Suspension Control Patents (Class 701/37)
  • Patent number: 11999212
    Abstract: A clearance risk detection system is provided in a vehicle. The clearance risk detection system is configured to: identify a terrain object in a vehicle travel path; classify the terrain object based on whether the host vehicle can clear the terrain object or cannot clear the terrain object; provide a first indicator that indicates that the host vehicle can clear the terrain object when appropriate; provide a second indicator that indicates that the host vehicle can clear the terrain object with a suggested raising of vehicle ride height when appropriate; automatically raise the vehicle ride height when appropriate; and provide a third indicator that indicates that the host vehicle cannot clear the terrain object even with raising vehicle ride height when appropriate.
    Type: Grant
    Filed: February 1, 2023
    Date of Patent: June 4, 2024
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Dustin Howard Malcom Smith, Sai Vishnu Aluru, Timothy D Demetrio
  • Patent number: 11987090
    Abstract: A damping system includes a first magnetic damper pair mounted on a suspension system of a vehicle. The first magnetic damper pair includes a first magnet mounted on a first surface of a body of the vehicle and a second magnet mounted on a first moveable component of the suspension system coupled to a wheel of the vehicle. A sensor is mounted on the body of the vehicle or the wheel. A damping system control module is configured to receive, from the sensor, inputs indicative of a velocity and a displacement of the wheel relative to the body of the vehicle, calculate an amount of force to generate between the magnetic damper pair in a direction opposite a direction of movement of the wheel, and control supply of current to at least one of the first magnet and the second magnet to generate the calculated amount of force.
    Type: Grant
    Filed: January 31, 2023
    Date of Patent: May 21, 2024
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Savannah Theisen, Jeffrey L. Vogt
  • Patent number: 11945279
    Abstract: A motion control system is coupled to a first mass and a second mass and is configured to regulate motion of the first mass with respect to the second mass. The motion control system is configured to increase a contact area between the second mass and a surface on which the second mass rests by increasing a displacement of the motion control system from a neutral position in a direction toward the first mass.
    Type: Grant
    Filed: May 20, 2021
    Date of Patent: April 2, 2024
    Assignee: APPLE INC.
    Inventors: Randol W. Aikin, Thaddeus J. Stefanov-Wagner
  • Patent number: 11938779
    Abstract: A behavior control device for a vehicle includes: a first actuator configured to apply a vertical control force to a left wheel on a first axle, the first axle being a front axle or a rear axle of the vehicle; a second actuator configured to operate independently of the first actuator and to apply a vertical control force to a right wheel on the first axle; and a controller. The controller is configured to calculate a required value of a behavior parameter representing a behavior of the vehicle, convert the required value of the behavior parameter to a first required force for the first actuator and a second required force for the second actuator, and control the first actuator such that the vertical control force applied to the left wheel on the first axle becomes the first required force.
    Type: Grant
    Filed: September 22, 2022
    Date of Patent: March 26, 2024
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Hiroki Furuta
  • Patent number: 11932074
    Abstract: A damping control device is configured to acquire, as a preview condition amount, an unsprung condition amount at a predicted passing position where a wheel of a vehicle is predicted to pass, based on preview reference data being sets of data in which unsprung condition amounts and pieces of positional information of the wheel are linked to each other. The unsprung condition amounts indicate a displacement condition of an unsprung portion displaced in a vertical direction due to a displacement of a road surface acquired when the vehicle has traveled on the road surface. The damping control device is configured to execute, at a timing when the wheel passes through the predicted passing position, preview damping control to cause control force to agree with a target control force.
    Type: Grant
    Filed: April 7, 2021
    Date of Patent: March 19, 2024
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Hiroki Furuta
  • Patent number: 11926328
    Abstract: There is disclosed a method, for determining a suitable tire for use on a vehicle, wherein the vehicle comprises an electronic device capable of collecting driving data relating to the driving of the vehicle. The method comprises obtaining driving data (18), from the electronic device, relating to the driving of the vehicle, and determining, from the driving data, an amount of driving performed on at least one of a plurality of different road types (20). The method further comprises forming a road type driving profile (22) comprising one or more road types and the associated determined amount of driving performed thereon and selecting, from a plurality of different tires, a suitable tire (24) for the vehicle based on at least the road type driving profile.
    Type: Grant
    Filed: July 5, 2021
    Date of Patent: March 12, 2024
    Inventors: Paul Roeland Verheijen, Valerio Bortolotto, Roberto Benedetti, Federico Tecca, Jeroen Lust, Jonathan Alcantarilla Calderon
  • Patent number: 11919355
    Abstract: A state module selectively sets a present state to a first state in a predetermined order of states; a valve control module determines first target open and closed states for valves of a suspension system based on the present state and opens and closes the valves according to the first target open and closed states, respectively; a pump control module configured to, when the valves are in the first target open and closed states, respectively, selectively operate an electric pump of the suspension system in a first direction and pump hydraulic fluid toward the suspension system; and a diagnosis module configured to: record first and second values of pressures within the suspension system measured using pressure sensors, respectively, before and after the operation of the electric pump in the first direction, respectively; and selectively diagnose faults in a first subset of the valves based on whether pressure increases occurred.
