With Yaw Control Patents (Class 303/140)
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Patent number: 12128883Abstract: A driving assistance device includes a storage medium that stores computer-readable instructions, and a processor connected to the storage medium. The processor executes the computer-readable instructions to recognize an object around a moving body, perform first control for avoiding contact between the moving body and the recognized object by steering, perform second control for avoiding contact between the moving body and the recognized object by braking, derive an estimated value of a yaw rate generated in the moving body on the basis of reference information including at least a plurality of types of information different from a measured value of a yaw rate output by a yaw rate sensor mounted on the moving body, and suppress the first control if a deviation between the measured value and the estimated value is greater than a reference.Type: GrantFiled: June 24, 2022Date of Patent: October 29, 2024Assignee: HONDA MOTOR CO., LTD.Inventor: Yuji Yasui
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Patent number: 11780447Abstract: A torque vectoring system for a hub motor drive system uses a motor control unit instead of a vehicle control unit to conduct torque vectoring calculation, so that a target motor torque can be obtained more reasonably and the real-time property is improved. In addition, as it is unnecessary to conduct calculation with the vehicle control unit, torque distribution and torque change can be evaluated on a testbed of the motor control unit prior to integrating the torque vectoring system into the vehicle.Type: GrantFiled: March 19, 2019Date of Patent: October 10, 2023Assignee: Schaeffler Technologies AG & Co. KGInventors: Jin Wang, Hui Su
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Patent number: 11753073Abstract: Systems and methods are provided herein for operating a vehicle in a front dig mode. The front dig mode is engaged in response to determining that speed of the vehicle is below a speed threshold and determining that the amount that at least one of the front wheels of the vehicle is turned exceeds a turn threshold. While operating in the front dig mode, forward torque is provided to the front wheels of the vehicle. Further, resistance is applied to forward rotation of the inner back wheel of the vehicle. Yet further, forward torque is provided to the outer back wheel of the vehicle.Type: GrantFiled: June 14, 2022Date of Patent: September 12, 2023Assignee: RIVIAN IP HOLDINGS, LLCInventors: Steven Korsch, Mason Verbridge
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Patent number: 11719753Abstract: A method for predicting energy consumption of a vehicle using a statistical model. The method includes (i) predicting a set of future input vectors for the vehicle at defined time intervals corresponding to a plurality of future points in time based on a subset of a plurality of reference input vectors previously generated at the defined time intervals at a plurality of previous points in time, (ii) predicting a change in the energy level of the vehicle using a processor and the statistical model, and (iii) providing results corresponding to the predicted change in the energy level to an output unit of the vehicle. Each reference input vector comprises a vehicle input vector and a database input vector associated with each point in time of the plurality of previous points in time. The database input vector for each defined time interval may be based on at least one of a plurality of environmental data and information about a road condition.Type: GrantFiled: October 25, 2017Date of Patent: August 8, 2023Assignee: INVENTLY AUTOMOTIVE INC.Inventor: Stephen J. Brown
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Patent number: 11650133Abstract: The disclosed invention makes use of slip related values to calculate friction related values and tire stiffness related values and feeds back an estimated tire stiffness relates value or a calculated friction related as a basis for further calculations. In particular, the disclosure relates to methods, apparatuses and computer program products to achieve the mentioned objective.Type: GrantFiled: December 16, 2016Date of Patent: May 16, 2023Assignee: NIRA DYNAMICS ABInventors: Thomas Svantesson, Andreas Myklebust
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Patent number: 11609567Abstract: The present disclosure relates to an apparatus and a method for controlling a vehicle, and more particularly to a vehicle control apparatus having a redundant architecture. A vehicle control apparatus according to one embodiment of the present disclosure includes: a receiver, configured to receive sensing information from a vehicle sensor; a first electronic controller, configured to generate a first vehicle control command based on the received sensing information; a monitor, configured to monitor whether the first electronic controller is out of order; and a second electronic controller, configured to generate a second vehicle control command based on the received sensing information if the first electronic controller is out of order.Type: GrantFiled: February 5, 2019Date of Patent: March 21, 2023Assignee: HL Mando CorporationInventors: Hyun Jung Kim, Seongjoo Moon
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Patent number: 11491969Abstract: A brake system for a transportation vehicle, a transportation vehicle having a brake system, and a method for operating a brake system. The brake system has two control units, wherein the respective control unit actuates a respective brake circuit of the brake system, which includes two of four service brakes and one of two electric parking brakes of the brake system. In response to a defect in one of the brake circuits, the control unit of the other brake circuit actuates the respective brakes of the other brake circuit, to carry out trailer combination stabilization of a trailer combination having the transportation vehicle and a trailer coupled to the transportation vehicle; and/or to steer the transportation vehicle in the case of a defect in a steering system of the transportation vehicle based on a steering command of a control device for autonomous driving.Type: GrantFiled: November 15, 2019Date of Patent: November 8, 2022Inventor: Bastian Witte
