With Yaw Control Patents (Class 303/146)
  • Patent number: 11679804
    Abstract: A limiting system for constraining a commanded steering angle for a vehicle including an electric power steering (EPS) system includes a controller in electronic communication with at least one other system of the vehicle. The controller executes instructions to receive a plurality of trajectory planning inputs that are each expressed as an array including a plurality of values, where the plurality of trajectory planning inputs includes a trajectory velocity array, a trajectory acceleration array, and a trajectory curvature array. The controller also executes instructions to determine a maximum rate of steering angle change based on the corresponding ideal rate of change of the commanded steering angle and the maximum rate change allowed by the EPS system.
    Type: Grant
    Filed: June 1, 2021
    Date of Patent: June 20, 2023
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Avshalom Suissa, Audrey Devin Porter
  • Patent number: 11618440
    Abstract: Provided are methods for controlling ESA system of a vehicle and an ESA system. The method includes: generating a trajectory to avoid an obstacle in front of the vehicle; obtaining a target yaw rate and yaw moment according to the trajectory; allocating the target yaw moment to one or more chassis actuators; controlling the one or more chassis actuators according to allocated yaw moments. The cooperation of actuators is implemented for more safe evasion.
    Type: Grant
    Filed: November 9, 2020
    Date of Patent: April 4, 2023
    Assignee: GUANGZHOU AUTOMOBILE GROUP CO., LTD.
    Inventors: Kilsoo Kim, Xiaoyong Wang
  • Patent number: 11618422
    Abstract: An all terrain vehicle may include a braking system comprising a hydraulic and electric controller unit (HECU) operably coupled to the plurality of ground-engaging members. The HECU may receive sensor information from the one or more sensors and determine whether the all terrain vehicle is encountering a wheel locking event based on the sensor information. The wheel locking event may indicate the plurality of ground-engaging members are unable to turn. The HECU also may determine whether the all terrain vehicle is encountering a turning event based on the sensor information and operate in an HECU intervention mode based on an indication that the all terrain vehicle is encountering the wheel locking event and the turning event. The HECU intervention mode permits the HECU to control the plurality of ground-engaging members based on steering input.
    Type: Grant
    Filed: January 24, 2022
    Date of Patent: April 4, 2023
    Assignee: Polaris Industries Inc.
    Inventors: Alex R. Scheuerell, Jonathon P. Graus
  • Patent number: 11597381
    Abstract: The present invention provides a driving assist apparatus, a driving assist method, and a driving assist system capable of realizing driving assist in consideration of a delay in a driver's operation regardless of a configuration of a vehicle. A driving assist apparatus includes a standard running route acquisition portion configured to acquire a standard running route calculated based on curve information ahead of a vehicle that is acquired by an external world recognition portion, and an actuator control output portion configured to acquire a standard vehicle motion amount when the vehicle runs the standard running route, calculate an instruction that guides a motion amount of the vehicle toward the standard vehicle motion amount based on the standard vehicle motion amount and a current vehicle motion amount of the vehicle, and output the instruction to an actuator portion configured to provide at least one of a curving force and a braking force to the vehicle.
    Type: Grant
    Filed: August 23, 2018
    Date of Patent: March 7, 2023
    Assignee: Hitachi Astemo, Ltd.
    Inventor: Satoshi Kashiwamura
  • Patent number: 11535215
    Abstract: A device 10 for controlling a vehicle 1 includes: a sensor 20 configured to detect a rudder angle; a calculation part 40a configured to calculate a target braking force for making a pitch angle equal to a target pitch angle, the target braking force increasing as the rudder angle increases; a determination part 40b configured to determine whether a steering action is in a steady state; a correction part 40c configured to correct the target braking force to be reduced by an offset amount when it is determined that the steering action is in a steady state; and an actuator 30 configured to apply the corrected target braking force to the vehicle.
    Type: Grant
    Filed: July 12, 2021
    Date of Patent: December 27, 2022
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Manabu Nagasaka
  • Patent number: 11531115
    Abstract: A tracking problem detection system for a machine may include tracking diagnostic circuitry including one or more tracking diagnostic processors configured to receive a location signal indicative of a location of a machine and a path signal indicative of a path location associated with at least a portion of a path for the machine to follow while maneuvering. The tracking diagnostic processors may also be configured to determine a tracking difference between the path location and the location of the machine, and determine a frequency of a signal associated with the tracking difference and/or a frequency of a signal associated with a yaw rate associated with the maneuvering. The tracking diagnostic processors may also be configured to detect, based at least in part on the frequencies of the signals associated with the tracking difference and/or the yaw rate, a tracking problem associated with maneuvering the machine.
