With Yaw Control Patents (Class 303/146)
  • 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: 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: 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: 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
  • Patent number: 9334681
    Abstract: An automated child safety unlocking system for automobiles which disengages the child safety locks and unlocks the doors at appropriate times during events such as vehicle crashes. The vehicle ECU continually monitors the status of the vehicle to check if a crash event has occurred via various methods such as the status of airbag deployment, accelerometers placed in the car, and crumple points. In the event of a crash the vehicle ECU transmits one of at least two CSL command signals a child safety lock ECU. The command signals are each specific to an event severity and event type, and the child safety lock ECU then interprets the signal and acts according to the signal type. If the data interpreted indicates a crash, the child safety lock ECU unlocks the child safety locks, and if it does not determine a crash has not occurred, the locks remain engaged.
    Type: Grant
    Filed: February 12, 2015
    Date of Patent: May 10, 2016
    Assignee: Continental Automotive Systems, Inc.
    Inventors: David Fernandez-Aguilera, Arturo Carlos-Gonzalez
  • Patent number: 9296424
    Abstract: Embodiments of the present invention provide a vehicle sideslip control system for maintaining a non-zero value of sideslip while cornering. The system comprises a vehicle sideslip controller operable automatically to control the vehicle to apply a positive or negative torque to one or more wheels of the vehicle in such a manner as to maintain the non-zero value of sideslip.
    Type: Grant
    Filed: June 28, 2012
    Date of Patent: March 29, 2016
    Assignee: Jaguar Land Rover Limited
    Inventor: Tim Cotgrove
  • Patent number: 9290200
    Abstract: In the vehicle power steering system, a first assist torque component is computed based on a steering torque and a vehicle speed. A target steered angle is computed based on the first assist torque component and the steering torque, and a second assist torque component is set based on the target steered angle and an actual steered angle. Then, the vehicle power steering system assists a steering operation by applying an assist torque Tas corresponding to the first assist torque component and the second assist torque component. Further, an ideal steered angle at which a vehicle is able to keep travelling in a lane is set based on image information on the lane captured by a camera, and a correction value is computed based on the deviation between the ideal steered angle and the actual steered angle. Then, the target steered angle is corrected by the correction value.
    Type: Grant
    Filed: August 8, 2014
    Date of Patent: March 22, 2016
    Assignee: JTEKT CORPORATION
    Inventors: Terutaka Tamaizumi, Hirozumi Eki, Masayuki Kita, Isao Namikawa
  • Patent number: 9233674
    Abstract: A turning control device for a vehicle includes: a first standard yaw rate calculation unit that calculates a first standard yaw rate on the basis of detection signals of the lateral acceleration detection unit and the vehicle speed detection unit, a correction unit that corrects the first standard yaw rate, in an increasing direction on the basis of detection signals of a steering amount detection unit and the vehicle speed detection unit, and calculates a second standard yaw rate, a braking force control amount calculation unit that calculates a yaw rate deviation that is a deviation between the second standard yaw rate and an actual yaw rate, which is detected by the yaw rate detection unit, and determines a braking force control amount so as to cancel out the yaw rate deviation, and a braking control unit that controls the braking force on the basis of the braking force control amount determined by the braking force control amount calculation unit.
    Type: Grant
    Filed: March 4, 2011
    Date of Patent: January 12, 2016
    Assignee: Honda Motor Co., Ltd.
    Inventors: Tomoyuki Futamura, Takeshi Kojima, Kazutaka Ohmura
  • Patent number: 9205817
    Abstract: A braking device and a controller are provided. The braking device individually adjusts braking forces that are respectively generated at wheels of a vehicle. The controller executes braking force distribution control for individually controlling the braking forces at the right and left wheels of the vehicle such that slip conditions of the right and left wheels are equal to each other through control of the braking device. The controller executes the braking force distribution control on the basis of an upper limit of a right and left braking force deviation that is a deviation in braking force between the right and left wheels.
    Type: Grant
    Filed: December 19, 2012
    Date of Patent: December 8, 2015
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Yoshinori Watanabe, Satoshi Shimizu
  • Patent number: 9199650
    Abstract: A vehicle driving force control device controls engine torque so as to correct driver's request-engine-torque with the torque-down amount by an engine control unit, the torque-down amount being set into the lower one of a first torque-down amount and a second torque-down amount by a control-amount setting unit, the first torque-down amount being calculated on the basis of a relation between a tire force generated on a tire and a maximum tire force which the tire is capable of exercising against a current road-surface by a first traction control unit, the second torque-down amount being calculated on the basis of a slip rate of the tire by a second traction control unit.