    Type: Grant
    Filed: October 12, 2021
    Date of Patent: March 5, 2024
    Assignee: DRiV Automotive Inc.
    Inventors: Nandish Calchand, Stein Slootmaekers, Peter Boon
  • Patent number: 11904841
    Abstract: A suspension system and associated control methods for improving the effectiveness of driver assistance systems is disclosed where the driver assistance systems can generate and send requests to a suspension control unit (SCU) of the suspension system to actuate (e.g., close) one or more comfort valves in the suspension system to increase the roll stiffness and/or pitch stiffness of the suspension system when the driver assistance systems are taking corrective action. As part of a two-way communication between the suspension control unit (SCU) and the driver assistance systems, the suspension control unit (SCU) communicates target stiffnesses and/or calculated effective stiffnesses to the driver assistance systems, which is used to update the vehicle stability models used by the driver assistance systems.
    Type: Grant
    Filed: October 12, 2021
    Date of Patent: February 20, 2024
    Assignee: DRiV Automotive Inc.
    Inventors: Bert Vandersmissen, Peter Boon
  • Patent number: 11904831
    Abstract: Method for updating at least one vehicle model parameter and at least one tire parameter in at least one chassis control unit of a vehicle, based on tire sensor information collected by a tire sensor placed on a tire. The method includes the steps of: collecting tire sensor information; updating the at least one vehicle model parameter based on updating at least one tire parameter, updating one tire parameter being based on the tire sensor information.
    Type: Grant
    Filed: June 16, 2022
    Date of Patent: February 20, 2024
    Assignee: VOLVO TRUCK CORPORATION
    Inventor: Chidambaram Subramanian
  • Patent number: 11897369
    Abstract: A system reduces motion sickness symptoms for occupants of a vehicle. The system has a control unit which is coupled to a sensor system and/or a navigation system, a vehicle seat system, and/or a display unit for receiving and/or outputting signals. The control unit is designed to generate seat adjustment signals and/or display signals depending on received surroundings data and/or vehicle component data.
    Type: Grant
    Filed: December 13, 2018
    Date of Patent: February 13, 2024
    Assignee: Bayerische Motoren Werke Aktiengesellschaft
    Inventor: Thomas Friedrich
  • Patent number: 11897302
    Abstract: A damping force control apparatus for a vehicle in which road surface displacement-related information corresponding to left and right wheels detected by a pair of in-vehicle detection devices is transmitted to a preview reference database control device together with the detection position information, a preview reference database including road surface displacement-related values is created, preview damping control that reduces vibration of a sprung of the vehicle is performed using the road surface displacement-related values in the preview reference database, and it is assumed that road surface displacement-related values in predetermined adjacent regions located in a direction crossing a traveling direction of the vehicle with respect to two points where the road surface displacement-related information was detected by the pair of in-vehicle detection devices are the same as an in-phase component of the road surface displacement-related values at the two points.
    Type: Grant
    Filed: October 5, 2021
    Date of Patent: February 13, 2024
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Hiroki Furuta
  • Patent number: 11891145
    Abstract: An estimation device estimates a stroke quantity indicating a displacement in an up-and-down direction of a vehicle, in a multistage elastic member in which a plurality of members, each having a different load displacement characteristic indicating a relationship between a load and the displacement, are disposed. The estimation device comprises: a load calculation unit configured to calculate a variable ground contact load received by a wheel of the vehicle from a ground contact surface; a state quantity estimation unit configured to estimate the stroke quantity generated in the multistage elastic member; and a characteristic change unit configured to change a setting of the initial value to an estimated load displacement characteristic.
    Type: Grant
    Filed: September 26, 2022
    Date of Patent: February 6, 2024
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Yohei Kawasaki, Yosuke Wada, Shunichi Miyagishi
  • Patent number: 11884120
    Abstract: A vibration damping control apparatus of a vehicle executes preview vibration damping control for controlling a control force generating apparatus on the basis of a final target control force including a first target control force computed by using preview information. When the vibration damping control apparatus determines that the probability that a road surface condition has changed after a past point in time is high, the vibration damping control apparatus executes particular control for setting the magnitude of the first target control force to become smaller.
