With Device For Programmably Operating Vehicles Steerable Wheels Patents (Class 180/204)
  • Patent number: 10377236
    Abstract: The present invention relates to an assistance apparatus for driving of a vehicle including a display unit displaying the virtual preceding vehicle corresponding to one virtual preceding mode, which is selected by a user, of a plurality of virtual preceding modes, an interface unit receiving route information including destination information that is set by a driver and sensing information detected by a sensing unit, and a processor controlling the virtual preceding vehicle on the basis of the route information and the sensing information.
    Type: Grant
    Filed: August 13, 2015
    Date of Patent: August 13, 2019
    Assignee: LG Electronics Inc.
    Inventors: Seungwon Ryu, Junsic Park, Yoonna Soh, Jieun Song
  • Patent number: 10366611
    Abstract: A method of displaying parking assist information is used in a parking assist apparatus comprising a display and a control device. The control device specifies a parking space on the basis of a parking condition that is preliminarily defined, and displays the specified parking space in a predetermined display region defined on a display surface of the display. When the area of a region that is occupied by the parking space and displayed in the display region is less than a predetermined value, the control device displays a specific mark on the display. The mark indicates that the parking space that is not displayed in the display region exists.
    Type: Grant
    Filed: October 22, 2015
    Date of Patent: July 30, 2019
    Assignee: Nissan Motor Co., Ltd.
    Inventor: Yasuhisa Hayakawa
  • Patent number: 10351165
    Abstract: A steer by wire steering system for a vehicle includes a reaction force actuator 25, a steering actuator 28, a control unit 40, and a clutch 20, 120 that can selectively connect a steering wheel 11 with road wheels 3 to be steered. The control unit is configured to operate in an emergency mode when a failure is detected while the control unit is operating in a steer by wire mode. The emergency mode includes commanding the clutch to engage, terminating the steer by wire mode, performing a position keep control whereby the steering actuator is driven so as to maintain a fixed steering angle of the road wheels, initiating a power assist mode using the reaction force actuator, and once the clutch is fully engaged, terminating the position keep control.
    Type: Grant
    Filed: November 17, 2017
    Date of Patent: July 16, 2019
    Assignee: Honda Motor Co., Ltd.
    Inventors: Hirotaka Katayama, Yasushi Ueda
  • Patent number: 10315651
    Abstract: A lane keeping assist system of a vehicle includes a camera and control having an image processor that processes image data captured by the camera to determine a lane boundary of a lane of a road traveled by the vehicle. The control establishes a virtual boundary line at an initial location relative to the determined lane boundary, with the initial location of the virtual boundary line at or inboard of the determined lane boundary. The control, responsive to a lateral speed of the vehicle relative to the determined lane boundary, laterally adjusts the virtual boundary line relative to the determined lane boundary. Responsive to a determination that the vehicle, when moving towards the determined lane boundary, would cross the virtual boundary line, the control at least one of (i) generates an alert to the driver of the vehicle and (ii) controls a steering system of the vehicle.
    Type: Grant
    Filed: October 12, 2016
    Date of Patent: June 11, 2019
    Assignee: MAGNA ELECTRONICS INC.
    Inventors: John Fiaschetti, Pranav Bhatkhande, Tarig Mahameed, G. Edzko Smid
  • Patent number: 10300942
    Abstract: An electric power steering apparatus that enables implementation of a desired steering torque without being affected by a state of a road surface by controlling a steering torque so as to become a value corresponding a steering angle and a steering angular velocity. The apparatus includes a SAT compensation value calculating section that calculates a SAT compensation value based on a SAT value; and a steering reaction compensation value calculating section that calculates a steering reaction compensation value based on the SAT compensation value, a steering angle and a steering angular velocity, and corrects the current command value by the steering reaction compensation value. Further, an electric power steering apparatus controls a twist angle of a torsion bar so as to follow a value corresponding to a steered angle.
