Steering Control Patents (Class 701/41)
  • Patent number: 11143522
    Abstract: A method and an apparatus for estimating travel time are provided. A request, via interface circuitry of the apparatus, is obtained to estimate the travel time of a target travel route from a starting point to an end point. The apparatus subsequently obtains, via the interface circuitry, road traffic information along the target travel route at a current time. The estimated travel time of the target travel route is calculated by processing circuitry of the apparatus according to the obtained road traffic information and historical travel data. The historical travel data includes a plurality of historical travel routes, respective road traffic information for each of the plurality of historical travel routes, and a respective actual travel time of each of the plurality of historical travel routes.
    Type: Grant
    Filed: March 6, 2019
    Date of Patent: October 12, 2021
    Assignee: Tencent Technology (Shenzhen) Company Limited
    Inventor: Gangwei Wang
  • Patent number: 11142241
    Abstract: A toe variable control method includes a toe linearization mapping control in which a toe control is switched from a constant control amount to a variable control amount in a rear wheel steering system by bump/rebound speeds of a bump and a rebound becoming a variable when the bump and rebound of a wheel are detected by a controller.
    Type: Grant
    Filed: March 19, 2019
    Date of Patent: October 12, 2021
    Assignees: HYUNDAI MOTOR COMPANY, KIA MOTORS CORPORATION
    Inventors: Jong-Min Kim, Bo-Min Kim
  • Patent number: 11144300
    Abstract: An update control apparatus for a vehicle controller includes a state information collecting device that collects vehicle state information when an update event of a vehicle controller occurs, a battery control device that determines an update-based ultimate target State of Charge (SOC) based on the collected vehicle state information and controls charge or discharge of a battery based on the determined ultimate target SOC, and a control device that downloads update data of the vehicle controller from an update server and updates the vehicle controller.
    Type: Grant
    Filed: September 3, 2019
    Date of Patent: October 12, 2021
    Assignees: HYUNDAI MOTOR COMPANY, KIA MOTORS CORPORATION
    Inventors: Heok Sang Jeong, Dong Jin Shin, Myeong Gyu Jeong, Dong Youl Lee, Young Su Kim, Jae Am Seo
  • Patent number: 11135941
    Abstract: The disclosed computer-implemented method may include automated signaling for networked personal mobility vehicles (PMVs). In some embodiments, a system may identify a PMV in use by a transportation requestor taking a trip. The system may also predict one or more actions of the PMV based on navigational data for the trip. Additionally, the system may select one or more signals corresponding to a predicted action of the PMV. In some embodiments, the system may determine, based on a current state of the PMV, that the predicted action of the PMV will be initiated within a time frame. Furthermore, the system may send a start command to the PMV to initiate a signal in response to determining the predicted action will be initiated. Various other methods, systems, and computer-readable media are also disclosed.
    Type: Grant
    Filed: December 28, 2018
    Date of Patent: October 5, 2021
    Assignee: Lyft, Inc.
    Inventors: Carlos Ellis Whitt, Steven James Martisauskas, Dor Levi
  • Patent number: 11136064
    Abstract: A rotation detection device includes a plurality of detectors each including a plurality of calculators respectively calculating a detection value. A control unit of the rotation detection device monitors abnormality of detection values respectively detected by the plurality of detectors, and, when determining abnormality, identifies a calculator calculating an abnormal detection value based on a result of comparison between the detection values of the plurality of calculators. Then, the control unit continues calculation of an absolute angle by using the detection values from the calculators other than the identified calculator.
    Type: Grant
    Filed: October 9, 2019
    Date of Patent: October 5, 2021
    Assignee: DENSO CORPORATION
    Inventors: Nobuyori Nakajima, Haruo Suzuki, Takashi Suzuki, Go Endoh, Koichi Nakamura, Yosuke Ogi, Atsuko Oka, Shuji Kuramitsu
  • Patent number: 11130487
    Abstract: A method for controlling a vehicle includes providing a plurality of sensors and a control at an equipped vehicle and identifying a driver present in the vehicle and capable of operating the vehicle. When the control is not operating in a driving assist mode and the identified driver is operating the vehicle, and responsive to processing data received at the data processor, a personalized parameter set is created for the identified driver based on how the identified driver operates the equipped vehicle during determined driving conditions. When the control is operating in a driving assist mode, and responsive to a current driving condition of the vehicle, the vehicle is controlled (i) in accordance with the personalized parameter set for the identified driver present in the equipped vehicle and (ii) in accordance with data processing of data captured by at least some of the plurality of sensors.
    Type: Grant
    Filed: November 27, 2019
    Date of Patent: September 28, 2021
    Assignee: MAGNA ELECTRONICS INC.
    Inventors: Honghao Tan, Brian J. Tedesco
  • Patent number: 11130522
    Abstract: A lane departure prevention apparatus includes a driving support ECU configured to perform a lane departure prevention control. The driving support ECU performs the lane departure prevention control with vibrating a steering wheel when determining that a control performing condition becomes satisfied and a traveling lane is straight. The control performing condition becomes satisfied when a vehicle has a high probability of departing from the traveling lane. The driving support ECU performs the lane departure control without vibrating the steering wheel at least in a case where the vehicle has a high probability of departing from the traveling lane toward an outer side of the curved lane.