    Type: Grant
    Filed: February 12, 2020
    Date of Patent: December 20, 2022
    Assignee: Caterpillar Global Mining LLC
    Inventors: Manish Sharma, Sagar Chowdhury, Philip Wallstedt
  • Patent number: 11524664
    Abstract: A control device is provided with a flow rate derivation part for deriving a pressure-holding-valve flow rate on the basis of a pressure command value and a previous pressure command value; a differential pressure derivation part for deriving a differential-pressure-valve differential pressure value so that the differential-pressure-valve differential pressure value increases with an increase in the difference obtained by subtracting the pressure-holding-valve flow rate from a pump-discharge flow rate; and a pressure-holding-valve processing part for performing an aperture derivation process to derive a command aperture so that the command aperture decreases with an increase in the difference obtained by subtracting the pressure command value from the sum of an pressure value and the differential-pressure-valve differential pressure value, and driving a holding pressure valve at the command aperture.
    Type: Grant
    Filed: August 28, 2018
    Date of Patent: December 13, 2022
    Assignee: ADVICS CO., LTD.
    Inventors: Koya Motoyama, Hiroki Saito, Masayuki Naito
  • Patent number: 11511726
    Abstract: A method of distributing driving force of a four wheel drive (4WD) eco-friendly vehicle includes determining a first allowable range of driving force for each driving force based on determination of travel stability, determining a second allowable range of driving force for each driving wheel based on system limitations of at least one of the first driving source or the second driving source, determining a range of available driving force of the first driving wheel based on the first allowable range of driving force and the second allowable range of driving force, determining first target driving force of the first driving wheel in consideration of efficiency of the first driving source within the range of available driving force, and determining second target driving force of the second driving wheel based on the first target driving force and requested torque.
    Type: Grant
    Filed: November 5, 2020
    Date of Patent: November 29, 2022
    Assignees: HYUNDAI MOTOR COMPANY, KIA MOTORS CORPORATION
    Inventor: Joon Young Park
  • Patent number: 11427197
    Abstract: A lane departure preventing device includes at least one electronic control unit. The at least one electronic control unit is configured to: when there is a likelihood that a vehicle will depart from a traveling lane, calculate a prevention yaw moment, and control a brake actuator such that the prevention yaw moment is applied to the vehicle; acquire a lateral acceleration; determine whether the lateral acceleration is greater than an ideal value by a predetermined value; control the brake actuator such that the braking force matches a target braking force required to apply the prevention yaw moment to the vehicle, when the lateral acceleration is not greater than the ideal value by the predetermined value; and control the brake actuator such that the braking force is less than the target braking force, when the lateral acceleration is greater than the ideal value by the predetermined value.
    Type: Grant
    Filed: July 29, 2020
    Date of Patent: August 30, 2022
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Akira Nagae, Ryo Inomata, Hironori Ito, Masayuki Ikeda
  • Patent number: 11427172
    Abstract: Methods and systems are described for controlling a vehicle braking system. A braking force is applied to the vehicle by applying friction only braking to the wheels of one axle and applying a blended braking force (including a regenerative braking force and a friction braking force) to the wheels of another axle. Using vehicle and tire modeling techniques, a set of side-slip angles is calculated that is estimated to occur if the total braking force were applied using only friction braking. A compensatory yaw moment is then determined based on differences between the estimated side-slip angles and the actual side-slip angles of the vehicle under the blended braking. The compensatory yaw moment is then applied to the vehicle to enable the vehicle to utilize regenerative braking while exhibiting the same vehicle dynamics that occur when using friction braking only.
    Type: Grant
    Filed: October 5, 2017
    Date of Patent: August 30, 2022
    Assignee: Robert Bosch GmbH
    Inventors: Zhe Zhang, Lance Bredthauer
  • Patent number: 11351990
    Abstract: A swerve assist to assist the driver of a transportation vehicle during an avoidance maneuver so that a collision with an obstacle is avoided. An additional steering torque for amplifying a current steering torque is applied when an avoidance maneuver of the transportation vehicle is detected. A single-wheel braking of the transportation vehicle is actuated to increase a transverse offset of the transportation vehicle.
    Type: Grant
    Filed: September 4, 2017
    Date of Patent: June 7, 2022
    Inventor: Maike Wall
  • Patent number: 11254294
    Abstract: An all terrain vehicle may include a frame and a plurality of ground-engaging members supporting the frame. Each of the plurality of ground-engaging members may be configured to rotate about an axle. The all terrain vehicle may further include a powertrain assembly supported by the frame and a braking system (e.g., an anti-lock braking system (ABS)) including a hydraulic and electric controller unit (HECU) operably coupled to the plurality of ground-engaging members and configured to generate yaw to reduce a turning radius of the all terrain vehicle. The HECU may be configured to control brake pressure to the plurality of ground-engaging members independent of a driver input indicating a braking event.
    Type: Grant
    Filed: May 2, 2019
    Date of Patent: February 22, 2022
    Assignee: Polaris Industries Inc.
    Inventors: Alex R. Scheuerell, Jonathon P. Graus, Louis J. Brady
  • Patent number: 11186287
    Abstract: A cant estimating method of estimating a cant of a travelling road of a vehicle includes a step of acquiring vehicle information including information on a speed, a lateral acceleration, a steering angle, a yaw rate, and a position of each of a plurality of vehicles including a first vehicle, a step of estimating a cant of a travelling road of the first vehicle based on the vehicle information, and a step of storing the estimated cant, in association with information on the position of the first vehicle, in a cant angle database usable by the plurality of vehicles.
