorter than a first correction distance N1, and based on at least the third and fourth points when the reference distance Ls is shorter than the first correction distance N1.Type: GrantFiled: July 29, 2010Date of Patent: May 6, 2014Assignee: Panasonic CorporationInventors: Yohei Kume, Hideo Kawakami, Shohei Tsukada, Tohru Nakamura
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Patent number: 8712645Abstract: A method for managing a turning setpoint applied to at least one turning actuator for rear wheels of an automobile including four steering wheels, the turning setpoint being generated by a turning control unit upon a braking situation with asymmetrical adhesion. The method calculates an intermediate turning setpoint of the rear wheels for compensating a yaw torque generated by a braking with asymmetrical adhesion of the four wheels, transmits an intermediate turning setpoint to the at least one turning actuator for the rear wheels, monitors the value of the intermediate turning setpoint using an acceptation module, and transmits to a braking control unit information generated by the acceptation module of the intermediate turning setpoint.Type: GrantFiled: April 22, 2008Date of Patent: April 29, 2014Assignee: RENAULT s.a.s.Inventors: Cedric Chassagnol, Stephane Guegan
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Patent number: 8710975Abstract: In an automated method for providing an indication, with the aid of a turn signal indicator, that a vehicle is leaving a parking space, a vehicle control system detects initially whether an executed driving maneuver is a maneuver related to leaving a parking space, in which case the maneuvering out of a parking space is indicated by activating the turn signal indicator, and the turn signal indicator is kept activated until the process of maneuvering out of the parking space has been concluded.Type: GrantFiled: November 23, 2010Date of Patent: April 29, 2014Assignee: Robert Bosch GmbHInventors: Christian Pampus, Florian Raisch, Albrecht Irion, Marcus Schneider
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Patent number: 8704652Abstract: An information providing apparatus includes a tactile information provider and a controller. The tactile information provider is arranged within a rim portion of a steering wheel of a vehicle and provides a tactile sense to a driver. The controller controls the tactile information provider to provide support information to the driver. The support information is defined as information that supports a driving of the vehicle. The tactile information provider includes a trench arranged in a circumferential direction of the rim portion, a ring-shaped ring portion, and a driving portion. The ring portion is rotatably arranged in the trench and has an exposed surface such that the exposed surface contacts with at least one hand of the driver. The driving portion is controlled by the controller to drive the ring potion rotate in the circumferential direction to provide the support information to the driver.Type: GrantFiled: October 29, 2012Date of Patent: April 22, 2014Assignees: DENSO CORPORATION, Nippon Soken, Inc.Inventors: Norio Sanma, Sei Iguchi, Daisuke Sugiura
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Patent number: 8660749Abstract: A motor vehicle steering system steers vehicle wheels in response to the operation of an operation member for steering a vehicle. The system includes a rutted road judging unit which judges whether the vehicle is driving on a rutted road or not, and a steering enhancement control unit which enhances steering of vehicle wheels in response to operation of the operation member when the rutted road judging unit judges that the vehicle is driving on a rutted road than when the rutted road judging unit judges that the vehicle is not driving on a rutted road.Type: GrantFiled: May 4, 2007Date of Patent: February 25, 2014Assignee: JTEKT CorporationInventors: Ryouhei Hayama, Shiro Nakano, Tomoyasu Kada
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Patent number: 8640804Abstract: A vehicle for towing an airplane by receiving thereupon a nose landing gear of the airplane having an airplane longitudinal axis. The vehicle having a vehicle longitudinal axis and is configured to tow the airplane along a straight or curved path and comprises a controller for directing its operation, including maintaining the vehicle's in-phase position in which the vehicle longitudinal axis is parallel to the airplane longitudinal axis.Type: GrantFiled: June 9, 2011Date of Patent: February 4, 2014Assignee: Israel Aerospace Industries Ltd.Inventors: Raphael E. Levy, Ran Braier, Arie Perry
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Patent number: 8636094Abstract: A bicycle trailer with a platform and a single pneumatic bicycle tire is herein disclosed. The front of the trailer's platform is supported by a gooseneck-shaped arm extending upward to connect with the seat post of a conventional bicycle, thereby providing clearance for the rear wheel of the bicycle. The connection is made with a quick-connect universal-type joint so that a user can easily hitch and unhitch the trailer. The platform is situated to have a low center of gravity which results in stability and less pedaling effort. The narrow width allows the trailer to traverse narrow paths making it ideal for transporting camping supplies, hunting supplies, school books, equipment to and from sports areas, or groceries from a store.Type: GrantFiled: April 23, 2010Date of Patent: January 28, 2014Inventors: Thomas C. Conner, Richard C. Persinger