    Type: Grant
    Filed: July 3, 2019
    Date of Patent: September 28, 2021
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Takenoshin Takahashi, Masaaki Uechi, Toshinori Esaka, Hidenobu Kinugasa
  • Patent number: 11126178
    Abstract: Command determination for controlling a vehicle, such as an autonomous vehicle, is described. In an example, individual requests for controlling the vehicle relative to each of multiple objects or conditions in an environment are received (substantially simultaneously) and based on the request type and/or additional information associated with a request, command controllers can determine control commands (e.g., different accelerations, steering angles, steering rates, and the like) associated with each of the one or more requests. The command controllers may have different controller gains (which may be based on functions of distance, distance ratios, time to estimated collisions, etc.) for determining the controls and a control command may be determined based on the all such determined controls.
    Type: Grant
    Filed: January 18, 2019
    Date of Patent: September 21, 2021
    Assignee: Zoox, Inc.
    Inventors: Abishek Krishna Akella, Janek Hudecek, Marin Kobilarov, Marc Wimmershoff
  • Patent number: 11124228
    Abstract: A driving assistance apparatus predicts an appropriate operation amount which is an operation amount performed by a driver in correspondence with the external environment, and sets the appropriate operation amount range including the appropriate operation amount, an appropriate operation amount range including the appropriate operation amount, and changes the reaction force characteristics of the operation device when it is determined that the operation amount of the driver corresponding to the prediction time point of the appropriate operation amount is not included in the appropriate operation amount range.
    Type: Grant
    Filed: April 29, 2019
    Date of Patent: September 21, 2021
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Shusaku Sugamoto, Terumasa Endo, Satoshi Inoue, Takeshi Hamaguchi, Shuhei Manabe
  • Patent number: 11125640
    Abstract: Various examples are directed to systems and methods for operating a vehicle comprising a tractor and a trailer attached for pulling behind the tractor. A center-of-mass system may determine a mass of the trailer and a tractor understeer. The center-of-mass system may determine the tractor understeer using steering input data describing a steering angle of the tractor and yaw data describing a yaw of the tractor. The center-of-mass system may determine a load center of mass using the tractor understeer and a mass of the trailer. The center-of-mass system may further determine that the load center of mass transgresses a center-of-mass threshold and send an alert message indicating that the load transgresses the load center-of-mass threshold.
    Type: Grant
    Filed: October 5, 2018
    Date of Patent: September 21, 2021
    Assignee: UATC, LLC
    Inventors: Kenneth James Jensen, Edward Henry Lim
  • Patent number: 11117577
    Abstract: A computer includes a processor and a memory, the memory storing instructions executable by the processor to identify an error between a predicted steerable path of a vehicle based on data collected according to a first protocol and a predicted lane path based on data collected according to a second protocol and to identify a path fault when the error exceeds an error threshold for an elapsed time exceeding a time threshold.
    Type: Grant
    Filed: February 22, 2019
    Date of Patent: September 14, 2021
    Assignee: Ford Global Technologies, LLC
    Inventors: Nitendra Nath, Michael Hafner, Aaron L. Mills, Zhao Wang, Bahgat Aboushaban
  • Patent number: 11117614
    Abstract: A method for scaling a stability signal in a steering system is provided and includes computing, by a torque boost module, an assist torque command to cause a motor of the steering system to generate an assist torque. Further, the method includes computing, by a stability compensation module, a stabilized torque command based on an input signal, the stabilized torque command modifying the assist torque command. Further, the method includes computing, by a stability monitoring module, a stability scaling factor to adjust the stabilized torque command based on a duration and severity of an instability detected in the input signal.
    Type: Grant
    Filed: September 27, 2017
    Date of Patent: September 14, 2021
    Assignee: Steering Solutions IP Holding Corporation
    Inventors: Qi Wang, Tejas M. Varunjikar, Anthony J. Champagne, Michael K. Hales
  • Patent number: 11119491
    Abstract: A system, including a means for controlling vehicle steering, braking and powertrain and a means for determining first lane marker distances based on second lane marker distances received at a first vehicle from a second vehicle and a distance and an angle measured from the first vehicle to the second vehicle. A vehicle can be operated based on the first lane marker distances and the means for controlling vehicle steering, braking and powertrain.