    Type: Grant
    Filed: March 20, 2019
    Date of Patent: November 30, 2021
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Shin Sakurada
  • Patent number: 11173884
    Abstract: The vehicle behavior control device comprises a brake control system (18) capable of applying different braking forces, respectively, to right and left road wheels of a vehicle (1). The vehicle behavior control device further comprises: a steering angle sensor (8); a vehicle speed sensor (10); a yaw rate sensor (12); and a yaw moment setting part (22) in PCM (14) configured to decide a target yaw rate of the vehicle based on a steering angle and a vehicle speed, and set, based on a change rate of a difference between an actual yaw rate and the target yaw rate, a yaw moment oriented in a direction opposite to that of the actual yaw rate of the vehicle, as a target yaw moment, whereby the brake control system can regulate the braking forces of the road wheels so as to apply the target yaw moment to the vehicle.
    Type: Grant
    Filed: December 3, 2018
    Date of Patent: November 16, 2021
    Assignee: MAZDA MOTOR CORPORATION
    Inventors: Osamu Sunahara, Daisuke Umetsu, Yasunori Takahara
  • Patent number: 11161545
    Abstract: A steering control system for a commercial vehicle having braking and steering systems. The braking system brakes dissymetrically side wheels of the vehicle. The steering system steers the vehicle based on a steering signal. The steering control system includes selection and control modules. The selection module switches between first and second steering modes. The first mode indicates steering of the vehicle by turning vehicle wheels. The second mode indicates steering of the vehicle by generating a braking signal for at least one wheel providing a yaw moment applied to the vehicle. The control module generates the first signal indicating a steering demand in the first mode and a second signal indicating a steering demand in the second mode. The control module provides the first signal to the steering system and the second signal to the braking system to brake the vehicle dissymetrically to steer the vehicle with the yaw moment.
    Type: Grant
    Filed: September 8, 2017
    Date of Patent: November 2, 2021
    Assignee: KNORR-BREMSE SYSTEME FUER NUTZFAHRZEUGE GMBH
    Inventors: Kornel Straub, Markus Klein, Levente Balogh, Jonas Leibbrand, Tamas Rozsa
  • Patent number: 11148652
    Abstract: A method for providing a brake force in a vehicle with a hydraulic vehicle brake and an electromechanical brake device includes determining a position of a brake piston at a brake contact point on the basis of a state variable of an electric brake motor when the electromechanical brake device is released. The method further includes displacing the brake piston in a positioning operation until reaching a braking start point.
    Type: Grant
    Filed: May 20, 2016
    Date of Patent: October 19, 2021
    Assignee: Robert Bosch GmbH
    Inventors: Frank Baehrle-Miller, Edith Mannherz, Andreas Englert, Tobias Putzer
  • Patent number: 11130483
    Abstract: A system for controlling turning of vehicle may include a steering angle detection sensor; a front inner wheel speed detection sensor detecting a front inner wheel speed; a front outer wheel speed detection sensor detecting a front outer wheel speed; a rear outer wheel speed detection sensor detecting a rear outer wheel speed based on a turning direction; and a braking controller receiving detection signal of the steering angle detection sensor to determine that the vehicle turns, estimating the rear inner wheel speed in the turning direction based on detection signals of the front inner wheel speed detection sensor and the front outer wheel speed detection sensor and detection signal of the rear outer wheel speed detection sensor, and executing a mode for decreasing the estimated speed as compared to the rear outer wheel speed, as a control mode for reducing a minimum rotation radius at the time of turning.
    Type: Grant
    Filed: April 10, 2019
    Date of Patent: September 28, 2021
    Assignees: Hyundai Motor Company, Kia Motors Corporation
    Inventor: Dae Suk Jung
  • Patent number: 11066100
    Abstract: A vehicle has a trailer backup steering input apparatus, a trailer backup assist control module coupled to the a trailer backup steering input apparatus, and an electric power assist steering system coupled to the trailer backup assist control module and. The trailer backup steering input apparatus is configured for outputting a trailer path curvature signal approximating a desired curvature for a path of travel of a trailer towably coupled to the vehicle. The trailer backup assist control module is configured for determining vehicle steering information as a function of the trailer path curvature signal. The electric power assist steering system is configured for controlling steering of steered wheels of the vehicle as a function of the vehicle steering information.
