Abstract: A system for controlling the stability of a vehicle equipped with semi-active dampers includes: an actuator, a plurality of sensors, a low-level control unit, a high-level control unit and a mid-level control unit adapted to execute an algorithm for calculating a damping level (Cref).

Abstract: A motorized movement device includes a frame, first and second wheels connected to the frame, and first and second motors connected respectively to the first and second wheels that are commandable by respective command signals. The motorized device also includes an inertial measuring unit configured to detect the longitudinal acceleration, pitch angular speed, and yaw angular speed of the movement device and for providing signals representative of the same. The motorized device also includes sensors for detecting speeds of the wheels and configured to provide signals representative thereof. The motorized device further includes a control unit comprising a module for estimating the slope, and longitudinal thrust exerted by a user to the device, yaw torque applied by the user. The control unit also includes a module for compensating the slope, a thrust amplifying module, a yaw torque amplifying module, and a torque allocating module.

Abstract: A method for assisting the driving of a vehicle which can be implemented by a relative system including an HMD, and a positioning module mounted on the vehicle. The method can include detecting a vehicle position by the positioning module; determining a position of the HMD by applying a compensation law to the vehicle position, based on the position of the HMD, determining a view volume corresponding to a volume of space comprised in the field of view of the HMD; comparing a set of positions in the view volume with at least one position of interest associated with a stored object of interest , and, if one or more positions of interest are in the view volume, calculating a visualization position of the HMD in which to display an image associated with the object of interest and displaying on the HMD the image in said visualization position.

Abstract: The present invention refers to a brake assist system (1) for cyclist on a bicycle (100) including a braking system (101) having a braking member (105) capable of exerting a braking force (FB) on a front wheel (101) of the bicycle (100) by the effect of a force (Fc) applied by the cyclist on a lever (103). The system (1) includes a sensor (2) for measuring the angular speed (?1) of the front wheel (101) of the bicycle (100); an actuator (3) capable of exerting an actuator force (FA), connectable to said braking system of the bicycle so that the actuator force (FA) opposes the force (Fc) applied by the cyclist on the lever (103), in order to reduce the braking force (FB); and a control module (4) configured for receiving, as an input, the signal representative of the angular speed (?1) of the front wheel (101) and for determining from this a deceleration (?) of the front wheel (101).

Abstract: A system for controlling the stability of a vehicle equipped with semi-active dampers includes: an actuator, a plurality of sensors, a low-level control unit, a high-level control unit and a mid-level control unit adapted to execute an algorithm for calculating a damping level (Cref).

Abstract: A method for controlling the lateral movement of a terrestrial vehicle arranged to track a predetermined trajectory, particularly in an assisted driving or autonomous driving scenario, comprising: determining a lateral offset of the vehicle center of mass from the predetermined trajectory; determining a look-ahead error defined as a distance of a virtual look-ahead position of the vehicle center of mass from the predetermined trajectory; and controlling the steering angle of the vehicle so as to also minimize the lateral offset and the first derivative of said look-ahead error over time.

Abstract: A device for determining a kinematic magnitude of a bicycle and a rate of the pedal-thrust exerted by a user on the pedals of the bicycle includes a sensor of the bicycle, adapted to be associated to the bicycle, suitable for detecting the bicycle kinematic magnitude (?i) and for generating a signal representative of the bicycle kinematic magnitude; a filter connected to the sensor of the bicycle kinematic magnitude, configured for receiving at the input the signal representative of the bicycle kinematic magnitude (?i) and for supplying, at the output, an optimized signal (?opt) of the bicycle kinematic magnitude; and a module for the frequency-analysis of the optimized signal (?opt) of the bicycle kinematic magnitude, connected to the filter.