    Type: Grant
    Filed: September 7, 2021
    Date of Patent: January 30, 2024
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Hiroki Furuta
  • Patent number: 11884124
    Abstract: A system and method for adjusting a drivetrain comprising an e-axle on a vehicle comprises accessing route data and compressing the route data into a plurality of linearized segments. Each segment is determined by analyzing points along the route to determine when a set of route data points indicates an uphill, downhill, or flat segment. Using the segments, drivetrain configuration information for a vehicle and a weight of the vehicle, embodiments determine a performance plan that is tailored to the vehicle, including raising the e-axle to reduce rolling resistance on some segments and lowering the e-axle for some segments for increased power for acceleration, improved braking, or increased regenerative capabilities.
    Type: Grant
    Filed: December 3, 2021
    Date of Patent: January 30, 2024
    Assignee: Hyliion Inc.
    Inventor: George James Noland
  • Patent number: 11879518
    Abstract: An adaptive suspension damper may include a body defining a working chamber, and a sleeve operably coupled to the body to alternately open the working chamber to enable a working fluid to enter or leave the working chamber relative to compression and rebound events experienced at the adaptive suspension damper, and close the working chamber to enable the piston head to act as a hydraulic ram inside the working chamber to selectively adjust a position of a piston head in the working chamber to adjust a height of a corner of a vehicle at which the adaptive suspension damper is located.
    Type: Grant
    Filed: January 5, 2022
    Date of Patent: January 23, 2024
    Assignee: Ford Global Technologies, LLC
    Inventor: Jason Michener
  • Patent number: 11878678
    Abstract: A damping control system for a vehicle having a suspension located between a plurality of ground engaging members and a vehicle frame includes at least one adjustable shock absorber having an adjustable damping profile.
    Type: Grant
    Filed: June 23, 2021
    Date of Patent: January 23, 2024
    Assignee: Polaris Industries Inc.
    Inventors: Brian D. Krosschell, Jonathon P. Graus, Elaine M. Scott, Joseph Paul Nuxoll, Keijiro Ikebe
  • Patent number: 11880996
    Abstract: An apparatus for acquiring surrounding information of a vehicle includes: a camera configured to acquire an entire image of at least one surrounding vehicle; and a controller configured to derive at least one of coordinates of a wheel image area or coordinates of a front-rear image area included in an entire image area, and determine distance information from the vehicle to the at least one surrounding vehicle based on a relative positional relationship between the entire image area and the at least one of the wheel image area coordinates or the front-rear image area coordinates.
    Type: Grant
    Filed: March 23, 2021
    Date of Patent: January 23, 2024
    Assignees: Hyundai Motor Company, Kia Motors Corporation
    Inventors: Jonghyuk Lim, Jong Hoon Kwak, Heechul Choi, Jihee Han, Junsik An, Junhyung Kim
  • Patent number: 11866057
    Abstract: The disclosure discloses a garage mode control unit, system and method capable of preventing vehicle miss-acceleration in narrow site. The control method comprises the steps that vehicle environment information is received; whether a vehicle is in the narrow site or not is judged according to the vehicle environment information; and the vehicle is controlled according to a garage mode when the condition that the vehicle is in the narrow site is judged.
    Type: Grant
    Filed: October 30, 2018
    Date of Patent: January 9, 2024
    Assignee: Robert Bosch GmbH
    Inventor: Wang Zhang
  • Patent number: 11865887
    Abstract: A suspension system and associated control methods that reduce temperature related fluctuations in the internal pressures and stiffness of the suspension system. A manifold assembly is connected in fluid communication with a plurality of dampers via hydraulic circuits and a pump assembly via a pump hydraulic line. Onboard sensors generate real-time data regarding the vehicle. A suspension control unit, arranged in electronic communication with the aforementioned components, monitors the real-time data, sets a target stiffness and a target pressure, calculates an effective stiffness based on the real-time data, determines if the effective stiffness is above or below the target stiffness and sets a new target pressure accordingly by making stepwise decreases or increases until the new target pressure is reached.
    Type: Grant
    Filed: October 12, 2021
    Date of Patent: January 9, 2024
    Assignee: DRiV Automotive Inc.
    Inventors: Peter Boon, Bert Vandersmissen
  • Patent number: 11865888
    Abstract: A system for minimizing data transmission latency between a sensor and a suspension controller of a vehicle is described. The system includes: a state determination module that determines a physical state of the vehicle; a plurality of data paths for transmitting a first signal from the sensor to the suspension controller; a data path configurator of the controller that selects a first data path of the plurality of data paths based on at least one characteristic of the first data path and the physical state and configures the first data path to transmit the first signal; and an actuation module that generates an actuation signal to control a damping characteristic of the suspension actuator based on at least the first signal.
    Type: Grant
    Filed: November 7, 2022
    Date of Patent: January 9, 2024
    Assignee: Fox Factory, Inc.
    Inventor: Thomas Wittenschlaeger
  • Patent number: 11845433
    Abstract: A vehicle control system includes a brake module operably coupled to a braking system to provide a braking torque request, a steering module operably coupled to a steering system to provide a steering input request, a power supply, and a power management module. The power supply is operably coupled to the brake module and the steering module to provide power to the brake module and the steering module. The power supply has a power budget indicating a maximum power providable to the brake module and the steering module. The power management module is operably coupled to sensors to receive a power draw indication from one of the brake module or the steering module and control power draw of the other of the steering module or the brake module to maintain a combined power draw of the brake module and the steering module below the power budget.