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Patent number: 8599043Abstract: A parking assist apparatus includes a parking target position setting section for setting a parking target position when a vehicle is to be parked by reversing, a parking pathway determining section for determining possibility/impossibility of direct parking for parking the vehicle to the parking target position without turnaround, and a report outputting section for effecting reporting to allow a driver engaged in parking to recognize the possibility/impossibility of the direct parking based on the result of determination by the parking pathway determining section.Type: GrantFiled: February 15, 2010Date of Patent: December 3, 2013Assignee: Aisin Seiki Kabushiki KaishaInventors: Jun Kadowaki, Kazuya Watanabe, Yu Tanaka, Kosuke Sato, Atsuo Fukaya, Hiroyuki Tachibana, Motokatsu Tomozawa, Kenji Kodera
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Patent number: 8532879Abstract: An information providing device includes: a vehicle condition detector for detecting a vehicle condition; a support information generating element for generating support information for a driver; and a tactile sensibility notification element in a steering wheel for notifying the support information to the driver. The steering wheel includes a wheel element having a base, a movable portion and a driving unit. The movable portion is relatively movable with respect to the base. The driving unit drives the movable portion according to the support information. The movable portion and the driving unit provide the tactile sensibility notification element. Movement of the movable portion provides notification of the support information.Type: GrantFiled: August 11, 2011Date of Patent: September 10, 2013Assignees: DENSO CORPORATION, Nippon Soken, Inc.Inventors: Norio Sanma, Shouji Osaki, Syuichi Kouno, Keiji Kawamura, Sei Iguchi
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Patent number: 8508329Abstract: A mobile robotic device comprising at least one displaceable sensor member (8,9) for sensing a collision between the mobile device and a stationary object. First detection means (12,13) are present for detection a predetermined first displacement of the sensor member (8,9) and second detection means (14,15) are present for detecting a predetermined larger displacement of the sensor member (8,9).Type: GrantFiled: August 10, 2009Date of Patent: August 13, 2013Assignee: Koninklijke Philips N.V.Inventor: Auke-Jan Veenstra
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Patent number: 8509962Abstract: A wheelchair can include a control system that is configured to operate the wheelchair using an input device and a scanning device. The scanning device may be programmed to have a multi-tiered scan sequence. A first tier of the multi-tiered scan sequence may include at least a first operation option that is configured to operate a specific function of the wheelchair. A second tier of the multi-tiered scan sequence may include at least a second operation option that is also configured to operate a specific function of the wheelchair. The second operation option is generally selected less frequently than the first operation option included in the first tier.Type: GrantFiled: June 29, 2012Date of Patent: August 13, 2013Assignee: Pride Mobility Products CorporationInventors: John Doherty, Matthias Holenweg, Jill Kolczynski
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Patent number: 8497782Abstract: A method and a device for planning a path when parking a vehicle (02) are described, in which a path (01) which comprises a first and second path arc (03; 04) is calculated on the basis of the geometry of a parking space (05) and a vehicle position relative to this parking space (05). According to the invention, at first a minimum appropriate first path arc (08) of the path (01) is calculated in order to reach a starting position as early as possible, and subsequently a possible larger first path arc (09) of the path (01) is preferably calculated as a function of an actual stopping position (13) of the vehicle (02). Furthermore, a driving assistance device for carrying out the method is described, as well as a computer program product which causes a microprocessor with associated storage means to carry out the method.Type: GrantFiled: November 5, 2008Date of Patent: July 30, 2013Assignee: VALEO Schalter und Sensoren GmbHInventors: Harald Barth, Nicolas Jecker
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Patent number: 8489283Abstract: A parallel parking assistant system integrated with a vehicle and method thereof are provided, the parking assistant system including a first sensor configured to determine a first distance, a second sensor configured to determine a second distance, and a controller configured to provide commands as a function of the first and second determined distances. The commands include a first command configured to command a steering system to be in a clockwise position while the vehicle is moving in a reverse direction for a first reversing distance, a second command configured to command the steering system to be in a substantially straight position while the vehicle is moving in a reverse direction for a second reversing distance, and a third command configured to command the steering system to be in a counter-clockwise position while the vehicle is a moving in a reverse direction for a third reversing distance.Type: GrantFiled: February 7, 2013Date of Patent: July 16, 2013Assignee: Delphi Technologies, Inc.Inventor: Glenn R. Widmann
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Patent number: 8463498Abstract: A method for controlling the side slip angle of a rear-wheel drive vehicle when turning; the control method provides for the steps of: detecting the position of an accelerator control which is displaced along a predetermined stroke; using a first initial part of the stroke of the accelerator control for directly controlling the generation of the drive torque so that the generated drive torque depends on the position of the accelerator control; and using a second final part of the stroke of the accelerator control to directly control a side slip angle of the vehicle when turning so that the side slip angle depends on the position of the accelerator control.Type: GrantFiled: August 28, 2008Date of Patent: June 11, 2013Assignee: Ferrari S.p.A.Inventors: Amedeo Visconti, Martino Cavanna