    Type: Grant
    Filed: February 7, 2019
    Date of Patent: September 14, 2021
    Assignee: FORD GLOBAL TECHNOLOGIES, LLC
    Inventors: Hassene Jammoussi, Pankaj Kumar
  • Patent number: 11120281
    Abstract: A method is described for localizing a highly automated vehicle (HAV) in a digital localization map, including the following steps: S1 sensing features of semi-static objects in an environment of the HAV with the aid of at least one first sensor; S2 transmitting the features of the semi-static objects as well as the vehicle position to an evaluation unit; S3 classifying the semi-static objects, the feature “semi-static” being assigned to the semi-static objects as a result of the classification; S4 transferring the features of the semi-static objects into a local driving-environment model of the HAV, when creating the local driving-environment model, it being checked whether landmarks suitable for localizing the HAV are hidden by the semi-static objects in terms of the position and/or an approach trajectory of the HAV; S5 transmitting the local driving-environment model to the HAV in the form of a digital localization map, the digital localization map containing only those landmarks suitable for localizing th
    Type: Grant
    Filed: December 12, 2017
    Date of Patent: September 14, 2021
    Assignee: Robert Bosch GmbH
    Inventors: Holger Mielenz, Jan Rohde
  • Patent number: 11117617
    Abstract: The invention relates to a method for steering a vehicle with an automatic operating mode, in which a steering angle for a steering device of the vehicle is automatically determined and converted by the steering device. In this case, based on the automatically determined steering angle, a value of an output parameter is determined and the value of the output parameter is output by an output device by means of a light effect. The invention further relates to a vehicle with an automatic operating mode, comprising a control unit by which a steering angle for a steering device of the vehicle is automatically determined, wherein the steering angle can be converted by the steering device, a determination unit, by means of which a value of an output parameter can be determined on the basis of the automatically determined steering angle, and an output device, by means of which the value of the output parameter can be output by means of a light effect.
    Type: Grant
    Filed: December 12, 2017
    Date of Patent: September 14, 2021
    Assignee: VOLKSWAGEN AKTIENGESELLSCHAFT
    Inventor: Marcus Weidig
  • Patent number: 11110912
    Abstract: An embodiment of the present invention provides higher ride comfort to a driver in control of steering and suspension. An ECU (600) includes: a steering control section (610) which controls a magnitude of an assist torque or a reaction torque; and a suspension control section (650) which controls a damping force of a suspension. The steering control section (610) refers to a state of a vehicle which state is predicted by the suspension control section (650), and the suspension control section (650) refers to a steering torque.
    Type: Grant
    Filed: August 12, 2019
    Date of Patent: September 7, 2021
    Assignee: SHOWA CORPORATION
    Inventors: Ken Isshiki, Eishi Ishimaru, Kyouichi Tagami, Katsutoshi Yokoi
  • Patent number: 11110935
    Abstract: A road curve guidance method is provided. The road curve guidance method includes: obtaining link information corresponding to a road on which a vehicle is being driven; determining a position of the vehicle on a link at a future time point based on the obtained link information; and judging a degree of risk of a curve section in which the vehicle is to be driven after a predetermined time using the determined position and speed of the vehicle at a reference time point.
    Type: Grant
    Filed: July 13, 2020
    Date of Patent: September 7, 2021
    Assignee: THINKWARE CORPORATION
    Inventor: Suk Pil Ko
  • Patent number: 11104379
    Abstract: A travel control system and a method for an autonomous vehicle is provided to easily determine a rotating position of a steering wheel when an autonomous travel mode is switched to a driver's travel mode. The travel control system includes: a display mechanism provided in a central portion of a steering wheel to display a rotating position of the steering wheel; and a controller to controls the display mechanism to display the rotating position of the steering wheel based on a steering angle of a tire when the steering angle of the tire is input and the autonomous travel mode is switched to the driver travel mode.
    Type: Grant
    Filed: October 23, 2018
    Date of Patent: August 31, 2021
    Assignees: Hyundai Motor Company, KIA Motors Corporation
    Inventors: Sang Woo Hwang, Young Dae Park, Byung Rim Lee, Min Jun Kim, Se Hyun Chang, Hyeon Seok Cho
  • Patent number: 11104378
    Abstract: A steering control system for operating a steering system for a transportation vehicle according to a steering intervention specification by making available a steering intervention variable, the system having computing units to redundantly calculate a manipulated variable according to a specified calculation algorithm as a function of the steering intervention specification and one or more operating state variables; a switching device for always making available one of the manipulated variables of the computing units as the steering intervention variable to the steering system; and a monitoring device to check the functional capability of the computing units, wherein the switching device is actuated as a function of the result of the check.
    Type: Grant
    Filed: October 5, 2018
    Date of Patent: August 31, 2021
    Inventors: Timo Dobberphul, Reno Davids
  • Patent number: 11106207
    Abstract: An apparatus for controlling autonomous driving of a vehicle includes a communication device configured to receive a first determination value, which is calculated based on information obtained as surroundings are sensed, from a surrounding vehicle or configured to receive a second determination value from a server. The apparatus includes a sensor configured to sense surroundings of a subject vehicle. The apparatus includes a controller configured to: calculate a third determination value based on information sensed by the sensor; to calculate a final determination value based on at least one of the first determination value and the second determination value, and the third determination value; and to control the autonomous driving by using the final determination value.