    Type: Grant
    Filed: March 30, 2018
    Date of Patent: May 28, 2019
    Assignee: NSK LTD.
    Inventor: Takahiro Tsubaki
  • Patent number: 10300927
    Abstract: A method for a vehicle control procedure, wherein in the case of this vehicle control procedure a closed loop control of the vehicle velocity is performed on the basis of a predetermined desired value, may comprise the following steps: determining on the basis of at least one predetermined criterion whether in the case of the closed loop control the vehicle velocity leaves a value range that is defined by at least one velocity threshold value while taking into consideration a tolerance range that defines predetermined, permitted deviations from this value range; and implementing a corresponding measure while modifying the vehicle control procedure in dependence upon the result of this determination procedure, wherein the determination procedure is performed on the basis of a signal analysis of at least one measurement signal that describes the movement status of the vehicle.
    Type: Grant
    Filed: October 27, 2015
    Date of Patent: May 28, 2019
    Assignee: Ford Global Technologies, LLC
    Inventors: Frederic Stefan, Erik Alpman, Urs Christen, Rainer Busch
  • Patent number: 10279840
    Abstract: A method for operating a vehicle includes the vehicle receiving a start signal for starting the vehicle via a communication network, and responding to the start signal only when one or multiple predetermined conditions are met. Additionally, a device for operating a vehicle, a parking facility management server, and a computer program can be provided for restricting a response to a start signal to only when the one or multiple predetermined conditions are met.
    Type: Grant
    Filed: September 29, 2015
    Date of Patent: May 7, 2019
    Assignee: ROBERT BOSCH GMBH
    Inventor: Stefan Nordbruch
  • Patent number: 10262537
    Abstract: In an example embodiment, a computer-implemented method is disclosed that broadcasts a request for a parking space, receives response(s) from responsive vehicle(s), and extracts set(s) of response data from the received response(s). Each set corresponds to a responsive vehicle and includes a vehicle attribute and a situational context for that corresponding responsive vehicle. The method further generates a dynamic parking model based on the vehicle attribute and the situational context included in each set of response data. The dynamic parking model maps estimated position(s) of the responsive vehicle(s) and further identifies, for each responsive vehicle, estimated unutilized distance(s) between the responsive vehicle and surrounding object(s) corresponding to the responsive vehicle. The method further determines, from the responsive vehicle(s), a group of one or more relocatable vehicles based on the dynamic parking model, and instructs the group to relocate to create the requested parking space.
    Type: Grant
    Filed: January 22, 2018
    Date of Patent: April 16, 2019
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Eric Shinwon Kim, BaekGyu Kim, Shinichi Shiraishi
  • Patent number: 10232850
    Abstract: A parking-lot-leaving support apparatus, to execute parking-lot-leaving support to support a vehicle leaving a parking lot, based on a positional relationship between the vehicle and an obstacle in a back-and-forth direction of the vehicle, includes a determination unit configured to determine whether an obstacle exists in a side direction of the vehicle, based on a detection result of a detection unit that detects an obstacle in the side direction of the vehicle; and an inhibition unit configured to, when the determination unit has determined that the obstacle exists in the side direction of the vehicle, inhibit the parking-lot-leaving support in a direction that coincides with the side direction.
    Type: Grant
    Filed: May 11, 2016
    Date of Patent: March 19, 2019
    Assignees: TOYOTA JIDOSHA KABUSHIKI KAISHA, DENSO CORPORATION, AISIN SEIKI KABUSHIKI KAISHA
    Inventors: Motonari Obayashi, Hironobu Ishijima, Masaki Kinoshita, Yutaka Hamamoto, Masaya Kato, Yusuke Kiyokawa
  • Patent number: 10214239
    Abstract: Exemplary embodiments disclose a parking assistance apparatus and a method of controlling the same, including, displaying an around view monitoring (AVM) image for a predetermined range from a vehicle on a touchscreen, sensing a touch input for a region in which the AVM image is displayed, and setting a target parking region of the vehicle based on a type and a pattern of the touch input.