    Type: Grant
    Filed: June 3, 2022
    Date of Patent: December 19, 2023
    Assignee: FORD GLOBAL TECHNOLOGIES, LLC
    Inventors: Brandon Beauvais, Timothy Panagis, Chad Michael Korte, Daniel A. Gabor
  • Patent number: 11814067
    Abstract: A sensor calibration system periodically receives scene data from a detector in a calibration scene. The calibration scene includes calibration targets. The sensor calibration system generates a calibration map based on the scene data. The calibration map is a virtual representation of the calibration scene and includes features of the calibration targets that can be used as ground truth features for calibrating AV sensors. The sensor calibration system can periodically update the calibration map. For instance, the sensor calibration system receives the scene data at a predetermined frequency and updates the calibration map every time it receives new scene data. The predetermined frequency may be a frequency of the detector completing a full scan of the calibration scene. The sensor calibration system provides a latest version of the calibration map for being used by an AV to calibrate a sensor on the AV 110.
    Type: Grant
    Filed: December 14, 2021
    Date of Patent: November 14, 2023
    Assignee: GM CRUISE HOLDINGS LLC
    Inventors: Daniel Chou, Nigel Rodrigues, Jordan Michael Croom
  • Patent number: 11787486
    Abstract: A method detects and prevents stall of a drive motor of an autonomous electric tractor. A stall detector receives, at intervals, a motor current value from a drive circuit of the autonomous electric tractor, determines when the motor current value reaches or exceeds a first current threshold and applies brakes, inhibits a throttle controlling the drive motor, and sets a motor stall flag. A method determines a height above the ground of a landing gear of a trailer coupled with a tractor. A lift detector controls a hydraulic pump to pump a hydraulic fluid into a chamber of a piston coupled to a fifth wheel of the tractor to raise the fifth wheel. The lift detector senses, at intervals as the fifth wheel rises, a pressure value of the hydraulic fluid in the chamber and processes the pressure value to determine when the landing gear is lifted off the ground.
    Type: Grant
    Filed: June 23, 2022
    Date of Patent: October 17, 2023
    Assignee: Outrider Technologies, Inc.
    Inventors: Tessa Ronan, Vittorio Ziparo, Lawrence Klein, Ky Woodard
  • Patent number: 11772637
    Abstract: An embodiment vehicle includes a collecting device for collecting environment information, a user input for automatic parking of the vehicle, an automatic parking controller for performing the automatic parking based on the environment information and the user input, and a behavior controller for controlling a behavior of the vehicle in response to control of the automatic parking controller. The automatic parking controller calculates a first progress corresponding to determination of whether the user input is a wake-up request, a second progress corresponding to acquisition of a control right for the behavior controller, a third progress corresponding to whether the user input is an execution request for the automatic parking, a fourth progress corresponding to generation of control information for the behavior controller, and a fifth progress corresponding to control of the vehicle's behavior.
    Type: Grant
    Filed: June 8, 2021
    Date of Patent: October 3, 2023
    Assignees: Hyundai Motor Company, Kia Corporation
    Inventors: In Mook Kim, Sun Woo Jeong
  • Patent number: 11766911
    Abstract: A method is provided for diminishing the effect of roadway anomalies on a vehicle by dynamically adjusting an actuating element for regulating damper forces of a vibration damper of a vehicle wheel when passing over a roadway anomaly, in particular a pothole, wherein, when the falling edge of the roadway anomaly is reached, the actuating element is switched into its hardest setting and, when the rising edge of the roadway anomaly is reached, the force request is set equal to 0 and, thereafter, a force request is calculated based on the parameters of the vehicle and the suspension and is transmitted to the damping.
    Type: Grant
    Filed: September 1, 2022
    Date of Patent: September 26, 2023
    Assignee: Ford Global Technologies, LLC
    Inventors: Cyril Coerman, Uwe Hoffmann, Georg Johann Maurer
  • Patent number: 11752826
    Abstract: A method of controlling a vehicle may include determining a proximity to a stuck condition based on measured vehicle motion parameters and a wheel speed measured by a wheel speed sensor associated with one or more wheels of the vehicle. The method may further include generating a notification to a driver of the vehicle in response to the proximity to the stuck condition indicating that the vehicle is either in a stuck condition or a nearly stuck condition, and responsive to driver selection of an unstuck mode, executing an unstuck algorithm to automatically control operation of the vehicle to achieve a free condition.