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Patent number: 11390322Abstract: Systems and methods are provided herein for operating a vehicle in a front dig mode. The front dig mode is engaged in response to determining that speed of the vehicle is below a speed threshold and determining that the amount that at least one of the front wheels of the vehicle is turned exceeds a turn threshold. While operating in the front dig mode, forward torque is provided to the front wheels of the vehicle. Further, resistance is applied to forward rotation of the inner back wheel of the vehicle. Yet further, forward torque is provided to the outer back wheel of the vehicle.Type: GrantFiled: November 13, 2019Date of Patent: July 19, 2022Assignee: Rivian IP Holdings, LLCInventors: Steven Korsch, Mason Verbridge
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Patent number: 11300619Abstract: A method for predicting energy consumption of a vehicle using a statistical model. The method includes (i) predicting a set of future input vectors for the vehicle at defined time intervals corresponding to a plurality of future points in time based on a subset of a plurality of reference input vectors previously generated at the defined time intervals at a plurality of previous points in time, (ii) predicting a change in the energy level of the vehicle at the future points in time using a processor and the statistical model, and (iii) providing results corresponding to the predicted change in the energy level to an output unit of the vehicle. The change in the energy level comprises a function of corresponding future input vectors and an associated weighting vector. The change in the energy level is predicted based on a regression analysis of the energy level associated with each of the reference input vectors.Type: GrantFiled: October 25, 2017Date of Patent: April 12, 2022Assignee: INVENTLY AUTOMOTIVE INC.Inventor: Stephen J. Brown
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Patent number: 11247559Abstract: A method for operating a motor vehicle having a four-wheel drive and a drive unit, which can be switched on and off during travel, wherein the motor vehicle is driven by a torque provided by the drive unit, and the initially disengaged four-wheel drive is switched on, including: determining at least one limit torque which, while the four-wheel drive is switched off, can be transmitted from at least one wheel of the motor vehicle driven by the drive unit to the ground surface upon which the motor vehicle is travelling, while the slip between the at least one wheel and the ground surface falls below a specifiable threshold value.Type: GrantFiled: August 27, 2018Date of Patent: February 15, 2022Assignee: AUDI AGInventors: Dieter Weidemann, Hans Joerg Bruehl, Heiko Hanickel, Christoph Franke, Francisco Javier Caicedo Montalvo, Matthias Mayer
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Patent number: 11175667Abstract: A vehicle, system and method of operating a vehicle. A sensor for measures a dynamic variable of the vehicle. A processor determines a location of a perceived yaw center (PYC) of the vehicle from the dynamic variable, tracks a desired location of the PYC, and adjusts a control parameter of the vehicle to reduce a difference between the location of the PYC and the desired location of the PYC.Type: GrantFiled: February 19, 2020Date of Patent: November 16, 2021Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: SeyedAlireza Kasaiezadeh Mahabadi, Seyedeh Asal Nahidi, Michael W. Neal, James H. Holbrook, Hualin Tan, Bakhtiar B. Litkouhi
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Patent number: 11167592Abstract: A vehicle includes an axle having driven wheels each with an associated wheel-speed sensor and the vehicle includes a yaw rate sensor. A controller is programmed to, responsive to a request to reprogram a track width of the driven axle, receive signals from the wheel speed sensors and the yaw rate sensor to learn a track width of the driven axle based on the signals.Type: GrantFiled: December 19, 2018Date of Patent: November 9, 2021Assignee: Ford Global Technologies, LLCInventors: Scott Wilson, Andrew Monticello
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Patent number: 11161499Abstract: During vehicle turning, during which a behavior stabilization control is not carried out, a vehicle driving assistance device carries out a turning assist control including: yaw moment control for increasing the amount of drive torque distributed to a drive wheel that, among two left and right drive wheels of the vehicle, is on the outer side of the turn by imparting braking torque to the drive wheel that is on the inner side of the turn; and a deceleration control for decelerating the vehicle. At this time, the driving assistance device calculates a control moment amount and calculates a control deceleration amount on the basis of a travel mode selected by operation of an operation unit.Type: GrantFiled: June 26, 2017Date of Patent: November 2, 2021Assignee: ADVICS CO., LTD.Inventor: Yosuke Hashimoto
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Patent number: 11142279Abstract: A brake control device includes an electronic controller that controls a brake unit configured to brake a rotation body of a human-powered vehicle. The electronic controller limits ABS control in a case where a first predetermined condition for executing ABS control and a second predetermined condition for limiting ABS control are satisfied. The second predetermined condition is set based on limitation information that differs from information related to a traveling speed of the human-powered vehicle.Type: GrantFiled: January 23, 2019Date of Patent: October 12, 2021Assignee: Shimano Inc.Inventors: Toshihiko Takahashi, Masahiko Fukuda, Hitoshi Takayama, Daisuke Nago, Masahiro Nakakura, Takehiko Nakajima