    Type: Grant
    Filed: August 3, 2016
    Date of Patent: February 26, 2019
    Assignee: Hyundai Mobis Co., Ltd.
    Inventors: Seong soo Lee, Sang kook Kim
  • Patent number: 10207704
    Abstract: A method for autonomously parking or un-parking a motor vehicle includes the steps of locating the motor vehicle within a parking area, setting a destination location within the parking area, generating and setting a path from the location of the motor vehicle to the destination location, and autonomously driving the motor vehicle along the path. The path is generated by (a) generating a first set of nodes from the location of the motor vehicle, (b) assigning a cost to each node in the first set of nodes, (c) selecting a lowest cost node from the first set of nodes, (d) generating another set of nodes from the selected node, (e) assigning a cost to each of the newly generated nodes, (f) selecting a lowest cost node from all of the nodes, and (g) repeating steps (d)-(f) until a lowest cost node is located at the destination location.
    Type: Grant
    Filed: August 19, 2016
    Date of Patent: February 19, 2019
    Assignee: DURA OPERATING, LLC
    Inventors: Arda Kurt, Umit Ozguner, Gordon Thomas, Keith Redmill
  • Patent number: 10179585
    Abstract: 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: Grant
    Filed: June 26, 2015
    Date of Patent: January 15, 2019
    Assignee: DAIMLER AG
    Inventors: Christophe Bonnet, Andreas Hiller, Gerhard Kuenzel, Martin Moser, Heiko Schiemenz
  • Patent number: 10173725
    Abstract: 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: Grant
    Filed: January 11, 2017
    Date of Patent: January 8, 2019
    Assignee: MANDO CORPORATION
    Inventor: Hyeon Heo
  • Patent number: 10166922
    Abstract: 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: Grant
    Filed: April 10, 2015
    Date of Patent: January 1, 2019
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Goro Asai
  • Patent number: 10155534
    Abstract: 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: Grant
    Filed: June 14, 2016
    Date of Patent: December 18, 2018
    Assignee: STEERING SOLUTIONS IP HOLDING CORPORATION
    Inventors: Tejas M. Varunjikar, Anthony J. Champagne
  • Patent number: 10137928
    Abstract: 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: Grant
    Filed: May 16, 2016
    Date of Patent: November 27, 2018
    Assignee: JTEKT CORPORATION
    Inventor: Toshiaki Oya
  • Patent number: 10131379
    Abstract: 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: Grant
    Filed: July 18, 2016
    Date of Patent: November 20, 2018
    Assignee: JTEKT CORPORATION
    Inventor: Takashi Kodera
  • Patent number: 10011274
    Abstract: 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: Grant
    Filed: December 16, 2014
    Date of Patent: July 3, 2018
    Assignee: ADC Automotive Distance Control Systems GmbH
    Inventor: Guenter Holland-Letz
  • Patent number: 9981691
    Abstract: 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: Grant
    Filed: June 14, 2016
    Date of Patent: May 29, 2018
    Assignee: Mitsubishi Electric Corporation
    Inventors: Michitoshi Azuma, Yukiyasu Akemi, Kohei Mori, Yu Takeuchi, Toshihide Satake, Masaya Endo
  • Patent number: 9974225
    Abstract: 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: Grant
    Filed: January 14, 2016
    Date of Patent: May 22, 2018
    Assignees: 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
  • Patent number: 9969386
    Abstract: 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: Grant
    Filed: January 10, 2017
    Date of Patent: May 15, 2018
    Assignee: Mitsubishi Electric Research Laboratories, Inc.
    Inventors: Yebin Wang, Devesh Jha
  • Patent number: 9968025
    Abstract: 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: Grant
    Filed: July 13, 2017
    Date of Patent: May 15, 2018
    Assignees: 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
  • Patent number: 9914219
    Abstract: 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: Grant
    Filed: January 25, 2016
    Date of Patent: March 13, 2018
    Assignee: SAMSUNG ELECTRONICS CO., LTD.