    Type: Grant
    Filed: May 22, 2019
    Date of Patent: July 20, 2021
    Assignees: Ford Global Technologies, LLC, The Regents of the University of Michigan Office Tech. Transfer, University of Michigan
    Inventors: Douglas Scott Rhode, David Dean Smit, Erick Michael Lavoie, Martin Fitzpatrick Frey, Thomas Edward Pilutti, Taehyun Shim, Matt Y. Rupp, Roger Arnold Trombley
  • Patent number: 11040706
    Abstract: A turning behavior control apparatus that is applied to a vehicle includes front wheel suspensions and rear wheel suspensions having anti-dive and anti-lift geometries, respectively, and left and right front wheels are steered wheels. The turning behavior control apparatus includes a control unit for controlling the braking device, and the control unit is configured to control the braking device to apply a braking force to a turning inner driving wheel when a deviation between a standard yaw rate of the vehicle and an actual yaw rate exceeds a deviation reference value and a time change rate of the deviation exceeds a start reference value in a situation where the vehicle is turning without braking.
    Type: Grant
    Filed: September 24, 2019
    Date of Patent: June 22, 2021
    Assignee: Toyota Jidosha Kabushiki Kaisha
    Inventor: Takuya Shoji
  • Patent number: 10946863
    Abstract: A wheel load estimation method of a four-wheel drive vehicle driven by a rotational driving device comprises a correlation relationship setting step for previously setting a correlation relationship between a total weight and at least one of the front wheel load and the rear wheel load by variously changing a movable load of the vehicle, a total vehicle weight computation step for calculating a current total vehicle weight from an output torque of the rotational driving device and a longitudinal acceleration of the vehicle corresponding to the output torque, and a wheel load estimation step for estimating the wheel load of at least a driving wheel from the correlation relationship and the total vehicle weight.
    Type: Grant
    Filed: August 29, 2018
    Date of Patent: March 16, 2021
    Assignee: Mazda Motor Corporation
    Inventors: Yasumasa Imamura, Yasushi Yagi, Akihiro Tatara, Keisuke Haruta
  • Patent number: 10940853
    Abstract: Provided is a vehicular turning control system that enables immediate stabilization of the vehicle attitude and optimum control for the vehicle turning performance. This vehicular turning control system includes a yaw moment control device, a vehicle attitude stabilization control device, and a torque limiting device. A first torque limiter of the torque limiting device limits a braking/driving torque calculated by a yaw moment controller, in accordance with the slip rate of the wheel and the angular acceleration of the wheel. A second torque limiter of the torque limiting device limits a braking/driving torque calculated by a vehicle attitude stabilization controller, in accordance with the slip rate of the wheel and the angular acceleration of the wheel. The vehicle turning performance is optimally controlled by limiting each braking/driving torque in accordance with the slip rate of the wheel and the angular acceleration of the wheel as described above.
    Type: Grant
    Filed: March 6, 2019
    Date of Patent: March 9, 2021
    Assignee: NTN CORPORATION
    Inventor: Yuta Suzuki
  • Patent number: 10919505
    Abstract: Systems and methods for dynamically distributing brake torque among a plurality of brakes of a vehicle are provided. In one example, a method includes detecting a braking distribution condition; calculating a weight distribution for the vehicle based on a longitudinal acceleration and a lateral acceleration associated with the vehicle to provide a calculated weight distribution; calculating a brake torque limit for each of the plurality of brakes based on the calculated weight distribution to provide calculated brake torque limits; calculating a target brake torque for each of the plurality of brakes based on a driver-demanded brake torque to provide target brake torques; and comparing the calculated brake torque limits with corresponding target brake torques.
    Type: Grant
    Filed: March 30, 2018
    Date of Patent: February 16, 2021
    Assignee: Veoneer-Nissin Brake Systems Japan Co., Ltd.
    Inventors: Long Ying, Huan Fu
  • Patent number: 10919520
    Abstract: A control system for a vehicle includes a plurality of vehicle actuators that are operable to affect actual chassis-level accelerations, a vehicle intelligence unit that determines a motion plan, a vehicle motion control unit that determines a chassis-level motion request based on the motion plan, and a chassis control unit that determines actuator commands for the plurality of vehicle actuators based on the chassis-level motion request and actuator identity information that describes presently available actuators from the plurality of vehicle actuators.
    Type: Grant
    Filed: August 3, 2017
    Date of Patent: February 16, 2021
    Assignee: Apple Inc.
    Inventors: Christopher D. Gadda, Carlos Alberto De Magalhaes Massera Filho, David A. Stronks, Gabriel M. Hoffmann, Miroslav Baric, Nathaniel B. Honka, Stefan Solyom, Timothee J. Cazenave
  • Patent number: 10919572
    Abstract: Examples of techniques for controlling a vehicle based on trailer sway are disclosed. In one example implementation according to aspects of the present disclosure, a computer-implemented method includes estimating, by a processing device, an estimated articulation angle between a vehicle and a trailer coupled to the vehicle. The method further includes calculating, by the processing device, an expected articulation angle between the vehicle and the trailer. The method further includes comparing, by the processing device, the estimated articulation angle and the expected articulation angle to determine whether the trailer is experiencing trailer sway. The method further includes, responsive to determining that the trailer is experiencing sway, controlling, by the processing device, the vehicle to reduce the trailer sway.