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Patent number: 10981572Abstract: A method of controlling driving force of a vehicle includes estimating a first maximum road surface frictional coefficient based on a driving stiffness defined by a micro slip ratio and driving force of drive wheels, in a first driving state where the vehicle travels straight at a constant acceleration, estimating a second maximum road surface frictional coefficient based on a steering reaction force detected by an electric power steering device, in a second driving state different from the first state and where the vehicle is steered, estimating a third maximum road surface frictional coefficient to be a given value in a third driving state different from the first and second states and where an outdoor air temperature is above a determination temperature, and controlling the driving force to settle within a friction circle defined by each of the highest frictional coefficients and a ground contact load of the drive wheels.Type: GrantFiled: September 28, 2018Date of Patent: April 20, 2021Assignee: Mazda Motor CorporationInventors: Yasumasa Imamura, Yasushi Yagi, Akihiro Tatara, Tetsushi Marutani, Hideki Tani
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Patent number: 10974706Abstract: A vehicle orientation control device is provided in a four wheel drive vehicle capable of applying braking and driving force to each of the vehicle wheels. The vehicle orientation control device (24) is provided in a vehicle control device (10) for controlling the four wheel drive vehicle and includes a standard yaw rate calculating unit (25), a yaw rate sensor (22), a target yaw moment calculating unit (26), a braking and driving force commanding unit (15), and a yaw moment control unit (27). The yaw moment control unit (27) includes an allocation ratio varying unit (27a) for continuously changing the front and rear allocation ratio of the yaw moment control torque to be distributed to the front and rear wheels (3) and (2) in dependence on the detected actual yaw rate that is detected by the yaw rate sensor (22).Type: GrantFiled: April 5, 2016Date of Patent: April 13, 2021Assignee: NTN CORPORATIONInventor: Tomohiro Sugai
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Patent number: 10906552Abstract: Among other things, one or more techniques and/or systems are provided for personalized vehicle management. A current location of a vehicle may be received. A route of the vehicle may be determined based upon a trip library and/or the current location. The trip library may correspond to routes traveled by the user above a travel frequency threshold. A route segment (e.g., a portion of the route that the vehicle will travel within a threshold duration) may be identified. A route segment characteristic (e.g., a weather characteristic, a physical characteristic, a traffic characteristic, etc.) of the route segment may be determined. The route segment characteristic may be provided to a driver assistance component of the vehicle. The driver assistance component may be instructed to alter functionality of the vehicle using a vehicle operational parameter derived from the route segment characteristic.Type: GrantFiled: February 5, 2018Date of Patent: February 2, 2021Assignee: INRIX, Inc.Inventor: Christian Andreas Hecht
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Patent number: 10766472Abstract: A method of managing the braking force applied on the wheels of a vehicle including hybrid brake actuators is provided. In particular, safety functions, such as ABS and ESP are performed using hybrid actuators.Type: GrantFiled: July 27, 2015Date of Patent: September 8, 2020Assignee: VOLVO TRUCK CORPORATIONInventors: Lionel Farres, Christophe Long
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Patent number: 10737672Abstract: A method of changing an anti-lock brake system (ABS) control mode includes: determining, by a controller, whether a first stage of an electronic stability control (ESC) of the vehicle is in an off state and a launch control of the vehicle is in an on state, and determining, by the controller, whether a driver intends to slow down an operation of the ABS installed in the vehicle; and when it is determined that the driver intends to slow down the operation of the ABS, comparing, by the controller, revolutions per minute (RPM) of an engine of the vehicle, a vehicle acceleration speed, a vehicle speed, and a steering angle with predetermined threshold values, respectively, and when each of the comparison results is satisfied, changing, by the controller, an ABS general control mode to an ABS sport control mode which slows down the operation of the ABS.Type: GrantFiled: May 25, 2018Date of Patent: August 11, 2020Assignees: Hyundai Motor Company, Kia Motors CorporationInventor: Jong-Kyu Jeong
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Patent number: 10699582Abstract: Various methods for regulating and/or for integrating avionic systems with non-avionic systems are described. An avionic system is generally associated with a physical fault rate that is lower and a logic verification that is higher than those of a non-avionic system. Developments describe notably the use: of remote computing resources; of comparison, test, verification and authorization steps before injection of data of non-avionic origin into the avionics; of human-machine interaction methods; of various parameters (weather, air traffic, etc.) for the purpose of combinatorial optimization; and of electronic flight bags EFB and of flight management systems FMS.Type: GrantFiled: June 14, 2018Date of Patent: June 30, 2020Assignee: THALESInventors: Benoît Dacre-Wright, Olivier Pineau, François Nefflier