    Type: Grant
    Filed: February 14, 2022
    Date of Patent: September 12, 2023
    Assignee: FORD GLOBAL TECHNOLOGIES, LLC
    Inventors: Matthew Johnson, Keith Weston, Jonathan Sullivan, David Michael Russell, Rohit Hippalgaonkar
  • Patent number: 11738661
    Abstract: A method for determining potential damage to a vehicle battery. In the method, at least one acceleration data set relating to a vertical acceleration of a motor vehicle, which includes the vehicle battery, is determined. The at least one acceleration data set is then checked for the presence of a predetermined damage criterion, which indicates the potential damage to the vehicle battery. Finally, only for the case that the damage criterion is determined in the at least one acceleration data set, a control signal for actuating an actuator device of the motor vehicle is generated.
    Type: Grant
    Filed: August 10, 2020
    Date of Patent: August 29, 2023
    Assignee: AUDI AG
    Inventor: Tobias Brok
  • Patent number: 11712939
    Abstract: A vehicle includes a first actuator, one or more second actuators, and an electronic control unit. The first actuator is configured to control a stroke of a suspension for a control target wheel. The one or more second actuators is configured to control the stroke of the suspension and more responsive than the first actuator. The electronic control unit is configured to: execute a calculation process to calculate a required control amount for at least one of roll control and pitch control of the vehicle; and execute a command process to distribute and command the required control amount to the first actuator and the one or more second actuators.
    Type: Grant
    Filed: August 18, 2022
    Date of Patent: August 1, 2023
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Hiroki Furuta
  • Patent number: 11708109
    Abstract: A shock damper is disposed between a vehicle body side and a wheel side. A suspension control device calculates a damping force of the shock damper on the basis of vehicle height information and controls the damping force. A steering system includes an electric motor and a steering control device that controls the electric motor, and assists steering effort of the driver through the electric motor. The suspension control device calculates the vibration generated in a steering on the basis of a detected value of a vehicle height sensor and creates a signal for generating steering torque that reduces the generated vibration. The suspension control device outputs the created signal to the steering control device. Steering torque for cancelling steering vibration is accordingly outputted from the electric motor of the steering system.
    Type: Grant
    Filed: September 14, 2018
    Date of Patent: July 25, 2023
    Assignee: HITACHI ASTEMO, LTD.
    Inventors: Ryusuke Hirao, Nobuyuki Ichimaru, Kentaro Kasuya
  • Patent number: 11705003
    Abstract: A controller of an information processing apparatus is configured to acquire information indicating a loudness of sound emitted by a second vehicle parked within a predetermined range from a first vehicle or a vehicle height of the second vehicle, and in a case in which the controller determines that the loudness or the vehicle height exceeds a predetermined first threshold, the controller provides a predetermined notification to the first vehicle via a communication interface.
    Type: Grant
    Filed: February 11, 2022
    Date of Patent: July 18, 2023
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Toyokazu Nakashima, Yurika Tanaka, Shoji Sakamoto, Yusuke Kobayashi, Kotaro Okabe, Hirotada Nakanishi, Naoya Oka, Daiki Otani
  • Patent number: 11691684
    Abstract: Agricultural transport vehicle, in particular mixer-wagon, having at least one hold for agricultural bulk goods and at least one weighing device, in particular a load cell and/or a weighing bar, for detecting the weight of load in the hold; having at least one inertial measuring unit for measuring an acceleration and/or orientation of the agricultural transport vehicle, in particular the hold; and having at least one computing unit which is designed to compensate a raw signal of the weighing device with respect to the measured acceleration and/or orientation.
    Type: Grant
    Filed: October 9, 2019
    Date of Patent: July 4, 2023
    Assignee: TRIOLIET B.V.
    Inventor: Robert Jan Liet
  • Patent number: 11669104
    Abstract: A method for autonomously maneuvering a vehicle in a rearward direction towards a point of interest is provided. The method includes receiving one or more images from a camera positioned on a back portion of the vehicle. The method includes overlaying a path on the one or more images. In addition, the method includes receiving a command by way of a user interface. The command includes instructions to adjust the path. The method includes adjusting the path based on the received command. The method also includes transmitting a drive command to a drive system supported by the vehicle. The drive command causes the vehicle to autonomously maneuver along the adjusted path in a rearward direction.
    Type: Grant
    Filed: May 8, 2019
    Date of Patent: June 6, 2023
    Assignee: Continental Automotive Systems, Inc.
    Inventors: Matthew Donald Berkemeier, Xin Yu, Dhiren Verma, Danny Bynum, Julien Ip, Eduardo Llanos, Joseph Zagroba, Kyle Carpenter
  • Patent number: 11667172
    Abstract: Methods and systems for vehicle suspension are provided. A leveling manifold includes, in one example, a plurality of electrically-activated valves arranged between, on a first end, a rod-side and a piston-side of one or more hydraulic cylinders, and on a second end, a pressure source and a tank, wherein the plurality of electrically-activated valves include a first valve, a second valve, a third valve, and a fourth valve. The leveling manifold further includes a first flow path extending through the first and second valves and from the rod-side to the second end and a second flow path extending through the third and fourth valves and from the piston-side to the second end, the leveling manifold is designed to manage operation of the first, second, third, and/or fourth valves to independently adjust a position and a stiffness of the one or more hydraulic cylinders.