    Type: Grant
    Filed: June 7, 2018
    Date of Patent: February 16, 2021
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: SeyedAlireza Kasaiezadeh Mahabadi, Jinsong Wang, Bakhtiar B. Litkouhi
  • Patent number: 10836377
    Abstract: Disclosed herein are a vehicle control system and controlling method thereof. The vehicle control system includes a plurality of sensors configured to measure a wheel speed, a steering angle, a yaw rate, and acceleration value, and a controller estimating the state of a vehicle based on the wheel speed, the steering angle, the yaw rate, and the acceleration value and updating a front and rear wheel stiffness of the vehicle when it is determined that the vehicle is running on an asymmetric friction surface from the estimated state of the vehicle.
    Type: Grant
    Filed: August 5, 2018
    Date of Patent: November 17, 2020
    Assignees: Hyundai Motor Company, Kia Motors Corporation
    Inventors: Min Su Lee, Woo Kyun Kim, Huikwon Lee
  • Patent number: 10780889
    Abstract: Disclosed herein are an apparatus for detecting a road surface state in motor-driven power steering (MDPS) and a method for controlling the apparatus. The apparatus may include a column torque sensor to detect column torque applied to a steering column and to output a column torque signal; a steering angle sensor to detect a steering angular velocity of a steering wheel; a vehicle speed sensor to detect a driving speed of a vehicle; and a road surface determiner to determine a road surface state based on a boost gain, which is calculated based on the driving speed and the column torque, and on a phase offset between the column torque and the steering angular velocity and to output a road surface determination signal.
    Type: Grant
    Filed: September 24, 2018
    Date of Patent: September 22, 2020
    Assignee: Hyundai Mobis Co., Ltd.
    Inventor: Tae Hong Kim
  • Patent number: 10768070
    Abstract: The height of the center of gravity of a vehicle having at least 3 axles is estimated using the slippage rate of the wheels.
    Type: Grant
    Filed: October 16, 2015
    Date of Patent: September 8, 2020
    Assignee: VOLVO TRUCK CORPORATION
    Inventors: Jean-Baptiste Doray, Fabrice Ranc
  • Patent number: 10723332
    Abstract: A braking device for a vehicle includes a plurality of braking force generators; a steering assist device; a yaw rate detecting unit; and a control device. The control device is configured to perform control such that, in a case where the plurality of braking force generators perform a braking operation and there is a malfunctioning braking force generator, braking forces of the plurality of braking force generators other than the malfunctioning braking force generator are maintained or increased when an acquired value of an actual yaw rate acquired from the yaw rate detecting unit is equal to or less than a reference value, and a steering torque is applied to a steering system in a direction in which the actual yaw rate decreases when the acquired value of the actual yaw rate is larger than the reference value.
    Type: Grant
    Filed: March 19, 2018
    Date of Patent: July 28, 2020
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Yasushi Murayama, Yusuke Ennoji
  • Patent number: 10661767
    Abstract: A method for actuating a hydraulic brake system in a motor vehicle, in which a hydraulic brake pressure is generated specific to the wheel, data of a driving environment sensor system being taken into account for detecting the instantaneous lateral distance of the motor vehicle from the desired track.
    Type: Grant
    Filed: October 12, 2016
    Date of Patent: May 26, 2020
    Assignee: Robert Bosch GmbH
    Inventors: Matthaeus Koch, Rolf Gawlik
  • Patent number: 10613531
    Abstract: A vehicle drive assistance system is provided, which includes a control unit configured to perform a drive assistance control based on a balance state between a driver's required driving ability required for driving a vehicle based on a traffic environment around the vehicle and drive assistance which is provided to the driver by the vehicle, and a driver's current driving ability. The control unit includes a processor configured to execute a balance determining module to determine the balance state between the required driving ability and the current driving ability based on a physical quantity related to a driving operation by the driver.
    Type: Grant
    Filed: February 22, 2018
    Date of Patent: April 7, 2020
    Assignee: Mazda Motor Corporation
    Inventors: Yuka Minegishi, Keiichi Tomii, Takahiro Tochioka
  • Patent number: 10576953
    Abstract: An electronically slip-controllable braking system including an actuatable master brake cylinder, to which at least one wheel brake, associated with a wheel of a front axle and at least one wheel brake, associated with a wheel of a rear axle of a vehicle, are connected. An electronically activatable first actuator system sets and regulates brake pressures different from one another in the wheel brakes as a function of the particular present slip conditions. An electronically activatable second actuator system effectuates the setting and regulating of a uniform brake pressure at the wheel brakes and a third actuator system limits the brake pressure generated by the second actuator system at the wheel brakes associated with the wheels of the rear axle. The third actuator system controls a second pressure medium connection between the associated wheel brake of the rear axle and a pressure medium storage container.