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Patent number: 10457264Abstract: An abnormality detection device includes a control target hydraulic pressure calculating portion that calculates a control target hydraulic pressure according to an operation state of a brake pedal, the hydraulic pressure obtaining portion that obtains the hydraulic pressure of the operating fluid controlled to become the control target hydraulic pressure calculated by the control target hydraulic pressure calculating portion from the pressure sensor; a second determination threshold value changing portion that changes a threshold value to be closer to the control target hydraulic pressure calculated by the control target hydraulic pressure calculating portion in a stepwise manner when a state determining portion determines that the control target hydraulic pressure is in a maintaining state, and the abnormality determining portion that determines the hydraulic pressure braking force generating device is abnormal when the hydraulic pressure obtained by the hydraulic pressure obtaining portion deviates from thType: GrantFiled: August 25, 2016Date of Patent: October 29, 2019Assignees: ADVICS CO., LTD., TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Tatsushi Kobayashi, Takahiro Okano
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Patent number: 10369908Abstract: A system and method that establishes a confidence in a vehicle position determined by a vehicle position determination system and uses the established confidence to change a behavior of an active suspension system of a plant in the vehicle.Type: GrantFiled: June 22, 2018Date of Patent: August 6, 2019Assignee: ClearMotion Acquisition I LLCInventors: Lawrence D. Knox, Antonio Sangermano, II
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Patent number: 10336366Abstract: A driving support apparatus for a vehicle comprising a steering device that steers steerable wheels, and a control unit configured to execute a running control in which a steered angle of the steerable wheels is changed by controlling the steering device, the control unit being configured to calculate a deviation between an index value of a target running state of the vehicle and an index value of an actual running state, to calculate a target change amount of the steered angle based on the index value deviation, to control the steering device so that a change amount of the steered angle conforms to the target change amount, and to limit a magnitude of a time change rate of the steered angle changed by the running control when one of a magnitude of the index value deviation and a magnitude of the target change amount exceeds a reference value.Type: GrantFiled: July 20, 2017Date of Patent: July 2, 2019Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Yoji Kunihiro, Yoshio Kudo, Takahiro Kojo, Yoshiaki Suzuki, Masao Ueyama, Takeshi Goto, Yukihide Kimura, Masateru Amano
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Patent number: 10220821Abstract: A vehicle braking force controlling apparatus includes a steered start detector and a controller. The steered start detector detects steered start of a vehicle on a basis of a driving state of the vehicle. The vehicle has a plurality of wheels. The steered start is start of the vehicle in which steering is performed. The controller applies braking force to a turning inner front wheel and braking force to a turning outer rear wheel when the steered start of the vehicle is detected by the steered start detector. The turning inner front wheel is a front wheel of the plurality of wheels which is located on inner side upon turning of the vehicle. The turning outer rear wheel is a rear wheel of the plurality of wheels which is located on outer side upon the turning of the vehicle.Type: GrantFiled: August 4, 2017Date of Patent: March 5, 2019Assignee: Subaru CorporationInventor: Koji Matsuno
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Patent number: 10144293Abstract: Provided is a driving force control device capable of stabilizing a vehicle behavior when a driving torque of a drive wheel is controlled. When slip suppression control is carried out to decrease a driving torque of a drive source that is connected to the drive wheel of a vehicle via a speed reduction mechanism and a drive shaft, and is configured to generate a torque for braking or driving the drive wheel, to thereby suppress a slip state of the drive wheel, the driving torque of the drive source is controlled so that a slip ratio of the drive wheel is in an area of the slip ratio smaller than a slip ratio corresponding to a peak value of a road surface friction coefficient in a characteristic of the road surface friction coefficient with respect to the slip ratio.Type: GrantFiled: September 10, 2014Date of Patent: December 4, 2018Assignee: HITACHI AUTOMOTIVE SYSTEMS, LTD.Inventors: Keisuke Suzuki, Hitoshi Kobayashi, Tatsuyuki Yamamoto
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Patent number: 10029729Abstract: Methods and systems are provided for controlling a component of a vehicle. In one embodiment, a method includes: receiving, by a processor, data associated with a center of gravity of the vehicle; determining, by a processor, a wheel moment adjustment command for each wheel of the vehicle based on the received data; determining, by a processor, at least one control output based on driver commands and the wheel moment adjustment command for each wheel; and selectively controlling, by a processor, at least one component associated with at least one of an active safety system and a chassis system of the vehicle based on the at least one control output.Type: GrantFiled: March 15, 2016Date of Patent: July 24, 2018Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Seyed Alireza Kasaiezadeh Mahabadi, Bakhtiar B. Litkouhi