    Type: Grant
    Filed: May 7, 2019
    Date of Patent: August 31, 2021
    Assignees: HYUNDAI MOTOR COMPANY, KIA MOTORS CORPORATION
    Inventor: Jeong Hwan Park
  • Patent number: 11106202
    Abstract: A driver assistance system for at least semi-automatically coupling a two-track motor vehicle to a trailer has an electronic control unit. The system is configured to undertake the transverse guidance and/or the longitudinal guidance of the motor vehicle reversing toward the trailer, in particular by automatically adjusting an appropriate vehicle steering angle and/or by appropriate interventions in the drive and braking system of the motor vehicle, by evaluating signals of a vehicle-internal reversing camera. The control unit has a functional unit, which is configured, in particular by corresponding programming, such that the signals of a vehicle-external camera of a portable electronic mobile radio unit can be detected, and these signals can then be converted into the data form of the signals of a vehicle-internal reversing camera.
    Type: Grant
    Filed: May 23, 2018
    Date of Patent: August 31, 2021
    Assignee: Bayerische Motoren Werke Aktiengesellschaft
    Inventor: Michael Stroebel
  • Patent number: 11097726
    Abstract: A lane keeping assist system and method for increasing safety in preceding vehicle follower longitudinal control are disclosed. The lane keeping assist system for performing lane keeping using information about a lane and peripheral vehicle includes an image sensor configured to detect a forward lane and a preceding vehicle with respect to a host vehicle, and an electronic control unit (ECU) configured to control a traveling direction of the host vehicle in a manner that the host vehicle follows a traveling route within the detected lane, perform a preceding vehicle follower control to control the traveling direction of the host vehicle in a manner that the host vehicle follows the preceding vehicle if the lane is not detected, and restrict a follower longitudinal control if the preceding vehicle deviates from an expected path of travel.
    Type: Grant
    Filed: December 12, 2018
    Date of Patent: August 24, 2021
    Assignee: Mando Corporation
    Inventor: Soon Tae Kim
  • Patent number: 11099575
    Abstract: The safe operation and navigation of robots is an active research topic for many real-world applications, such as the automation of large industrial equipment. This technological field often requires heavy machines with arbitrary shapes to navigate very close to obstacles, a challenging and largely unsolved problem. To address this issue, a new planning architecture is developed that allows wheeled vehicles to navigate safely and without human supervision in cluttered environments. The inventive methods and systems disclosed herein belong to the Model Predictive Control (MPC) family of local planning algorithms. The technological features disclosed herein works in the space of two-dimensional (2D) occupancy grids and plans in motor command space using a black box forward model for state inference. Compared to the conventional methods and systems, the inventive methods and systems disclosed herein include several properties that make it scalable and applicable to a production environment.
    Type: Grant
    Filed: January 29, 2019
    Date of Patent: August 24, 2021
    Assignee: Brain Corporation
    Inventors: Oleg Sinyavskiy, Borja Ibarz Gabardos, Jean-Baptiste Passot
  • Patent number: 11097734
    Abstract: A vehicle control device includes: an operation detection unit that detects an operation input of a user for an operation input unit; a speed setting unit that sets travel speed of a host vehicle on the basis of the operation input that is detected by the operation detection unit; and a lane change control unit that controls lane change. If the operation input that decreases, by more than or equal to a predetermined degree, setting travel speed that is the speed set by the speed setting unit, or the operation input that decreases the setting travel speed to be lower than current travel speed of the host vehicle, is performed after the lane change is started, the lane change control unit cancels the lane change.
    Type: Grant
    Filed: February 4, 2020
    Date of Patent: August 24, 2021
    Assignee: Honda Motor Co., Ltd.
    Inventors: Daichi Kato, Tadahiko Kanoh, Kanta Tsuji, Atsushi Ishioka, Katsuya Yashiro, Nozomu Hirosawa
  • Patent number: 11091172
    Abstract: An information processing system includes a processor, and the processor acquires a vehicle driving environment composed of N-dimensional parameters, refers to an ideal driving driver model indicating an ideal driving environment region in an N-dimensional coordinate system, and selects one ideal driving environment included in the ideal driving environment region based on a distance between the ideal driving environment region and the acquired vehicle driving environment in the N-dimensional coordinate system.
    Type: Grant
    Filed: April 18, 2019
    Date of Patent: August 17, 2021
    Assignee: Panasonic Intellectual Property Management Co., Ltd.
    Inventors: Toshiya Mori, Masanaga Tsuji
  • Patent number: 11090991
    Abstract: A vehicle hitching assistance system includes a controller identifying a trailer coupler within a specified area relative to the vehicle. The specified area is defined between a maximum distance and a minimum distance from a rear of the vehicle and within left and right lateral vehicle control limits. The controller also outputs a steering signal to the vehicle to cause the vehicle to steer to align a hitch ball of the vehicle with the coupler.