    Type: Grant
    Filed: November 9, 2017
    Date of Patent: March 3, 2020
    Assignee: Robert Bosch GmbH
    Inventors: Alfred Strehle, Marko Flinner, Matthias Schanzenbach, Thomas Schmidt
  • Patent number: 10501065
    Abstract: A method is disclosed for validating operation of a secondary braking system (SBS) of a vehicle having a plurality of brakes, by controlling the SBS and a primary braking system (PBS) of the vehicle. The method may involve using the PBS to generate a first predetermined target braking pressure in the PBS for at least a first one of the brakes, while using the SBS to generate a second predetermined target braking pressure in the SBS for at least a second one of the brakes. Actual and anticipated performance characteristics of a braking component associated with the vehicle are then observed and compared, and from the comparison a determination is made whether the SBS is operating properly.
    Type: Grant
    Filed: June 30, 2017
    Date of Patent: December 10, 2019
    Assignee: VEONEER NISSIN BRAKE SYSTEMS JAPAN CO. LTD.
    Inventors: Long Ying, Alexandru Versin, Juchirl Park
  • Patent number: 10471959
    Abstract: A vehicle control device including a tire-side device and a vehicle-side device is provided. The tire-side device includes a vibration detection unit that outputs a detection signal corresponding to a magnitude of vibration of a tire, a signal processing unit that generates ? data representing a friction coefficient between the tire and a road surface by processing the detection signal, and a transmitter that transmits the ? data. The vehicle-side device includes a receiver that receives the ? data and a travel control unit that estimates the friction coefficient based on the ? data, acquires a braking distance of the vehicle based on the friction coefficient, and controls acceleration and deceleration of the vehicle based on the braking distance.
    Type: Grant
    Filed: December 8, 2015
    Date of Patent: November 12, 2019
    Assignees: DENSO CORPORATION, SOKEN, INC.
    Inventors: Youichirou Suzuki, Akira Takaoka, Masashi Mori, Takatoshi Sekizawa
  • Patent number: 10407035
    Abstract: A control system for a vehicle includes a plurality of vehicle actuators that are operable to affect actual chassis-level accelerations, a vehicle intelligence unit that determines a motion plan, a vehicle motion control unit that determines a chassis-level motion request based on the motion plan, and a chassis control unit that determines actuator commands for the plurality of vehicle actuators based on the chassis-level motion request.
    Type: Grant
    Filed: August 3, 2017
    Date of Patent: September 10, 2019
    Assignee: Apple Inc.
    Inventors: Christopher D. Gadda, Carlos Alberto De Magalhaes Massera Filho, David A. Stronks, Gabriel M. Hoffmann, Miroslav Baric, Nathaniel B. Honka, Stefan Solyom, Timothee J. Cazenave
  • Patent number: 10384717
    Abstract: A vehicle and method for controlling the same may include a speed detector configured to detect driving speed of the vehicle, a detection sensor configured to detect a target vehicle around the vehicle and obtain information about at least one of position and speed of the target vehicle, and a controller configured to determine a steering-based avoidance path for the vehicle to avoid the target vehicle by being steered, determine a maximum lateral acceleration of the vehicle for the vehicle to avoid the target vehicle in the steering-based avoidance path, and send a control signal for steering-based avoidance of the vehicle to avoid a collision with the target vehicle based on the determined maximum lateral acceleration.
    Type: Grant
    Filed: July 10, 2017
    Date of Patent: August 20, 2019
    Assignees: Hyundai Motor Company, Kia Motors Corporation, Industry-University Cooperation Foundation Hanyang University (IUCF-HYU)
    Inventors: Jaewoong Choi, DongChan Kim, JangHee Park, Kunsoo Huh, JongHyeok Park
  • Patent number: 10375290
    Abstract: A control handle extends at least partially around a hub. Multiple arms extend in respective different directions between the hub and the control handle. Sensors sense an effect of an input force applied to the control device and acting on each of the arms relative to multiple directions. A controller interface is coupled to the sensors, to enable communication with a controller of the video equipment. Such a control device could be implemented in conjunction with a video equipment pedestal that also includes a base and an equipment support. The control device could be used to drive motion of the video equipment pedestal based on readings by the sensors. A user input device could be provided to control one or more of virtual mass, virtual friction, enabling and disabling of driving motion, and/or enabling and disabling of motion relative to any one or more of multiple axes.
    Type: Grant
    Filed: November 20, 2017
    Date of Patent: August 6, 2019
    Assignee: Ross Video Limited
    Inventors: Neil Webster, Daniel M McInnis, Jean E. Frojo
  • Patent number: 10336417
    Abstract: For remotely operated vehicles (ROV) deployed subsea, communications between an ROV and a system remote from the ROV may use a remotely operated vehicle control communication system to achieve simultaneous and/or discrete data communications at two differing data transmission speeds using two differing data protocols over a common signal transmission pathway configured for use subsea at the first data transmission speed and the second data transmission speed, either separately or concurrently.
    Type: Grant
    Filed: April 24, 2015
    Date of Patent: July 2, 2019
    Assignee: Oceaneering International, Inc.