    Inventors: Ju-sang Lee, Hong-jun Kim, Chin-woo Kang, Suk-hoon Song, Hee-suk Yoon, Ki-yong Lee
  • Patent number: 9862383
    Abstract: 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: Grant
    Filed: December 2, 2014
    Date of Patent: January 9, 2018
    Assignee: ROBERT BOSCH GMBH
    Inventor: Charlotte Grinenval
  • Patent number: 9828027
    Abstract: 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: Grant
    Filed: September 10, 2015
    Date of Patent: November 28, 2017
    Assignees: AISIN SEIKI KABUSHIKI KAISHA, TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Shogi Fukukawa, Takatomo Asai, Motonari Obayashi, Hironobu Ishijima
  • Patent number: 9696720
    Abstract: 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: Grant
    Filed: November 17, 2015
    Date of Patent: July 4, 2017
    Assignee: HYUNDAI MOTOR COMPANY
    Inventors: Min Wook Seo, Jun Soo Kim, Gil Won Seo, Sung Yun Kim, Bong Chul Ko, Joo Woong Yang
  • Patent number: 9676327
    Abstract: 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: Grant
    Filed: May 1, 2015
    Date of Patent: June 13, 2017
    Assignee: Hyundai Mobis Co., Ltd.
    Inventor: Yang Woo Kwon
  • Patent number: 9656691
    Abstract: 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: Grant
    Filed: November 12, 2013
    Date of Patent: May 23, 2017
    Assignee: VALEO Schalter und Sensoren GmbH
    Inventors: Markus Heimberger, Vsevolod Vovkushevsky, Oliver Grimm
  • Patent number: 9493070
    Abstract: 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: Grant
    Filed: November 22, 2013
    Date of Patent: November 15, 2016
    Assignee: Nissan Motor Co., Ltd.
    Inventors: Osamu Fukata, Yasuhisa Hayakawa, Daisuke Tanaka, Daisuke Oiki, Akira Morimoto
  • Patent number: 9475492
    Abstract: 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: Grant
    Filed: November 1, 2013
    Date of Patent: October 25, 2016
    Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO, LTD.
    Inventors: Kenji Okano, Hirotaka Kamiyama
  • Patent number: 9340116
    Abstract: 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 charging
    Type: Grant
    Filed: November 19, 2012
    Date of Patent: May 17, 2016
    Assignee: Sharp Kabushiki Kaisha
    Inventor: Junichi Noiri
  • Patent number: 9269270
    Abstract: 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: Grant
    Filed: September 28, 2011
    Date of Patent: February 23, 2016
    Assignee: ROBERT BOSCH GMBH
    Inventors: Meike Fehse, Marcus Schneider, Jochen Staack
  • Patent number: 9211912
    Abstract: 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: Grant
    Filed: August 3, 2010
    Date of Patent: December 15, 2015
    Assignee: ROBERT BOSCH GMBH
    Inventor: Volker Niemz
  • Patent number: 9194475
    Abstract: 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: Grant
    Filed: March 14, 2012
    Date of Patent: November 24, 2015
    Assignee: Kubota Corporation
    Inventors: Yushi Matsuzaki, Atsushi Shinkai, Atsushi Haramoto
  • Patent number: 9038763
    Abstract: 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: Grant
    Filed: October 14, 2011
    Date of Patent: May 26, 2015
    Assignee: JTEKT CORPORATION
    Inventors: Ryouichi Kubo, Yasuhiro Tomagou, Akihiko Shiina, Masahiko Sakamaki, Tetsuya Ozaki
  • Patent number: 9031745
    Abstract: 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: Grant
    Filed: January 14, 2014
    Date of Patent: May 12, 2015
    Assignee: Ford Global Technologies, LLC
    Inventors: Miguel Bahena, Attila Benak, Andrew Brown, Sergio Condonesu, Darrel Alan Recker, Lodewijk Wijffels
  • Patent number: 9020757
    Abstract: A path planning autopilot guides vehicles efficiently even when they are far from a desired path.