    Type: Grant
    Filed: December 4, 2018
    Date of Patent: August 17, 2021
    Assignee: Ford Global Technologies, LLC
    Inventors: Li Xu, Roger Arnold Trombley, Luke Niewiadomski, Kyle Simmons, Kenneth Michael Mayer, Shannon Brooks-Lehnert, Seyed Armin Raeis Hosseiny, Bo Bao, Katherine Rouen
  • Patent number: 11091160
    Abstract: Methods and apparatus, including computer program products, are provided for autonomous vehicles. In one aspect there is provided a method. The method may include detecting, at an autonomous vehicle, at least one vehicle within a certain range of the autonomous vehicle; measuring a latency representative of a time to communicate via a wireless link to the at least one detected vehicle; reporting the measured latency to the network; and receiving, by the autonomous vehicle, information to enable the autonomous vehicle to determine an intervehicle distance for configuration at the autonomous vehicle. Related apparatus, systems, methods, and articles are also described.
    Type: Grant
    Filed: June 17, 2016
    Date of Patent: August 17, 2021
    Assignee: Nokia Technologies Oy
    Inventors: Jeroen Wigard, Beatriz Soret, Fernando Tavares
  • Patent number: 11084504
    Abstract: Traversing, by an autonomous vehicle, a vehicle transportation network, may include operating a scenario-specific operational control evaluation module instance, wherein the scenario-specific operational control evaluation module instance includes an instance of a scenario-specific operational control evaluation model of a vehicle operational scenario wherein the vehicle operational scenario is a merge vehicle operational scenario or a pass-obstruction vehicle operational scenario, receiving a candidate vehicle control action from the scenario-specific operational control evaluation module instance, and traversing a portion of the vehicle transportation network in accordance with the candidate vehicle control action.
    Type: Grant
    Filed: November 30, 2017
    Date of Patent: August 10, 2021
    Assignees: Nissan North America, Inc., The University of Massachusetts, Renault S.A.S.
    Inventors: Kyle Hollins Wray, Stefan Witwicki, Shlomo Zilberstein
  • Patent number: 11084523
    Abstract: A power steering device includes a steering mechanism structured to steer a steerable wheel in accordance with steering of a steering wheel. A first sensor is structured to sense a specific state quantity of steering. A second sensor is structured to sense the specific state quantity. A first actuation part is structured to apply a steering force to the steering mechanism. A second actuation part is structured to apply a steering force to the steering mechanism. A first microprocessor is configured to receive an output signal from the first sensor, and control driving of the first actuation part based on the output signal received from the first sensor. A second microprocessor is configured to receive an output signal from the first sensor and an output signal from the second sensor, and control driving of the second actuation part based on the output signal received from the first sensor.
    Type: Grant
    Filed: March 15, 2017
    Date of Patent: August 10, 2021
    Assignee: HITACHI ASTEMO, LTD.
    Inventors: Mitsuo Sasaki, Takumi Hisazumi
  • Patent number: 11084503
    Abstract: According to various embodiments, systems and methods are provided for use by an ADV to nudge incoming objects in a self-reverse lane. In an embodiment, an ADV determines that a self-reverse lane has a predetermined width before entering the self-reverse lane. After entering the self-reverse lane, the ADV can follow a first reference line at the center of the self-reverse lane. In response to detecting an incoming object, the ADV creates an alternative lane in the self-reverse lane by temporarily modifying a high definition map. The ADV subsequently follows a second reference line in the alternative lane to nudge the incoming object. In response to detecting that the incoming object has passed and the self-reverse lane is clear, the ADV can drive back to the center of the self-reverse lane, to continue to follow the first reference line in the self-reverse lane.
    Type: Grant
    Filed: December 26, 2018
    Date of Patent: August 10, 2021
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD.
    Inventors: Fan Zhu, Lin Ma, Xin Xu
  • Patent number: 11082678
    Abstract: A vehicular vision system includes a plurality of cameras and a processor operable to process image data captured by the cameras to generate images derived from image data captured by at least some of the cameras. A display screen, viewable by a driver of the vehicle, displays the generated images and a three dimensional vehicle representation as would be viewed from a virtual camera viewpoint exterior to and higher than the vehicle itself. A portion of the displayed vehicle representation may be at least partially transparent to enable viewing at the display screen of an object present exterior of the vehicle that would otherwise be partially hidden by non-transparent display of that portion of the vehicle representation. The three dimensional representation may include a vector model without solid surfaces, or may include a shape, body type, body style and/or color corresponding to that of the actual vehicle.
    Type: Grant
    Filed: January 20, 2020
    Date of Patent: August 3, 2021
    Assignee: MAGNA ELECTRONICS INC.
    Inventor: Goerg Pflug
  • Patent number: 11072212
    Abstract: A method for detecting a change in position of a wheel unit of a wheel on a motor vehicle, a position of each wheel unit having been identified and stored. Communication between each wheel unit and at least one control device takes place in accordance with a standard allowing the bidirectional exchange of UHF wave signals, each wheel unit performing scanning to intercept the signals sent by a given wheel unit whose signature is established by the wheel unit performing the scanning in accordance with a detected average power value. Current and starting signatures are compared. If the current signature differs by more than an experimentally determined percentage from its starting signature for a given wheel unit, a change in position of one of the two wheels is detected.