    Inventors: Govind Shil Dayal Srivastava, Greg Robert Boyle
  • Patent number: 10293852
    Abstract: A method for detecting a situation of loss of grip of a vehicle provided with a steering system operated by a steering wheel, the method including a step (a) of evaluating a first indicator of loss of grip (P1) by calculating, as the first indicator of loss of grip (P1), the partial derivative ( P ? ? 1 = ? ? . ? ? ) , relative to a variable (?) representative of the angular position of the steering wheel, of a driving parameter which is representative of the yaw rate ({dot over (?)}) of the vehicle.
    Type: Grant
    Filed: November 16, 2015
    Date of Patent: May 21, 2019
    Assignee: JTEKT EUROPE
    Inventors: André Michelis, Christophe Ravier, Pascal Moulaire
  • Patent number: 10286948
    Abstract: A method of detecting for primary circuit loss of an electronic stability control system for a vehicle comprises checking that a lateral acceleration sensor is installed and working properly, a yaw sensor is installed and working properly, and a steering wheel angle sensor is installed and working properly. An absolute value of the lateral acceleration sensor is compared with a first pre-defined threshold, an absolute value of the yaw sensor is compared with a second pre-defined threshold, and an absolute value of the steering wheel angle sensor is compared with a third pre-defined threshold. It is determined that primary circuit loss detection is not required when any of the three sensors are equal to and above the respective pre-defined thresholds and that primary circuit loss detection is required when all of the three sensors are below the respective pre-defined threshold.
    Type: Grant
    Filed: December 13, 2016
    Date of Patent: May 14, 2019
    Assignee: Continental Automotive Systems, Inc.
    Inventors: Ying Yang, Bo Ye, Michael Gerhard Schneider, Clinton Schumann
  • Patent number: 9988029
    Abstract: A vehicle braking force control device includes a braking force control unit. The braking force control unit is configured to shift to a drive state so as to use an auxiliary power source when a main power source fails, and to limit current outputted to an electric actuator of a braking device for producing braking hydraulic pressure when a transition is made to the drive state using the auxiliary power source. The braking force control unit has two current limit values used during actuation of the electric actuator by the auxiliary power source, the current limit values being a first current limit value for ensuring increased-braking-hydraulic-pressure characteristics, and a second current limit value for ensuring a necessary minimum braking hydraulic pressure, the second current limit value being less than the first current limit value.
    Type: Grant
    Filed: March 5, 2013
    Date of Patent: June 5, 2018
    Assignee: Nissan Motor Co., Ltd.
    Inventor: Tatsuya Minami
  • Patent number: 9970839
    Abstract: A tire pressure decrease detection apparatus comprising a rotation speed information detection unit for detecting rotation speed information of wheels of a vehicle, a resonance frequency estimate unit for time-series estimating a torsional resonance frequency of the rotation speed information from the rotation speed information obtained by the rotation speed information detection unit, and a judgment unit for judging a decrease in pressure of tires installed in the wheels based on the estimated torsional resonance frequency. The resonance frequency estimate unit includes a noise removal unit for removing a noise superimposed on a wheel speed signal serving as the rotation speed information for each of the wheels with using an active noise control technology.
    Type: Grant
    Filed: September 28, 2015
    Date of Patent: May 15, 2018
    Assignee: SUMITOMO RUBBER INDUSTRIES, LTD.
    Inventor: Minao Yanase
  • Patent number: 9868439
    Abstract: A vehicle control system is provided to execute a turning performance improving control for stabilizing vehicle behavior by controlling drive force during turning. The vehicle control system is provided with: a steering detecting means that detects a steering operation of a driver; a drive force limiting means that restricts the drive force during execution of a turning performance improving control; and a restriction relaxing means that temporarily changes the drive force in a direction of changing the drive force by the turning performance improving control, if the steering operation of the driver detected by the steering detecting means while restricting the drive force by the drive force limiting means is carried out to increase a steering angle during execution of the turning performance improving control.
    Type: Grant
    Filed: May 30, 2013
    Date of Patent: January 16, 2018
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Hitoshi Matsunaga, Kazuya Okumura
  • Patent number: 9771078
    Abstract: An autonomous mode controller (61) that outputs an acceleration command (SAa), a braking command (SBa) and a torque command (Ta) is connected to a steering actuator (33) and a traveling drive unit (52). The steering actuator (33) generates combined torque (T1) based upon steering torque (Tm) from a steering handle (32) and the torque command (Ta), and controls a steering angle (?) of a vehicle based upon the combined torque (T1). The traveling drive unit (52) selects a larger one of an acceleration command (SAm) by an accelerator pedal (50) and the acceleration command (SAa) as an acceleration command (SA), and selects a larger one of a braking command (SBm) by a brake pedal (51) and the acceleration command (SBa) as a braking command (SB). The traveling drive unit (52) controls a vehicle speed based upon the acceleration command (SA) and the braking command (SB).
    Type: Grant
    Filed: September 30, 2014
    Date of Patent: September 26, 2017
    Assignee: Hitachi Construction Machinery Co., Ltd.