Abstract: A motorized movement device includes a frame, first and second wheels connected to the frame, and first and second motors connected respectively to the first and second wheels that are commandable by respective command signals. The motorized device also includes an inertial measuring unit configured to detect the longitudinal acceleration, pitch angular speed, and yaw angular speed of the movement device and for providing signals representative of the same. The motorized device also includes sensors for detecting speeds of the wheels and configured to provide signals representative thereof. The motorized device further includes a control unit comprising a module for estimating the slope, and longitudinal thrust exerted by a user to the device, yaw torque applied by the user. The control unit also includes a module for compensating the slope, a thrust amplifying module, a yaw torque amplifying module, and a torque allocating module.

Abstract: The present invention refers to a brake assist system (1) for cyclist on a bicycle (100) including a braking system (101) having a braking member (105) capable of exerting a braking force (FB) on a front wheel (101) of the bicycle (100) by the effect of a force (Fc) applied by the cyclist on a lever (103). The system (1) includes a sensor (2) for measuring the angular speed (?1) of the front wheel (101) of the bicycle (100); an actuator (3) capable of exerting an actuator force (FA), connectable to said braking system of the bicycle so that the actuator force (FA) opposes the force (Fc) applied by the cyclist on the lever (103), in order to reduce the braking force (FB); and a control module (4) configured for receiving, as an input, the signal representative of the angular speed (?1) of the front wheel (101) and for determining from this a deceleration (?) of the front wheel (101).

Abstract: A method for controlling the lateral movement of a terrestrial vehicle arranged to track a predetermined trajectory, particularly in an assisted driving or autonomous driving scenario, comprising: determining a lateral offset of the vehicle center of mass from the predetermined trajectory; determining a look-ahead error defined as a distance of a virtual look-ahead position of the vehicle center of mass from the predetermined trajectory; and controlling the steering angle of the vehicle so as to also minimize the lateral offset and the first derivative of said look-ahead error over time.

Abstract: System for assisting in driving a bicycle by sending a haptic feedback to a cyclist having means for detecting the current value of a target quantity (q, v); and a memory module configured for supplying an optimal value of the target quantity (qmax; vmax) corresponding to the current spatial position (x) of the bicycle along the predetermined path or corresponding to the current instant (t). A comparator module is configured for determining a quantity representative of the error (eq; ev) between said current value of the target quantity (q, v) and said optimal value of the target quantity (qmax; vmax) supplied by the memory module. An actuator is applicable to a portion of the bicycle (100), suitable for generating vibrations. A control module is configured for determining a vibration frequency (f) of the actuator based on the error (eq; ev), wherein the said vibration implements the haptic feedback to the cyclist.

Abstract: A brake assist system for a cyclist on a bicycle by a haptic feedback includes: a first sensor for measuring the angular speed of a first bicycle wheel, suitable for generating a signal representing the first wheel angular speed; a second sensor for measuring the angular speed of a second bicycle wheel, suitable for generating a signal representing the second wheel angular speed; an actuator applicable to a bicycle portion, suitable for producing vibrations; and a control module.

Abstract: System for assisting in driving a bicycle by sending a haptic feedback to a cyclist having means for detecting the current value of a target quantity (q, v); and a memory module configured for supplying an optimal value of the target quantity (qmax; vmax) corresponding to the current spatial position (x) of the bicycle along the predetermined path or corresponding to the current instant (t). A comparator module is configured for determining a quantity representative of the error (eq; ev) between said current value of the target quantity (q, v) and said optimal value of the target quantity (qmax; vmax) supplied by the memory module. An actuator is applicable to a portion of the bicycle (100), suitable for generating vibrations. A control module is configured for determining a vibration frequency (f) of the actuator based on the error (eq; ev), wherein the said vibration implements the haptic feedback to the cyclist.

Abstract: A device for determining a cinematic magnitude of a bicycle and a rate of the pedal-thrust exerted by an user on the pedals of the bicycle includes a sensor of the bicycle, adapted to be associated to the bicycle, suitable for detecting the bicycle cinematic magnitude (?i) and for generating a signal representative of the bicycle cinematic magnitude; a filter connected to the sensor of the bicycle cinematic magnitude, configured for receiving at the input the signal representative of the bicycle cinematic magnitude (?i) and for supplying, at the output, an optimized signal (?opt) of the bicycle cinematic magnitude; and a module for the frequency-analysis of the optimized signal (?opt) of the bicycle cinematic magnitude, connected to the said filter

Abstract: A brake assist system for a cyclist on a bicycle by a haptic feedback includes: a first sensor for measuring the angular speed of a first bicycle wheel, suitable for generating a signal representing the first wheel angular speed; a second sensor for measuring the angular speed of a second bicycle wheel, suitable for generating a signal representing the second wheel angular speed; an actuator applicable to a bicycle portion, suitable for producing vibrations; and a control module.