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Patent number: 9994203Abstract: A method for the temperature-dependent control of a pressure control valve of a vehicle comprising an inlet valve and an outlet valve includes detecting a predefined pressure difference to be controlled by the pressure control valve, determining a present valve body temperature, wherein, for this purpose, a temperature change proceeding from a starting temperature is considered depending on at least one detected valve body influencing variable, determining, depending on the pressure difference to be controlled and on the determined present valve body temperature, at least one of a temperature-adjusted pulse duration for the inlet valve and a temperature-adjusted pulse duration for the outlet valve, and controlling at least one of the inlet valve and the outlet valve of the pressure control valve via the particular temperature-adjusted pulse duration in order to effectuate the detected pressure difference at the determined valve body temperature.Type: GrantFiled: August 5, 2016Date of Patent: June 12, 2018Assignee: WABCO GmbHInventors: Horst Eckert, Florian Schwagmeyer
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Patent number: 9884632Abstract: Among other things, one or more techniques and/or systems are provided for personalized vehicle management. A current location of a vehicle may be received. A route of the vehicle may be determined based upon a trip library and/or the current location. The trip library may correspond to routes traveled by the user above a travel frequency threshold. A route segment (e.g., a portion of the route that the vehicle will travel within a threshold duration) may be identified. A route segment characteristic (e.g., a weather characteristic, a physical characteristic, a traffic characteristic, etc.) of the route segment may be determined. The route segment characteristic may be provided to a driver assistance component of the vehicle. The driver assistance component may be instructed to alter functionality of the vehicle using a vehicle operational parameter derived from the route segment characteristic.Type: GrantFiled: August 12, 2015Date of Patent: February 6, 2018Assignee: INRIX INC.Inventor: Christian Andreas Hecht
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Patent number: 9797316Abstract: An operating method and device for a permanent brake system of a motor vehicle. The brake system includes a primary and a secondary permanent brake. Each brake generates respective adjustable braking torque components. The first primary brake has a response than the second primary brake. A third braking torque component is adjusted by the secondary brake. The permanent-brake braking request is applied by the first primary brake until the braking request exceeds a first threshold. The first threshold corresponds to a value less than or equal to a maximum braking torque generated by the first primary brake. After exceeding the first threshold, a component of the request is applied by the secondary permanent brake. A second threshold value corresponds to a value less than or equal to a braking torque that can be generated when the first primary permanent brake device interacts with the secondary permanent brake.Type: GrantFiled: September 30, 2016Date of Patent: October 24, 2017Assignee: MAN Truck & Bus AGInventor: Rüdiger Palm
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Patent number: 9771100Abstract: Provided is a control device for a steer-by-wire steering mechanism, the control device including: a tire lateral force detection unit configured to detect tire lateral forces acting on left and right wheels; and a toe angle control unit configured to control toe angles of left and right wheels independently of each other such that the detected tire lateral forces become target lateral forces. Not during deceleration, the toe angle control unit sets target lateral forces FLt and FRt such that the total sum of the left and right target lateral forces is not changed and the total sum of absolute values thereof is decreased, and during deceleration, the toe angle control unit sets the target lateral forces FLt and FRt such that straight traveling stability can be obtained.Type: GrantFiled: February 26, 2013Date of Patent: September 26, 2017Assignee: NTN CORPORATIONInventor: Tomohiro Sugai
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Patent number: 9744862Abstract: A braking system for a motor vehicle, including friction brakes on the wheels of at least one axle, the brakes controlled by a friction brake control device; at least one electric machine connected to at least one wheel and controlled by an electric drive control device; a brake pedal for detecting a deceleration request; a wheel-slip controlling device; and a torque distributing device. The devices for detecting a deceleration request are connected to the wheel-slip controlling device, the wheel-slip controlling device specifying target braking torques for each wheel according to the parameters of the deceleration request. The wheel-slip controlling device connected to a torque distributing device which is connected to the friction brake control device and the electric drive control device and which specifies friction brake requests to the friction brake control device and generator brake requests to the electric drive control device according to the target braking torques.Type: GrantFiled: September 27, 2012Date of Patent: August 29, 2017Assignee: Continental Teves AG & Co. oHGInventors: Maxim Arbitmann, Zhenfu Chen, Thomas Raste, Peter Lauer, Matthias Muntu, Daniel Schmitz