    Inventors: Shinjiro Saito, Hidefumi Ishimoto
  • Patent number: 9744953
    Abstract: An ECU is formed of an ABS control device for controlling operation of a braking device when a slip ratio of wheels FR to RL becomes greater than a threshold, an automatic brake control device that controls operation of the braking device based on information on surroundings of the vehicle, and the threshold changing device that changes the threshold at which the braking device is activated by the ABS control device so that the threshold when the braking device is being operated by the automatic brake control device is smaller than the threshold when the braking device is not being operated by the automatic brake control device.
    Type: Grant
    Filed: September 10, 2012
    Date of Patent: August 29, 2017
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Satoshi Udaka
  • Patent number: 9637025
    Abstract: A control apparatus for a vehicle motor is provided with: a characteristic switching device configured to switch a characteristic of a motor between a first characteristic in which the output upper limit is first predetermined torque and a second characteristic in which the output upper limit is second predetermined torque, which is smaller than the first predetermined torque; a characteristic determining device configured to determine whether the characteristic of the motor is the first characteristic or the second characteristic; and a characteristic controlling device configured to control the characteristic switching device to switch the characteristic of the motor to the first characteristic and to start the motor with the first characteristic at a next start of the driven body if it is determined that the characteristic of the motor is not the first characteristic.
    Type: Grant
    Filed: January 18, 2013
    Date of Patent: May 2, 2017
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Takashi Kawai, Takuro Kumada
  • Patent number: 9592812
    Abstract: A method for operating an electromechanical vehicle brake system is provided. The method includes determining that an activation condition has been met, selecting a pre-charge pressure based at least in part on the activation condition, building up at least an initial portion of the pre-charge pressure in the brake system, and applying at least the initial portion of the pre-charge pressure to at least one wheel brake.
    Type: Grant
    Filed: June 12, 2015
    Date of Patent: March 14, 2017
    Assignee: FORD GLOBAL TECHNOLOGIES, LLC
    Inventors: Thomas Svensson, Tim Jurkiw
  • Patent number: 9573617
    Abstract: To suppress a voltage drop of a battery in an idle reduction state, a vehicle includes an idle reduction function of stopping the idling of the engine and restarting the engine when the vehicle starts moving. Then, a steering-by-wire control processing is performed to disengage a clutch and to control driving of turning motors. When the idling of the engine is stopped by the idle reduction function, a disengaged state of the clutch is maintained and the driving of the turning motors is restricted.
    Type: Grant
    Filed: December 19, 2013
    Date of Patent: February 21, 2017
    Assignee: Nissan Motor Co., Ltd.
    Inventors: Masaki Shibuya, Shogo Miyasaka
  • Patent number: 9469214
    Abstract: Embodiments of the invention are directed toward a geared traction drive system configured to drive a wheel of a vehicle, comprising: a driveshaft for transmitting power to the wheel; an electric drive motor for driving the driveshaft, the electric drive motor configured to receive signals from a vehicle dynamic control system to command a required speed; a gear reduction component for reducing the speed of the motor by a predetermined factor to a lower speed suitable for driving the wheel; and a drive electronics component that works with the electric drive motor to drive the wheel to the speed commanded by the vehicle dynamic control system.
    Type: Grant
    Filed: March 24, 2014
    Date of Patent: October 18, 2016
    Assignee: Wrightspeed, Inc.
    Inventors: Ian Wright, Ryan Cash
  • Patent number: 9403480
    Abstract: Methods and systems are described for providing feedback in the event of a lane deviation of a vehicle having a power steering system. Vehicle data, such as speed, a steering angle, and the like, may be acquired (e.g., from a sensor system of the vehicle). An activation signal may be generated based on the acquired data. A haptic warning may then be generated using the power steering system of the vehicle based on the activation signal.
    Type: Grant
    Filed: March 11, 2014
    Date of Patent: August 2, 2016
    Assignee: FORD GLOBAL TECHNOLOGIES, LLC
    Inventors: Daniel Faeuster, Erik Jürgen Stumpf, Attila Benak, Andrew Brown, Sergio Codonesu, Karl-Peter Hesseler, Jan Bremkens
  • Patent number: 9376107
    Abstract: In order to suppress misoperation of stability control resulting from neutral position displacement, between the steering input mechanism configured so that a steering shaft rotates in accordance with the steering manipulation of the driver and a turning output mechanism configured so that wheels are turned with the rotation of the pinion shaft, a clutch is inserted that disconnectably joins the steering shaft and the pinion shaft. A first turning motor and a second turning motor are provided that can give a turning force to the turning output mechanism, and the first turning motor and the second turning motor are driven and controlled so that a turning angle in accordance with the steering manipulation by the driver is realized while the clutch is disconnected. When neutral position displacement occurs of the neutral position of the steering shaft and the neutral position of the pinion shaft, the stability control is suppressed.
    Type: Grant
    Filed: December 19, 2013
    Date of Patent: June 28, 2016
    Assignee: Nissan Motor Co., Ltd.
    Inventor: Taku Suzuki