Abstract: A fractional slot electric motor includes a stator core having a first side, a second side, and stator slots extending between the first and second sides. The fractional slot electric motor also includes a coil having a plurality of coil elements, where each coil element extends through at least one of the stator slots. Each coil element is coupled to at least one other coil element along the first side of the stator core. A first subset of the coil elements includes coil elements coupled to each other along the second side of the stator core. A second subset of the coil elements includes loop coil elements, where each loop coil element extends from one of the stator slots to another of the stator slots along the second side of the stator core without being connected to other coil elements along the second side of the stator core.

Abstract: An apparatus includes at least one camera configured to capture a series of image frames for traffic lanes in front of an ego vehicle, where each of the series of image frames is captured at a different one of a plurality of times. A target object detection and tracking controller is configured to process each of the image frames using pixel measurements extracted from the respective image frame to determine, from the pixel measurements, a predicted time to line crossing for a target vehicle detected in the respective image frame at a time corresponding to capture of the respective image frame.

Abstract: A method includes obtaining a fisheye image of a scene and identifying multiple regions of interest in the fisheye image. The method also includes applying one or more transformations to transform and rotate one or more of the regions of interest in the fisheye image to produce one or more transformed regions. The method further includes generating a collage image having at least one portion based on the fisheye image and one or more portions containing the one or more transformed regions. In addition, the method includes performing object detection to identify one or more objects captured in the collage image.

Abstract: An apparatus includes at least one camera configured to capture an image of a traffic lane in front of a vehicle. The apparatus also includes a vehicle behavior prediction controller configured to determine lane boundaries and road curvature for a segment of a traffic lane occupied by the vehicle from the captured image and prior captured images; determine lateral distances of the vehicle from the lane boundaries and a rate of departure of the vehicle from the occupied traffic lane that is accurate for the determined road curvature; determine a time to line crossing for the vehicle from the lateral distances and the rate of departure; and activate a lane departure warning indicator based on the determined time to line crossing.

Abstract: An apparatus includes at least one camera configured to capture an image of a traffic lane in front of a vehicle. The apparatus also includes a path tracking controller configured to detect lane boundaries and a path curvature for the traffic lane from the image, determine a lateral offset of the vehicle from a reference path for the traffic lane and a heading offset for the vehicle from the path curvature, determine a yaw rate maintaining the vehicle within the traffic lane using a kinematics control, determine a steering angle maintaining the vehicle within the traffic lane using a dynamics control and the yaw rate determined by the kinematics control, and activate a steering control based on the determined steering angle.

Abstract: A method includes obtaining sensor data associated with a target object at an ego vehicle, where the sensor data includes image data within an image frame. The method also includes identifying a first longitudinal distance of a first point of the target object from the ego vehicle within a world frame. The method further includes identifying a first lateral distance of the first point of the target object from the ego vehicle within the world frame using a first normalization ratio that is based on the image data. The method also includes predicting a future path of the target object based on the first longitudinal distance and the first lateral distance. In addition, the method includes controlling at least one operation of the ego vehicle based on the predicted future path of the target object.

Abstract: A method includes determining a desired yaw moment to be applied to an ego vehicle during travel. The method also includes identifying yaw moment changes that are achievable using different torque vectoring techniques supported by the ego vehicle. The method further includes selecting at least one of the torque vectoring techniques based on the identified yaw moment changes. In addition, the method includes using the at least one selected torque vectoring technique to obtain the desired yaw moment and create lateral movement of the ego vehicle during the travel. In some cases, a desired response time associated with the lateral movement of the ego vehicle may be used, where steering control provides a faster response time and torque vectoring control provides a slower response time. The at least one torque vectoring technique may be selected based on different energy efficiencies associated with different ones of the torque vectoring techniques.

Abstract: A method includes identifying a path to be followed by an ego vehicle. The method also includes determining a desired yaw rate and a desired yaw acceleration for the ego vehicle based on the identified path. The method further includes determining a desired yaw moment for the ego vehicle based on the desired yaw rate and the desired yaw acceleration. In addition, the method includes distributing the desired yaw moment to multiple wheels of the ego vehicle such that the distributed desired yaw moment creates lateral movement of the ego vehicle during travel along the identified path. In some cases, the desired yaw rate and the desired yaw acceleration for the ego vehicle may be determined based on nonlinear kinematics of the ego vehicle, and the desired yaw moment for the ego vehicle may be determined based on a single-track dynamic model of the ego vehicle.