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Patent number: 9618627Abstract: A method for determining a side slip angle in a vehicle, includes determining with a first sensor an orientation of an effective vehicle speed vector of the Vehicle in relation to a geographic coordinate system of the earth; determining with a second sensor an orientation of the vehicle in relation to a magnetic coordinate system of the earth magnetic field; determining a differential angle of the magnetic north direction of the earth relative to the geographic north direction of the earth by using a vehicle speed; and determining the side slip angle as a function of the orientation of the effective vehicle speed vector and the differential angle according to the relationship ?=?course+?mag,???mag, wherein ? designates the side slip angle, ?mag,? the differential angle, ?mag the orientation of the vehicle in relation to the magnetic north direction and ?course the orientation of the vehicle speed vector.Type: GrantFiled: August 5, 2016Date of Patent: April 11, 2017Assignee: AUDI AGInventor: Andreas Unger
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Patent number: 9610925Abstract: According to one embodiment, there is provided a vehicle behavior control system. The vehicle behavior control system includes a behavior stabilization control module that is configured to execute a behavior stabilization control so as to stabilize a behavior of a vehicle by giving a braking force to a turning outer wheel of the vehicle based on a target braking force. The behavior stabilization control module has a target braking force setting section that sets the target braking force. The target braking force is set so as to be smaller for a second turn than for a first turn.Type: GrantFiled: January 29, 2015Date of Patent: April 4, 2017Assignee: AUTOLIV NISSIN BRAKE SYSTEMS JAPAN CO., LTD.Inventors: Nobuyuki Nomura, Takahiro Nishigaki, Shinji Murashita, Natsuko Hamamoto, Kenta Wada
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Patent number: 9613466Abstract: Disclosed are systems and methods for driver performance assessment and improvement. The systems and methods may be: active for warning purposes only; passive for monitoring purposes only; and active and passive. Any of the foregoing system and methods may be cooperative as well.Type: GrantFiled: October 7, 2013Date of Patent: April 4, 2017Inventor: Brian Lee Bullock
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Patent number: 9527488Abstract: A method for braking a vehicle, a braking intervention being performed on at least one wheel of the vehicle, a total brake force for the braking intervention being generated by a hydraulic unit in the vehicle on the one hand, and, on the other hand, by at least one electric motor assigned to the one wheel, which at all times supports the brake force generated by the hydraulic unit, the total brake force being generated by modulating a brake force generated by the hydraulic unit and by modulation of the brake force generated by the electric motor on the at least one wheel, the brake force of the hydraulic unit and the brake force of the electric motor being added to yield the total brake force, and an amount of the particular brake force being controlled by a controller as a function of a driving situation of the vehicle.Type: GrantFiled: October 14, 2013Date of Patent: December 27, 2016Assignee: Robert Bosch GmbHInventors: Andreas Georgi, Armin Verhagen, Markus Henzler, Remco ten Zweege
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Patent number: 9056600Abstract: A motion control device for a vehicle having a braking means for applying a brake toque to a wheel of the vehicle and maintaining a traveling stability of the vehicle by controlling the braking means, the motion control for the vehicle, includes a steering angular velocity obtaining means for obtaining a steering angular velocity of the vehicle, a maximum steering angular velocity calculating means for calculating a maximum steering angular velocity on the basis of the steering angular velocity, a determining means for determining a reference turning state quantity on the basis of the maximum steering angular velocity, an actual turning state quantity obtaining means for obtaining an actual turning state quantity of the vehicle, and a control means for controlling the brake toque on the basis of the reference turning state quantity and the actual turning state quantity.Type: GrantFiled: March 23, 2010Date of Patent: June 16, 2015Assignee: ADVICS CO., LTD.Inventors: Yoshiyuki Yasui, Toshihisa Kato, Hiroshi Matsuoka, Junya Nagaya
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Patent number: 8825334Abstract: A vehicle behavior control apparatus is equipped with a slip angle detector that detects a slip angle of a vehicle, a control amount calculation portion that calculates a control amount from the slip angle detected by the slip angle detector, a derivative of the slip angle, and a second order derivative of the slip angle, and a control portion that executes a behavior control for the vehicle based on the calculated control amount.Type: GrantFiled: June 22, 2009Date of Patent: September 2, 2014Assignee: Toyota Jidosha Kabushiki KaishaInventor: Ryochi Watanabe
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Publication number: 20140145498Abstract: Vehicular motion control system comprising controller that independently controls driving force and/or braking force of each of four wheels and a turning direction sensor that senses a turning direction, and with an acceleration/deceleration command generator that generates an acceleration/deceleration command based upon a sensed steering angle and sensed vehicle speed and a driving force/braking force distributor that determines the distribution of driving force or driving torque and/or braking force or braking torque of each wheel, and driving force/braking force distributor determines based upon the acceleration/deceleration command and the turning direction so that more driving force or more driving torque and/or more braking force or more braking torque are/is distributed to the inside front wheel in turning than the outside front wheel in turning and more driving force or more driving torque and/or more braking force or more braking torque are/is distributed to the outside rear wheel.Type: ApplicationFiled: September 28, 2011Publication date: May 29, 2014Inventors: Makoto Yamakado, Junya Takahashi, Shinjiro Saito, Toshiya Oosawa