    Type: Grant
    Filed: May 24, 2019
    Date of Patent: July 27, 2021
    Inventor: Jean-Philippe Boisset
  • Patent number: 11072347
    Abstract: A vehicle control device including a detecting unit configured to detect an external situation of a vehicle and an internal situation of the vehicle; an output unit; and a processor configured to in response to the detected external situation of the vehicle corresponding to a first external event, and the detected internal situation of the vehicle corresponding to a first internal event, control the output unit to output first guidance information related to the detected external event, and in response to the detected external situation of the vehicle corresponding to the first external event, and the detected internal situation of the vehicle corresponding to a second internal event different than the first internal event, control the output unit to output second guidance information related to the detected external event that is different than the first guidance information.
    Type: Grant
    Filed: August 29, 2018
    Date of Patent: July 27, 2021
    Assignee: LG ELECTRONICS INC.
    Inventors: Jaehoon Cho, Kangmin Kim, Doyun Park, Heejeong Heo
  • Patent number: 11072341
    Abstract: A vehicle control apparatus including an operation detector detecting driving instruction, a direction detector detecting actual traveling direction of the vehicle, and a microprocessor. The microprocessor is configured to perform: determining whether a deviation of the actual traveling direction from target traveling direction according to the driving instruction is greater than or equal to predetermined deviation; switching to the self-drive mode when the deviation is greater than or equal to the predetermined deviation during traveling in the manual drive mode; and controlling the actuator in accordance with the driving instruction, the controlling including controlling the actuator so as to match the actual traveling direction with the target traveling direction after switching to the self-drive mode, and the switching including switching to the manual drive mode when the actual traveling direction is matched with the target traveling direction after switching to the self-drive mode.
    Type: Grant
    Filed: June 21, 2019
    Date of Patent: July 27, 2021
    Assignee: Honda Motor Co., Ltd.
    Inventors: Chao Niu, Shogo Takano, Kota Saito, Takashi Adachi
  • Patent number: 11066079
    Abstract: A vehicle, system for operating the vehicle and method of activating a control system is disclosed. The system includes a sensor for detecting lane markings of a driving lane, a road wheel angle sensor configured to measure a road wheel angle of the vehicle, and a processor. The processor is configured to determine a distance of the vehicle from a central line of a driving lane form the detected lane markings, adjust an angular threshold for activation of the control system of the vehicle based on the determined distance, and activate the control system when the road wheel angle is within the angular threshold.
    Type: Grant
    Filed: March 20, 2019
    Date of Patent: July 20, 2021
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Mark Gazda, Kelvin Chen Chih Peng
  • Patent number: 11066097
    Abstract: An electric power assisted steering system comprises a first part that in use determines the sign of a first signal indicative of the position of a part of the steering, and a second part that in use determines the sign of a second signal indicative of the velocity of a part of the steering. A processing unit that in use determines whether the steering wheel is moving away from a centre position or returning to the centre position from the determined signs of the two signals, and sets a value of a torque damping component using different tunes for when the steering wheel is moving away from the centre and when term and when the steering wheel is returning to the centre. The processing unit may blend the two tunes when it detects a change in the direction of steering corresponding to a return to centre following movement away from centre or movement away from centre following a return to centre.
    Type: Grant
    Filed: June 6, 2017
    Date of Patent: July 20, 2021
    Inventors: Nikhil Prahlad, Sankar Cherangara
  • Patent number: 11066068
    Abstract: A vehicle control apparatus and method for moving and parking a vehicle double-parked around a parked vehicle are provided. The vehicle control apparatus includes a detector that detects departure intention information of the first vehicle and surrounding information of the second vehicle. A vehicle controller controls autonomous movement of the second vehicle and a processor detects a departure intention of the first vehicle based on the departure intention information. A movement plan of the second vehicle is generated based on the surrounding information when departure intention is detected and the vehicle controller moves the second vehicle based on the movement plan.
    Type: Grant
    Filed: June 25, 2019
    Date of Patent: July 20, 2021
    Assignees: Hyundai Motor Company, Kia Motors Corporation
    Inventors: Ki Beom Kwon, Jun Kyung Lee, Jae Sun Han
  • Patent number: 11066096
    Abstract: A vehicle steering control method in which steering wheel vibrations are suppressed when a clutch is engaged while turning to suppress a sense of discomfort imparted to the driver. In this method, when transitioning from a steer-by-wire mode under an autonomous driving mode in which a steering clutch, through which a steering wheel and left and right front wheels are mechanically disconnected and connected, is disengaged, to an EPS control mode under a manual driving mode in which the steering clutch is engaged and an assist torque that corresponds to a detected torque from a torque sensor is imparted to the left and right front wheels, the steering clutch is engaged, and the assist torque is limited to a value that corresponds to the detected torque from the torque sensor from when the steering clutch is engaged until a prescribed limitation period has passed.