    Type: Grant
    Filed: May 11, 2012
    Date of Patent: April 28, 2015
    Assignee: Trimble Navigation Limited
    Inventors: John W Peake, Stephan Pleines
  • Publication number: 20150083508
    Abstract: 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: Application
    Filed: September 20, 2013
    Publication date: March 26, 2015
    Applicants: The U.S.A As Represented by the Administrator of the National Aeronautics and Space Administration, GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: 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
  • Publication number: 20150083509
    Abstract: 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: Application
    Filed: September 20, 2013
    Publication date: March 26, 2015
    Applicants: The U.S.A. As Represented by the Administrator of the National Aeronautics and Space Administration, GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: 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
  • Patent number: 8989964
    Abstract: 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: Grant
    Filed: December 23, 2010
    Date of Patent: March 24, 2015
    Assignee: Advics Co., Ltd.
    Inventors: Yoshiyuki Yasui, Hiroaki Aizawa
  • Patent number: 8897965
    Abstract: 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: Grant
    Filed: March 28, 2012
    Date of Patent: November 25, 2014
    Assignee: JTEKT Corporation
    Inventors: Terutaka Tamaizumi, Hirozumi Eki, Masayuki Kita, Isao Namikawa
  • Patent number: 8880288
    Abstract: 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: Grant
    Filed: February 11, 2010
    Date of Patent: November 4, 2014
    Assignee: Robert Bosch GmbH
    Inventors: Qingyuan Li, Hsien-cheng (Kevin) Wu, Tim Hoerauf, Jiamu Hu, Timothy Ridley
  • Patent number: 8874322
    Abstract: 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: Grant
    Filed: February 11, 2014
    Date of Patent: October 28, 2014
    Assignee: Honda Motor Co., Ltd
    Inventors: Naoki Mori, Tatsuya Ishikawa
  • Patent number: 8798860
    Abstract: 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: Grant
    Filed: June 24, 2005
    Date of Patent: August 5, 2014
    Assignee: Renault Trucks
    Inventor: Francois Dechamp
  • Patent number: 8779939
    Abstract: 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: Grant
    Filed: June 2, 2009
    Date of Patent: July 15, 2014
    Assignees: VALEO Schalter und Sensoren GmbH, Volkswagen Aktiengesellschaft
    Inventors: Harald Barth, Nicolas Jecker
  • Patent number: 8762005
    Abstract: 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: Grant
    Filed: June 24, 2011
    Date of Patent: June 24, 2014
    Assignee: Toyota Jidosha Kabushiki Kaisha
    Inventors: Theerawat Limpibunterng, Yoshiaki Tsuchiya, Shoji Asai
  • Patent number: 8731778
    Abstract: 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: Grant
    Filed: July 22, 2009
    Date of Patent: May 20, 2014
    Assignee: Toyota Jidosha Kabushiki Kaisha
    Inventor: Hiromitsu Kageyama
  • Patent number: 8718859
    Abstract: 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: Grant
    Filed: July 29, 2010
    Date of Patent: May 6, 2014
    Assignee: Panasonic Corporation
    Inventors: Yohei Kume, Hideo Kawakami, Shohei Tsukada, Tohru Nakamura
  • Patent number: 8712645
    Abstract: 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: Grant
    Filed: April 22, 2008
    Date of Patent: April 29, 2014
    Assignee: RENAULT s.a.s.
    Inventors: Cedric Chassagnol, Stephane Guegan
  • Patent number: 8710975
    Abstract: 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: Grant
    Filed: November 23, 2010
    Date of Patent: April 29, 2014
    Assignee: Robert Bosch GmbH
    Inventors: Christian Pampus, Florian Raisch, Albrecht Irion, Marcus Schneider