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Patent number: 8706376Abstract: To provide an ABS control system and software with an automatic parameter calibration function. An ABS control system according to the present invention includes an electronic control unit (ECU), a wheel speed sensor, and a brake pressure sensor. The wheel speed sensor and the brake pressure sensor measure wheel speed and brake pressure during ABS braking, and the ABS control system automatically calibrates an internal parameter used in ABS control in response to the wheel speed and brake pressure measurement results.Type: GrantFiled: August 22, 2008Date of Patent: April 22, 2014Assignee: Bosch CorporationInventors: Shunsaku Ono, Shuichi Miyagawa
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Patent number: 8702179Abstract: A brake system for a vehicle includes brake cylinders operated by pressurized fluid for actuation of brakes by means of pressurized fluid on at least one first axle of the vehicle. The brakes on at least one other, second, axle can be actuated exclusively electromechanically in response to an electrical braking request signal. The pressure of the pressurized fluid can be modulated indirectly or directly and the electrical braking request signal can be generated indirectly or directly in response to actuation of a brake pedal of a brake pedal device. A service brake function is provided by means of hybrid use of the brakes on the first axle(s) together with the brakes on the second axle(s). The brake cylinders operated by pressurized fluid are pneumatically operated brake cylinders. The pressure modulated by the brake pedal device is a pneumatic pressure, and the pressurized fluid is compressed air.Type: GrantFiled: December 23, 2008Date of Patent: April 22, 2014Assignee: WABCO GmbHInventors: Peter Beier, Henning Förster, Hartmut Rosendahl, Gerhard Bruns, Olaf Jantz, Wolfgang Strache
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Patent number: 8700282Abstract: A method and apparatus for controlling a vehicle involves determining if the vehicle is swaying and if the vehicle is swaying, reducing a torque of an engine of the vehicle and/or applying independent braking forces to each wheel of the vehicle. A vehicle for controlling vehicle sway includes an engine, a plurality of wheels, a braking system configured to apply independent braking forces to each wheel, and a controller configured to control the engine and the braking system. The controller is configured to determine a correlation coefficient in accordance with any phase shift occurring between a yaw acceleration signal and a lateral acceleration signal. The correlation coefficient is compared to a threshold value to determine whether the vehicle is swaying. If the vehicle is swaying, the controller causes a torque of the engine to be reduced and/or braking forces to be applied independently to each wheel.Type: GrantFiled: July 28, 2011Date of Patent: April 15, 2014Assignee: Advics Co., Ltd.Inventors: Akitaka Nishio, Kenji Asano, Hisashi Kajita
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Patent number: 8657389Abstract: A cooperative traction control system wherein individualized control over each wheel's longitudinal slip and/or lateral skidding is provided. The system uses a combination of an existing traction and stability module linked with a drive torque actuator capable of modulating the amount of drive torque at a given wheel on a specified axle. The system permits drive torque at the slipping and/or laterally skidding wheel to be controlled, either alone or in combination with brake actuation and throttle angle control, to reduce or control wheel slip and/or lateral skid and/or vehicle motion.Type: GrantFiled: May 20, 2005Date of Patent: February 25, 2014Assignee: Honda Motor Co., Ltd.Inventors: James W. Post, II, Theodore Klaus
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Patent number: 8548712Abstract: An acceleration-based method and device for the safety monitoring of a drive is provided. In the method a setpoint torque is calculated in a safety function as a function of the position of the accelerator pedal. An expected vehicle acceleration is determined, as a function of the setpoint torque, in the safety function. An actual vehicle acceleration is determined, preferably by an acceleration sensor. A fault situation may be detected by comparing the actual vehicle acceleration and the expected vehicle acceleration. A device, preferably included in the vehicle electronics, is configured to implement the acceleration-based method.Type: GrantFiled: May 9, 2012Date of Patent: October 1, 2013Assignee: Bayerische Motoren Werke AktiengesellschaftInventors: Florian Oesterreicher, Juergen Binder
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Patent number: 8538653Abstract: Disclosed is a brake control apparatus which includes a brake booster for augmenting deceleration, and which addresses the problem in conventional brake control apparatuses that deceleration and pedal reaction force depend on driver brake pedal input, and thus the pedal response and the ride comfort from the feeling of deceleration are affected by the manner in which the brake pedal is actuated by the driver. The brake control apparatus comprises a pedal reaction force generation unit for generating a pedal reaction force on the brake pedal, and a brake control unit for controlling the brake force in such a way as to suppress driver brake input fluctuations, wherein the pedal reaction force generation unit suppresses pedal reaction force fluctuations in accordance with specific deceleration and pedal reaction force characteristics.Type: GrantFiled: October 9, 2009Date of Patent: September 17, 2013Assignee: Hitachi Automotive Systems, Ltd.Inventors: Ayumu Miyajima, Masatsugu Arai, Toshiyuki Innami, Kimio Nishino, Norikazu Matsuzaki, Masayuki Kikawa, Makoto Yamakado