Abstract: An apparatus includes at least one camera configured to capture at least one image of a traffic lane, an inertial measurement unit (IMU) configured to detect motion characteristics, and at least one processor. The at least one processor is configured to obtain a vehicle motion trajectory using the IMU and based on one or more vehicle path prediction parameters, obtain a vehicle vision trajectory based on the at least one image, wherein the vehicle vision trajectory includes at least one lane boundary, determine distances between one or more points on the vehicle and one or more intersection points of the at least one lane boundary based on the obtained vehicle motion trajectory, determine at least one time to line crossing (TTLC) based on the determined distances and a speed of the vehicle, and activate a lane departure warning indicator based on the determined at least one TTLC.

Abstract: Operation and motion control, by a vehicle's ADAS or AD features, is improved in ways suitable to EVs having higher driving and handling performance. The vehicle dynamic model for high rates of lateral acceleration (e.g., sharp cornering or taking curves having a small radius of curvature as faster speeds) is improved by one or more of optimizing time cornering stiffness with a sigmoid function and/or altering front/rear steering angle to account for roll steer and compliance steer, based on vehicle testing. Indicators for lane departure warning or collision warning, evasive steering, or emergency braking are therefore reliably extended to allow higher performance maneuvers.

Abstract: An apparatus includes a housing configured to receive at least a portion of an electric motor. The apparatus also includes a manifold disposed on an upper surface of the housing. The manifold includes a number of vertical jets configured to target one or more portions of the electric motor, the vertical jets includes multiple vias extending between (i) a cavity within the manifold and (ii) an interior portion of the housing. The cavity within the manifold is defined by (i) at least a portion of the upper surface of the housing, (ii) one or more side walls extending from the upper surface of the housing, and (iii) a cover lid coupled to the one or more side walls and configured to cover the cavity and the vias.

Abstract: A park lock for an output drive gear includes a pawl, a rotational cam, and a rotational spring. The pawl has an engagement protrusion that extends outward from a body disposed on a pawl rotational shaft, such that rotation moves the engagement protrusion toward the output drive gear. The rotational cam rotates such that a circumferential side engages with a portion of the pawl opposite the engagement protrusion, causing rotation of the pawl about the rotational pawl shaft to move the engagement protrusion towards the output drive gear. The rotational spring maintains tension on the pawl and cam such that the engagement protrusion maintains an engagement with the output drive gear based on rotation of the cam and a speed of the output drive gear.

Abstract: Vehicle platforms, and systems, subsystems, and components thereof are described. A self-contained vehicle platform or chassis incorporating substantially all of the functional systems, subsystems and components (e.g., mechanical, electrical, structural, etc.) necessary for an operative vehicle. Functional components may include at least energy storage/conversion, propulsion, suspension and wheels, steering, crash protection, and braking systems. Functional components are standardized such that vehicle platforms may be interconnected with a variety of vehicle body designs (also referred to in the art as “top hats”) with minimal or no modification to the functional linkages (e.g., mechanical, structural, electrical, etc.) therebetween. Configurations of functional components are incorporated within the vehicle platform such that there is minimal or no physical overlap between the functional components and the area defined by the vehicle body.

Abstract: Described herein are steer-by-wire systems and methods of operating these systems in vehicles. A steer-by-wire system comprises a steering wheel assembly, comprising a steering wheel, sensors, and a torque generator. The system comprises a rack assembly, comprising a steering rack, sensors, and a rack actuator. The steering wheel assembly and the rack assembly are communicatively coupled by a steer-by-wire system controller, without having any direct mechanical links between the assemblies. In some examples, the controller instructs the rack assembly to control the steering rack position based on the steering input, such as changes in the steering wheel position. A steering map is used to determine the desired steering rack position based on the current steering wheel position. In some examples, a steering map is selected from a steering map set based on, e.g., the vehicle speed, vehicle direction, driver preference, and the like.

Abstract: Described herein are steer-by-wire systems and methods of operating these systems in vehicles. A steer-by-wire system comprises a steering wheel assembly, comprising a steering wheel, sensors, and a torque generator. The system comprises a rack assembly, comprising a steering rack, sensors, and a rack actuator. The steering wheel assembly and the rack assembly are communicatively coupled by a steer-by-wire system controller, without having any direct mechanical links between the assemblies. In some examples, the controller instructs the rack assembly to control the steering rack position based on the steering input, such as changes in the steering wheel position. A steering map is used to determine the desired steering rack position based on the current steering wheel position. In some examples, a steering map is selected from a steering map set based on, e.g., the vehicle speed, vehicle direction, driver preference, and the like.