    Type: Grant
    Filed: March 20, 2008
    Date of Patent: December 1, 2015
    Assignee: FUJI JUKOGYO KABUSHIKI KAISHA
    Inventors: Koji Matsuno, Takeshi Yoneda
  • Patent number: 9132731
    Abstract: A controller (8) controlling a drive force distributed to each wheel (1-4) of a vehicle sets dynamic drive force target values (Fxf**, Fx3**, Fx4**) to the wheels, and determines a variation amount target ratio related to variation amounts (?M, ?Fx, ?Fy) of a vehicle yaw moment (M), a vehicle front/aft force (Fx), and a vehicle lateral force (Fy) such that a vehicle behavior generated by the dynamic drive force target values does not vary. The controller (8) determines sets of the drive forces (Fxf(j, k), Fx3(j, k), Fx4(j, k)) realizing the variation amount target ratio, selects drive force command values from these sets such that each drive force command value is within a drive force limiting range, and controls a drive force regulating mechanism (20, 12, 13, 15,16) according to the selected drive force command values.
    Type: Grant
    Filed: September 19, 2007
    Date of Patent: September 15, 2015
    Assignee: NISSAN MOTOR CO., LTD.
    Inventors: Ichiro Yamaguchi, Yoshitaka Deguchi
  • Patent number: 9086104
    Abstract: An electronic traction optimization system includes a control unit adapted to produce a corner speed estimate signal for each wheel of a machine, produce an ideal target speed signal for each wheel having a value at least partially responsive to the corner speed estimate signals, produces a practical target speed signal for each wheel, generates an actual target speed signal having a value responsive to a comparison of the ideal target speed signal and the practical target speed signal for each wheel. The control unit compares each actual target speed signal to an associated wheel speed signal to obtain a wheel speed error signal for each wheel and converts each wheel speed error signal to a clutch control signal, wherein each differential clutch actuator is responsive to an associated clutch control signal.
    Type: Grant
    Filed: November 13, 2009
    Date of Patent: July 21, 2015
    Assignee: Caterpillar Inc.
    Inventors: Gerry O. McCann, Yun Liu, Keith F. Harvey
  • Patent number: 9061663
    Abstract: A system for stabilizing a sway of a trailer attached to a vehicle. In one embodiment, the system includes a controller, a plurality of sensors in electronic communication with the controller and transmitting sensor data to the controller, a torque vectoring device in electronic communication with the controller, and a computer readable memory storing instructions executed by the controller. The instructions cause the controller to evaluate the sensor data received from the sensors to determine a current vehicle yaw rate, a target vehicle yaw rate, and a yaw rate error of the vehicle. The instructions further cause the controller to determine if the vehicle is traveling in a straight line, to determine a torque distribution signal, and to transmit this signal to the torque vectoring device to stabilize the sway of the trailer without braking the vehicle.
    Type: Grant
    Filed: October 27, 2010
    Date of Patent: June 23, 2015
    Assignee: Robert Bosch GmbH
    Inventor: Hsien-Cheng (Kevin) Wu
  • Patent number: 9043107
    Abstract: A vehicle yaw stability control method and a vehicle yaw stability control apparatus are provided. The yaw rate {dot over (?)} of the vehicle is measured. A first reference yaw rate {dot over (?)}ref is set. A difference yaw rate ?{dot over (?)} is set. Stabilizing braking intervention is triggered when a value of the difference yaw rate ?{dot over (?)} exceeds limits defined by difference yaw rate threshold values ?{dot over (?)}min, ?{dot over (?)}max. Information regarding the shape of the road ahead of the vehicle is acquired. The reliability of the driver steering input ? is evaluated upon stabilizing braking intervention being triggered. In case the driver steering input ? is deemed unreliable a replacement reference yaw rate {dot over (?)}refroad is set based on the acquired road shape and a replacement difference yaw rate ?{dot over (?)}road is set whereupon stabilizing braking intervention is performed based on the replacement difference yaw rate ?{dot over (?)}road.
    Type: Grant
    Filed: March 13, 2013
    Date of Patent: May 26, 2015
    Assignee: Volvo Car Corporation
    Inventors: Mohammad Ali, Mattias Bengtsson, Per Landfors