    Type: Grant
    Filed: July 30, 2020
    Date of Patent: June 6, 2023
    Assignee: Dana Motion Systems Italia S.R.L.
    Inventors: Alessandro Benevelli, Stefano Fasano, Nicola Francesco Musciagna
  • Patent number: 11654778
    Abstract: Provided is an electric vehicle control method. The electric vehicle control method includes: a disturbance torque estimation process of calculating a disturbance torque estimation value including an influence of a road surface gradient; a speed parameter acquisition process of acquiring a speed parameter relating to a vehicle speed; a stop process of calculating a stopping basis torque target value so as to converge a torque command value to the disturbance torque estimation value in accordance with a decrease of a speed parameter; and a vibration damping process of calculating a stopping correction torque target value by performing filterring on the stopping basis torque target value.
    Type: Grant
    Filed: March 6, 2020
    Date of Patent: May 23, 2023
    Assignee: NISSAN MOTOR CO., LTD.
    Inventors: Hiroyuki Komatsu, Jun Motosugi, Akira Sawada, Yui Ito
  • Patent number: 11657714
    Abstract: A method for operating a fleet of vehicles may include determining a first set of parameters for operating a first vehicle as it travels to a destination, and determining a second set of parameters for operating a second vehicle. Consumption of the first set of parameters by the first vehicle may cause the first vehicle to accelerate, alter shocks and/or suspensions, and/or move into a free lane. Consumption of the second set of parameters by the second vehicle may cause the second vehicle to remain outside of a drive envelope of the first vehicle, between the first vehicle and the particular destination.
    Type: Grant
    Filed: June 22, 2020
    Date of Patent: May 23, 2023
    Assignee: Zoox, Inc.
    Inventor: Timothy David Kentley-Klay
  • Patent number: 11648810
    Abstract: Provided are a vehicle, a vehicle motion state estimation apparatus, and a method for estimating a vehicle motion state capable of highly accurately estimating a state quantity of a bounce motion of a vehicle having a non-linear suspension characteristic. The vehicle motion state estimation apparatus in a vehicle, in which wheels and a vehicle body are coupled via a suspension, includes a bounce motion estimation unit that estimates and outputs a state quantity of a bounce motion of the vehicle based on traveling state information of the vehicle, and a correction value estimation unit that calculates a correction value to correct an output the bounce motion estimation unit. The correction value estimation unit calculates the correction value in consideration of a non-linear characteristic of the suspension.
    Type: Grant
    Filed: October 4, 2018
    Date of Patent: May 16, 2023
    Assignee: HITACHI ASTEMO, LTD.
    Inventors: Shingo Nasu, Shinji Seto, Nobuyuki Ichimaru, Ryusuke Hirao
  • Patent number: 11634134
    Abstract: Aspects of the disclosure relate to controlling a first vehicle in an autonomous driving mode. While doing so, a second vehicle may be identified. This vehicle may be determined to be a tailgating vehicle. An initial allowable discomfort value representing expected discomfort of an occupant of the first vehicle and expected discomfort of an occupant of the second vehicle may be identified. Determining a speed profile for a future trajectory of the first vehicle that meets the value may be attempted based on a set of factors corresponding to a reaction of the tailgating vehicle. When a speed profile that meets the value cannot be determined, the value may be adjusted until a speed profile that meets the value is determined. The speed profile that meets an adjusted value is used to control the first vehicle in the autonomous driving mode.
    Type: Grant
    Filed: March 8, 2021
    Date of Patent: April 25, 2023
    Assignee: Waymo LLC
    Inventor: Tobias Kunz
  • Patent number: 11634000
    Abstract: Example illustrations are directed to a suspension system for a vehicle, which includes a controller configured to determine a roughness of a ground surface associated with the vehicle. The controller may be further configured to determine a height adjustment parameter for the suspension system based on the roughness determined, and to facilitate modification of the suspension system based on the determined height adjustment parameter. Example methods are provided, which may include determining, using a controller, a roughness of a ground surface associated with a vehicle, the roughness determined based on ride height. The method may also include determining, using the controller, a height adjustment parameter for a suspension system of the vehicle based on the roughness determined.