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Patent number: 8527148Abstract: A control system for controlling a motor arrangement for differentially driving left and right wheels of a motorized vehicle, the control system comprising: a comparator for receiving yaw rate sensor signals from a yaw rate sensor attached to the vehicle, the yaw rate sensor signals being indicative of actual yaw rates of the vehicle and for receiving yaw rate reference signals generated by a user input device, the yaw rate reference signals being indicative of user demanded yaw rates for the vehicle, the comparator arranged to output yaw rate error signals based on the difference between the yaw rate sensor signals and the yaw rate reference signals; a control loop for processing the yaw rate error signals to generate yaw rate correction signals for controlling the motor arrangement to reduce the yaw rate error signals, wherein the control loop comprises a variable limiter for limiting the yaw rate correction signals to values within a variable limit, the variable limit varying in dependence upon the yaw ratType: GrantFiled: July 19, 2007Date of Patent: September 3, 2013Assignee: P G Drives Technology LimitedInventor: Jason David Lewis
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Patent number: 8521385Abstract: A method of controlling a torque vectoring mechanism and an associated torque vectoring system are disclosed. The method can distribute torque between a left non-driven wheel and a right non-driven wheel of a vehicle based on a torque control value. The torque control value can be based on a change in yaw moment about a center of gravity of the vehicle. The change in yaw moment can be determined based on a reduction of lateral force on a driven axle due to both longitudinal and lateral slip on the driven wheels.Type: GrantFiled: August 30, 2011Date of Patent: August 27, 2013Assignee: e-AAM Driveline Systems ABInventors: Gabriel Per Erik Ivar Trönnberg, Simon Ola André Yngve
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Patent number: 8494714Abstract: Disclosed herein are stability display apparatus and methods. One apparatus comprises a driving state detection unit configured to detect a driving state of a vehicle in operation; a controller comprising an instability estimation unit configured to estimate an instability index indicating driving instability of the vehicle based on the driving state of the vehicle detected by the driving state detection unit and configured to determine changes in the instability index; and a display unit configured to display the instability index estimated by the instability estimation unit in a display region within a range less than or equal to an upper limit that is a limit of display and configured to display in the display region a representation of the changes of the instability index when the instability index is beyond the upper limit.Type: GrantFiled: August 5, 2011Date of Patent: July 23, 2013Assignee: Nissan Motor Co., Ltd.Inventors: Nobuyuki Kuge, Takayuki Kondoh, Yoshiki Yasuno
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Patent number: 8444230Abstract: A vehicle motion control apparatus includes hydraulic pressure applying means for applying hydraulic pressure to a wheel cylinder side of any of plural solenoid valves, respectively arranged between a master cylinder and plural wheel cylinders, for the corresponding wheel cylinders even when an operator of the vehicle does not operate a brake operation member, motor controlling means for controlling an output of the electric motor to be reduced in accordance with a condition of a road surface when the hydraulic pressure is applied to the wheel cylinder, and valve controlling means for controlling the operation of the solenoid valve to increase an amount of the brake fluid flown by the operation of the solenoid valve before the output of the electric motor is reduced when the output of the electric motor is controlled to be reduced.Type: GrantFiled: February 5, 2008Date of Patent: May 21, 2013Assignee: Advics Co., Ltd.Inventors: Atsushi Ikematsu, Toshihisa Kato
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Patent number: 8442736Abstract: A system for controlling a vehicle having a brake assembly for exerting braking force on at least one wheel on the basis of a number of control parameters is provided. The system has a safety system configured to generate the control parameters as a function of a control quantity associated with the braking force to be exerted on the at least one wheel; and a vehicle handling enhancement system configured to: calculate a reference vehicle yaw acceleration on the basis of at least the longitudinal speed of the vehicle and the steer angle of the vehicle; and adjust the control quantity to zero the difference between the actual yaw acceleration and the reference vehicle yaw acceleration.Type: GrantFiled: August 20, 2010Date of Patent: May 14, 2013Assignee: Fiat Group Automobiles S.p.A.Inventors: Salvatore Casella, Francesco Canuto, Nicola Natali, Andrea Fortina
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Patent number: 8412435Abstract: A system, method and computer program product is provided for detecting if a vehicle has spun. A normal force and a lateral force of each of a front and rear axle of a vehicle is estimated. A coefficient of friction representative of a surface is estimated. Lateral momenta of the front and rear axles based on the coefficient of friction and the normal and lateral forces is calculated. Whether a surplus momentum is present, is determined. If the surplus momentum is present, a yaw rate of the vehicle is integrated respect to time to obtain a vehicle rotation estimation.Type: GrantFiled: October 8, 2007Date of Patent: April 2, 2013Assignee: GM Global Technology Operations, LLCInventor: Daniel S. Maitlen