    Type: Grant
    Filed: March 6, 2018
    Date of Patent: July 20, 2021
    Assignee: Nissan Motor Co., Ltd.
    Inventor: Takafumi Kamemura
  • Patent number: 11066073
    Abstract: A vehicle control system includes a controller that sets a target area, and that executes a lane change of the host vehicle toward the set target area, the target area being an area which is a target for the host vehicle when performing the lane change to an adjacent lane which is adjacent to an own traffic lane on which the host vehicle is traveling, and a direction indicator controller that determines a timing for operating a direction indicator installed on the host vehicle on the basis of a relative relationship between the host vehicle and a vehicle that is traveling in front of or at rear of the target area set by the controller and the host vehicle.
    Type: Grant
    Filed: March 8, 2017
    Date of Patent: July 20, 2021
    Assignee: HONDA MOTOR CO., LTD.
    Inventor: Atsushi Ishioka
  • Patent number: 11054827
    Abstract: A system for autonomously navigating a vehicle through a road junction may include at least one processor programmed to receive from an image capture device at least one image representative of an environment of the vehicle. The processor may also be configured to analyze the image to identify two or more landmarks located in the environment of the vehicle and to determine, for each of the two or more landmarks, a directional indicator relative to the vehicle. The processor may be configured to determine a current location of the vehicle relative to the road junction based on an intersection of the directional indicators a heading for the vehicle based on the directional indicators for the two or more landmarks. The processor may be configured to determine a steering angle for the vehicle by comparing the vehicle heading with a predetermined road model trajectory at the current location of the vehicle.
    Type: Grant
    Filed: August 9, 2017
    Date of Patent: July 6, 2021
    Assignee: MOBILEYE VISION TECHNOLOGIES LTD.
    Inventors: Yoram Gdalyahu, Amnon Shashua, Yoav Taieb, Daniel Braunstein, David Huberman, Levi Bellaiche
  • Patent number: 11052939
    Abstract: A steering feel control apparatus of a motor driven power steering (MDPS) system may include: a filter configured to filter a motor current inputted to a motor, in order to remove a vibration component which generates vibration on a steering wheel; and a controller configured to control the filter to remove the vibration component of the motor current when the MDPS is driven.
    Type: Grant
    Filed: October 26, 2018
    Date of Patent: July 6, 2021
    Assignee: Hyundai Mobis Co., Ltd.
    Inventor: Tae Hong Kim
  • Patent number: 11056935
    Abstract: A synthesis circuit synthesizes detection signals from a plurality of detection coils to generate a synthesized detection signal indicating a sine component of a rotation angle of a rotor. In this regard, the detection coils which are synthesis targets when the synthesis circuit generates the synthesized detection signal include a detection coil of a salient pole installed at a first electrical angle based on a first pole of the rotor and detection coils of salient poles installed at a second electrical angle different from the first electrical angle based on the first pole, and do not include detection coils installed at the first electrical angle based on a second pole.
    Type: Grant
    Filed: February 21, 2019
    Date of Patent: July 6, 2021
    Assignee: RENESAS ELECTRONICS CORPORATION
    Inventors: Yoshifumi Ikenaga, Akane Hiroshima
  • Patent number: 11054824
    Abstract: A method for switching modes for operating a vehicle, a non-transitory computer-readable medium for performing the method, and information processing apparatuses. The method includes determining, by circuitry of an information processing apparatus, whether a mode for operating the vehicle is to be switched from one of autonomous and manual driving modes to the other of the autonomous and manual driving modes. A state of a driver of the vehicle is obtained when the mode for operating the vehicle is determined to be switched. The method further includes switching, by the circuitry, the mode for operating the vehicle from the one of the autonomous and manual driving modes to the other of the autonomous manual driving modes based on the obtained state of the driver.
    Type: Grant
    Filed: May 20, 2019
    Date of Patent: July 6, 2021
    Assignee: SONY CORPORATION
    Inventor: Eiji Oba
  • Patent number: 11048256
    Abstract: Aspects of the disclosure relate to parking behaviors and maneuvering a vehicle in an autonomous driving mode accordingly. For instance, a pullover location for the vehicle to stop and wait for a passenger may be identified. The vehicle may be maneuvered in the autonomous driving mode in order to pull over by pulling forward into the pullover location. Whether to maneuver the vehicle in reverse in the pullover location before or after the passenger enters the vehicle may be determined based on context for the pull over with respect to the passenger. The vehicle may be maneuvered in the autonomous driving mode in reverse based on the determination of whether to maneuver the vehicle in reverse in the pullover location before or after the passenger enters the vehicle.
    Type: Grant
    Filed: August 9, 2019
    Date of Patent: June 29, 2021
    Assignee: Waymo LLC
    Inventors: John Wesley Dyer, Michael Epstein, Konstantin Pervyshev, Jonathan Lee Pedersen, Salil Pandit
  • Patent number: 11043045
    Abstract: A monitoring device includes a monitoring part configured to detect an abnormality of a monitoring target, a self-diagnosis part configured to diagnose whether or not the monitoring part operates normally during a period from a startup time point of a power supply to an elapse time point at which a reset release waiting time elapses, and a reset control part configured to release a reset of a reset output signal on or after the elapse time point.