    Type: Grant
    Filed: July 11, 2022
    Date of Patent: April 25, 2023
    Assignee: RIVIAN IP HOLDINGS, LLC
    Inventors: Thomas Frederick Abdallah, Mark George Milne, Jay Dixit, Derrick Michael Tan
  • Patent number: 11619278
    Abstract: Methods and apparatus of a system for vehicles comprising a vehicle suspension, a sensor operable to measure an operational characteristic of the vehicle suspension, and a processor in communication with the sensor that is operable to suggest an operational setting of the vehicle suspension in response to an input from the sensor corresponding to the operational characteristic. A method for adjusting a suspension of a vehicle may comprise receiving suspension data with a processor, calculating a suspension setting suggestion with the processor, communicating the suspension setting suggestion to a user interface device, and adjusting the suspension based on the suspension setting suggestion.
    Type: Grant
    Filed: July 24, 2018
    Date of Patent: April 4, 2023
    Assignee: Fox Factory, Inc.
    Inventors: Mario Galasso, Joseph Franklin, Andrew Laird, Robert C. Fox
  • Patent number: 11618293
    Abstract: Included are an electromagnetic actuator which includes an electric motor configured to generate drive forces for a damping operation and a telescopic operation; an information acquirer which acquires a stroke velocity of the electromagnetic actuator; a drive force arithmetic part which includes a damping force calculator configured to calculate a target damping force and a telescopic force calculator configured to calculate a target telescopic force, and which obtains a target drive force based on the target damping force and the target telescopic force; and a drive controller which controls drive of the electric motor using the target drive force. The drive force arithmetic part includes an adjuster which performs an adjustment to reduce a telescopic control amount for the target telescopic force based on the stroke velocity acquired by the information acquirer.
    Type: Grant
    Filed: March 26, 2020
    Date of Patent: April 4, 2023
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Satoshi Ohno, Takafumi Kato, Tomoya Toyohira, Atsuhiko Yoneda
  • Patent number: 11603126
    Abstract: A system and a method of controlling a motor-driven power steering are disclosed. A basic steering torque assist compensation is made according to a LOAM compensation logic under a steering condition such as steering of a steering wheel and holding of the steering wheel after steering, and an additional steering torque compensation is made to reduce the basic steering torque assist compensation amount when returning the steering wheel to the center or releasing the steering wheel in a restoring direction, thereby reducing steering effort felt by a driver when returning the steering wheel to the center or releasing the steering wheel in the restoring direction, and thus maintaining proper steering effort when a torque sensor of a high-performance vehicle fails.
    Type: Grant
    Filed: August 7, 2020
    Date of Patent: March 14, 2023
    Assignees: Hyundai Motor Company, Kia Motors Corporation
    Inventor: Dae Suk Jung
  • Patent number: 11584183
    Abstract: A damping control apparatus has a control unit that controls an active actuator that generates a control force to damp a sprung, and a storage device for storing a unsprung displacement acquired based on a vertical motion state quantity of a vehicle when the vehicle travels, and the control unit determines a predicted wheel passage position where a wheel is predicted to pass, calculates a time derivative value of an unsprung displacement at the predicted wheel passage position acquired by a preview sensor, calculates a target control force based on a sum of a first control component proportional to the time derivative value and a second control component proportional to an unsprung displacement at the predicted wheel passage position acquired from the storage device, and controls a control force generating device so that a control force when the wheel passes the predicted wheel passage position becomes the target control force.
    Type: Grant
    Filed: June 3, 2021
    Date of Patent: February 21, 2023
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Hiroki Furuta
  • Patent number: 11577718
    Abstract: A vehicle may receive sensor data captured by a sensor of the vehicle, determine that the sensor data represents an object in the environment, and determine an impact location between the vehicle and the object. The impact location may be associated with a predicted collision between the vehicle and the object. The vehicle may also determine an object type corresponding to the object and/or a characteristic of the object. Based at least in part on the impact location, object type, and/or the characteristic, a ride height of the vehicle may be adjusted.
    Type: Grant
    Filed: December 9, 2020
    Date of Patent: February 14, 2023
    Assignee: Zoox, Inc.
    Inventors: Johannes Edren, Markus Jost, Ahditya Melkote, Amanda Brown Prescott
  • Patent number: 11524542
    Abstract: A vehicle may include a sensor configured to acquire detecting data including front road surface information; a suspension including a spring and a damper; and a controller including a processor and a memory; wherein the controller is configured to identify an unevenness of the front road surface based on the detecting data and control the suspension based on damping force setting information corresponding to the unevenness when the vehicle reaches the unevenness.
    Type: Grant
    Filed: February 28, 2020
    Date of Patent: December 13, 2022
    Assignees: HYUNDAI MOTOR COMPANY, KIA MOTORS CORPORATION
    Inventor: Hyungjin Kim
  • Patent number: 11498382
    Abstract: In some examples, a vehicle suspension for supporting, at least in part, a sprung mass, includes a damper connected to the sprung mass, the damper including a movable piston. The vehicle suspension further includes an actuator and a controller. The controller may be configured to determine a frequency of motion associated with the sprung mass. When the frequency of motion is below a first frequency threshold, the controller may send a control signal to cause the actuator to apply a deceleration force to the sprung mass. Further, when the frequency of motion associated with the sprung mass exceeds the first frequency threshold, the controller may send a control signal to cause the actuator to apply a compensatory force to the sprung mass. For instance, a magnitude of the compensatory force may be based on a friction force determined for the damper.