Abstract: A system (1) for controlling the motion of an impulsive-type human-powered vehicle (100), includes: a motor (2) associable to at least one vehicle (100) driving element, suitable for generating a total torque/driving force (T); a system (4) for storing energy to be supplied to the motor (2); a sensor (5) for detecting the vehicle (100) longitudinal speed (v); a module (7) for controlling a main torque/driving force (T?) of the motor (2) based on at least the signal representative of the vehicle (100) longitudinal speed (v); a module (9) for determining the vehicle longitudinal acceleration (Ax); a module (8) for estimating the presence or absence of a thrust (Fk) of the user on the vehicle (100); an activation signal when it is estimated the absence of the thrust (Fk) of the user: a deactivation signal when it is estimated the presence of the thrust (Fk) of the user.

Abstract: The present invention relates to a method for estimating the side slip angle (?stim) of a four-wheeled vehicle, comprising: —detecting signals representing the vehicle longitudinal acceleration (Ax), lateral acceleration (Ay), vertical acceleration (Az), yaw rate (formula I), roll rate (formula II), wheels speeds (VFL, VFR, VRL, VRR); —pre-treating (1) said signals in order to correct measurement errors and/or noises, so to obtain corrected measurements of at least the longitudinal acceleration (ax), the lateral acceleration (ay), the yaw rate (formula I) and the wheels speeds (?FL, ?FR, ?RL, ?RR), —determining (2) an estimated vehicle longitudinal speed (Vxstim) on the basis of at least one of the corrected measurements of the wheel speeds (?FL, ?FR, ?RL, ?RR); —determining a yaw acceleration (formula III) from the signal representing the yaw rate (formula I); —solving (25) a time-depending parametrical non-linear filter, such as a Kalman filter or a Luenberger filter, describing the vehicle longitudinal and

Abstract: A system for the control of the machine torque of a vehicle (1) includes a first drive wheel (2?) associated to a first motor (3?) and a second drive wheel (2?) associated to a second motor (3?), a steering member (4) and an accelerator member (6). The control system includes a user-interface device (13); means (7) for detecting the steering angle (?) associated to a steering member (4); means (8) for detecting the throttle level (?) of the accelerator member (6); means (9) for detecting the yaw rate of the vehicle ({dot over (?)}); means (10) for detecting the speed of the vehicle (v); and a drive module (11).

Abstract: A pedal assisted bicycle a first and a second wheel; a pedaling assembly mechanically decoupled from the first and second wheels by which an user can supply a pedaling power; an electric motor mechanically coupled to at least one of the wheels capable of taking a motor power; a generator device adapted to generate a generator device electric power from the pedaling power, arranged in an energy exchange relationship with the pedaling assembly and the electric motor; an energy storage device arranged in an energy exchange relationship with the electric motor and with the generator device; a control system including a module for controlling the power required to the generator device to be supplied to the electric motor and/or to the storage device; a heartbeat sensor adapted to generate a signal representing heartbeat.

Abstract: A system for the control of the machine torque of a vehicle (1) includes a first drive wheel (2?) associated to a first motor (3?) and a second drive wheel (2?) associated to a second motor (3?), a steering member (4) and an accelerator member (6). The control system includes a user-interface device (13); means (7) for detecting the steering angle (?) associated to a steering member (4); means (8) for detecting the throttle level (?) of the accelerator member (6); means (9) for detecting the yaw rate of the vehicle ({dot over (?)}); means (10) for detecting the speed of the vehicle (v); and a drive module (11).