    Type: Grant
    Filed: October 25, 2018
    Date of Patent: June 22, 2021
    Assignee: Rohm Co., Ltd.
    Inventors: Takayuki Matsuura, Shinji Kawata, Yoshiyuki Nakatani, Yuichi Kokusho
  • Patent number: 11034351
    Abstract: Aspects of the disclosure relate to generating a speed plan for an autonomous vehicle. As an example, the vehicle is maneuvered in an autonomous driving mode along a route using pre-stored map information. This information identifies a plurality of keep clear regions where the vehicle should not stop but can drive through in the autonomous driving mode. Each keep clear region of the plurality of keep clear regions is associated with a priority value. A subset of the plurality of keep clear regions is identified based on the route. A speed plan for stopping the vehicle is generated based on the priority values associated with the keep clear regions of the subset. The speed plan identifies a location for stopping the vehicle. The speed plan is used to stop the vehicle in the location.
    Type: Grant
    Filed: January 2, 2019
    Date of Patent: June 15, 2021
    Assignee: Waymo LLC
    Inventors: Jared Stephen Russell, Dmitri A. Dolgov, Nathaniel Fairfield, Laura Estelle Lindzey, Christopher Paul Urmson
  • Patent number: 11034350
    Abstract: A method for adapting a predefined reference line for a transportation vehicle, a device, and a transportation vehicle. A predefined reference line is received by a control unit. A distance value of a maximum lateral distance from the predefined reference line is received by the control unit from an input device and a permissible area is specified that extends along the reference line and the lateral boundary of which is the maximum distance from the reference line that is specified by the distance value. A driving path optimized for a minimum driving time is calculated by a specified first mathematical optimization method starting from the current transportation vehicle position. The first mathematical optimization method has at least one boundary condition that requires a course of the driving path within the permissible area. The distance value is specified by a user input by the input device.
    Type: Grant
    Filed: November 6, 2018
    Date of Patent: June 15, 2021
    Inventors: Jens Hoedt, Björn Mennenga, Felix Kallmeyer
  • Patent number: 11029384
    Abstract: A system for detecting fake information about a vehicle location may include a radio signal receiver configured to receive a radio signal from a communication system; a message receiver configured to receive the radio signal to generate a message and determine the message to generate information about a location of the communication system; a radio signal incident angle calculator configured to generate a radio signal incident angle; an azimuth calculator configured to generate a location information azimuth angle by use of the information about locations of the communication system and a receiving vehicle, and a fake vehicle generated by the communication system; and a location information fake detector configured to determine whether location information of the fake vehicle is faked by use of a difference value between an angle corresponding to a reference axis of the location information azimuth angle and the location information azimuth angle.
    Type: Grant
    Filed: June 1, 2018
    Date of Patent: June 8, 2021
    Assignees: Hyundai Motor Company, Kia Motors Corporation, Korea University Research and Business Foundation
    Inventors: Jong Rok Park, Dong Gyu Noh, Su Lyun Sung, Dae Sung Hwang, Hahk Rel Noh, Cho Rong Ryu, Tae Jun Lee, Hyo Gon Kim, In Seon An, Yong Tae Park, Tae Ho Kim
  • Patent number: 11029688
    Abstract: A rumble-strip following system for automated vehicle steering includes a vibration-detector, a steering-device, and a controller-circuit. The vibration-detector is configured to detect vibration experienced by a host-vehicle traveling a roadway. The steering-device is configured to steer the host-vehicle. The controller-circuit is in communication with the vibration-detector and the steering-device. The controller-circuit is configured to determine that the vibration is indicative of a tire of the host-vehicle contacting a rumble-strip arranged parallel to a heading of the roadway, and operate the steering-device so the tire follows the rumble-strip.
    Type: Grant
    Filed: March 13, 2018
    Date of Patent: June 8, 2021
    Assignee: Motional AD LLC
    Inventors: Zachary T. Batts, Ludong Sun, Junqing Wei
  • Patent number: 11027773
    Abstract: According to one or more embodiments a steer by wire steering system includes a handwheel actuator that provides a commanded position for a rack of a vehicle. The steer by wire steering system further includes a roadwheel actuator that moves the rack to a rack position based on the commanded position from the handwheel actuator. The steer by wire steering system further includes a diagnostic apparatus to compute a reference position based on the commanded position, and to compute a reference tracking error based on a difference between the reference position and the rack position. The diagnostic apparatus further determines a fault condition with the steer by wire system using the reference tracking error.
    Type: Grant
    Filed: September 18, 2018
    Date of Patent: June 8, 2021
    Assignee: Steering Solutions IP Holding Corporation
    Inventors: Steven D. Klein, Kai Zheng, Scott T. Sanford