    Type: Grant
    Filed: October 27, 2017
    Date of Patent: November 15, 2022
    Assignee: HITACHI ASTEMO, LTD.
    Inventors: Akshay Gokhale, Atsushi Yokoyama
  • Patent number: 11491971
    Abstract: A vehicle control device, a vehicle control method, and a vehicle suitable for an automatic/manual driving mode vehicle that employs brakes capable of controlling braking forces of four wheels. A vehicle control device including a pitch angle adjustment unit that adjusts a pitch angle, which is an inclination of a vehicle generated in the vehicle when braking the vehicle, or a change amount of the pitch angle, the pitch angle adjustment unit adjusting the pitch angle according to a traveling mode of the vehicle instructed by a host controller provided in the vehicle.
    Type: Grant
    Filed: October 10, 2018
    Date of Patent: November 8, 2022
    Assignee: Hitachi Astemo, Ltd.
    Inventors: Takahiro Ito, Kenichiro Matsubara, Wataru Yokoyama, Takaya Tsukagoshi
  • Patent number: 11491982
    Abstract: Disclosed is a method for controlling the powertrain of a motor vehicle between the current location of the vehicle and an arrival point, including calculating a theoretical optimal traction force, determining a friction force applied to the vehicle, calculating an actual optimal force to be applied to the wheels as far as the arrival point, and applying a traction force to the wheels of the vehicle when the calculated actual optimal force is strictly greater than a predetermined threshold value or else not applying a force to the wheels of the vehicle when the calculated actual optimal force is greater than or equal to zero and less than or equal to the predetermined threshold value, or else applying a braking force to the wheels of the vehicle when the calculated actual optimal force is strictly less than zero.
    Type: Grant
    Filed: November 8, 2019
    Date of Patent: November 8, 2022
    Assignee: VITESCO TECHNOLOGIES GMBH
    Inventor: Mariano Sans
  • Patent number: 11458836
    Abstract: A vehicle system includes an engine driving a vehicle, a front wheel and a rear wheel, a suspension device with an attachment portion to a vehicle body which is located at a higher level than a center axis of the rear wheel, an electromagnetic coupling to distribute a torque of the engine to the front wheel and the rear wheel, a steering wheel to be operated by a driver, a steering angle sensor to detect a steering angle corresponding to operation of the steering wheel, and a controller to control the engine and the electromagnetic coupling. The controller is configured to control the electromagnetic coupling such that the torque distributed to the rear wheel is decreased in accordance with a returning operation of the steering wheel which is detected by the steering angle sensor.
    Type: Grant
    Filed: January 24, 2020
    Date of Patent: October 4, 2022
    Assignee: MAZDA MOTOR CORPORATION
    Inventors: Yasumasa Imamura, Naoki Nobutani, Daisuke Umetsu
  • Patent number: 11440367
    Abstract: Provided is an electric suspension device including an electromagnetic actuator that is provided between a body and wheel of a vehicle and generates damping force for damping vibration of the body. It includes: an information acquisition unit that acquires information on a wheel speed and a sprung speed of the vehicle; an estimation unit that estimates a stroke speed of the actuator based on the wheel speed; a determination unit that determines whether a wheel slip has occurred; and an orientation control unit that performs orientation control of the vehicle based on the sprung speed and the estimated stroke speed. When a wheel slip occurs, the orientation control unit performs orientation control of the vehicle based on a fixed stroke speed whose direction is the same as a direction of the sprung speed and whose magnitude is set at a predetermined fixed value, instead of the estimated stroke speed.
    Type: Grant
    Filed: March 18, 2021
    Date of Patent: September 13, 2022
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Ryoma Kanda, Yuya Goto
  • Patent number: 11442447
    Abstract: A vehicle control system is provided to maintain an SOC level of the battery during autonomous operation of the vehicle. The control system is applied to a vehicle that can be operated autonomously by controlling an engine, a motor, a steering system, a brake system etc. autonomously by a controller, and the vehicle is allowed to coast by manipulating a clutch. During autonomous operation of the vehicle, a first coasting mode in which the engine is stopped and the clutch is disengaged is selected if the SOC level is higher than a threshold level, and a second coasting mode in which the engine is activated and the clutch is disengaged is selected if the SOC level is lower than the threshold level.
    Type: Grant
    Filed: June 10, 2020
    Date of Patent: September 13, 2022
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Takahito Endo, Yasuhiro Oshiumi, Kensei Hata, Yasuyuki Kato, Yushi Seki, Katsuya Iwazaki, Hideaki Komada