Feedback, Transfer Function Or Proportional And Derivative (p& D) Control Patents (Class 701/42)
  • Patent number: 11220289
    Abstract: A method for operating a transportation vehicle having a control unit for electrically actuating an electromechanical coupling unit of a steering system of the transportation vehicle, wherein the control unit actuates the coupling unit according to a steering wheel characteristic curve which forms a ratio between a wheel lock angle of wheels of the transportation vehicle and a steering wheel rotational angle which is assumed by a steering wheel of the transportation vehicle, wherein a normal steering wheel characteristic curve is made available as a standard setting of the steering wheel characteristic curve in the control unit.
    Type: Grant
    Filed: September 11, 2019
    Date of Patent: January 11, 2022
    Inventors: Jana Seeland, Christian Hopp
  • Patent number: 11214302
    Abstract: Methods of controlling a feedback torque actuator in a steering system that includes the feedback torque actuator and an assistance actuator incorporate, for feedback torque control, generating at least one input signal with a sensor, determining a steering angle from the input signal, transforming the steering angle to a target steering-wheel torque, and controlling the feedback torque actuator via a closed loop current control to achieve the target steering-wheel torque. The assistance actuator has a high gain, thereby resulting in a low torque in the axle above the assistance actuator such that the steering-wheel torque is close to the target steering-wheel torque, whereby acceptable steering feel is achieved.
    Type: Grant
    Filed: April 17, 2017
    Date of Patent: January 4, 2022
    Assignee: SENTIENT IP AB
    Inventor: Henrik Weiefors
  • Patent number: 11208144
    Abstract: A vehicle behavior stabilization system includes a yaw moment applying device configured to apply a yaw moment to the vehicle, a vehicle behavior stabilization control unit configured to selectively control the yaw moment applying device in such a way to stabilize a vehicle behavior according to a computed rear wheel slip angle in relation to a start threshold value and an end threshold value, and a threshold value correcting unit configured to correct the start threshold value and the end threshold value according to a change rate of the computed rear wheel slip angle and/or a change rate of a computed vehicle body slip angle.
    Type: Grant
    Filed: November 5, 2019
    Date of Patent: December 28, 2021
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Hitoshi Sasaki, Masahiro Hirota, Takeshi Kojima, Naoto Okubo
  • Patent number: 11205080
    Abstract: A method of assisting a driver in maneuvering a vehicle with a trailer hitched to the vehicle includes equipping a vehicle with a trailering assist system that includes (i) a camera disposed at the vehicle and viewing a trailer that is hitched the vehicle and (ii) a control having an image processor. During a reversing maneuver of the vehicle and trailer, image data is captured by the camera and vehicle parameters are provided to the control. Responsive to the vehicle parameters and processing of captured image data, the trailering assist system estimates an estimated trailer angle and an estimated vehicle steering wheel angle. The estimated vehicle steering wheel angle and an actual steering wheel angle are compared to determine a steering wheel angle error. The estimated trailer angle is modified in subsequent determinations of the estimated trailer angle based at least in part on the determined steering wheel angle error.
    Type: Grant
    Filed: August 24, 2020
    Date of Patent: December 21, 2021
    Assignee: MAGNA ELECTRONICS INC.
    Inventor: Devendra Bajpai
  • Patent number: 11186310
    Abstract: According to the technical solutions described herein, an example method for frequency tracking based friction detection includes receiving, by a filter module, an accelerometer signal from an accelerometer coupled with an assist torque system. The method further includes estimating, by the filter module, harmonic content in the accelerometer signal based on an order frequency of the assist torque system. The method further includes in response to the harmonic content that is detected being greater than or equal to a predetermined threshold, initiating a friction estimation in the assist torque system. The method further includes adjusting an amount of torque being generated by the assist torque system based on an estimated friction in the assist torque system.
    Type: Grant
    Filed: November 9, 2018
    Date of Patent: November 30, 2021
    Assignee: Steering Solutions IP Holding Corporation
    Inventors: Bhuvanesh Sainath, Rangarajan Ramanujam, Anthony Champagne
  • Patent number: 11186293
    Abstract: A method, system, and computer program product is provided for assisting a driver of the vehicle or providing guidance based on one or more geo-fences. The method comprises displaying one or more geo-fences super-imposed on a map display for a vehicle, wherein the one or more geo-fences comprises a tolerance zone; identifying a driving maneuver profile for the vehicle associated with the one or more geo-fences, and displaying the driving maneuver profile on the map display, wherein displaying the driving maneuver profile comprises: displaying a distance of the vehicle from the tolerance zone, and displaying a prohibited maneuver for the vehicle based on the one or more geo-fences and the distance of the vehicle from the tolerance zone.
    Type: Grant
    Filed: June 7, 2018
    Date of Patent: November 30, 2021
    Assignee: HERE GLOBAL B.V.
    Inventors: Roland Gardner, Chris Dougherty, Gregg Bresnahan
  • Patent number: 11180187
    Abstract: A manual steering command value generation unit generates a manual steering command value using steering torque. An integrated angle command value computation unit computes an integrated angle command value by adding the manual steering command value to an automatic steering command value. A control unit performs angle control on an electric motor on the basis of the integrated angle command value. The control unit includes: a basic torque command value computation unit that computes a basic torque command value on the basis of the integrated angle command value; a disturbance torque estimation unit that estimates disturbance torque other than motor torque that is generated by the electric motor and acts on an object to be driven by the electric motor; and a disturbance torque compensation unit that corrects the basic torque command value in accordance with the disturbance torque.
    Type: Grant
    Filed: April 22, 2019
    Date of Patent: November 23, 2021
    Assignee: JTEKT CORPORATION
    Inventors: Naoki Shoji, Robert Fuchs, Tsutomu Tamura, Mitsuko Yoshida
  • Patent number: 11181915
    Abstract: Apparatuses and methods for maneuvering marine vessel are disclosed. In an embodiment, the apparatus is configured to: receive a location command defining a future geographic location; receive an orientation command defining an orientation in the future geographic location; and generate required control data for a steering and propulsion system of the marine vessel based on the future geographic location and the orientation. In another embodiment, the apparatus is configured to: receive control data of a current power and angle of the steering and propulsion system; receive control data of a reference power and angle of the steering and propulsion system; and display simultaneously a current representation of the current power and angle, and a reference representation of the reference power and angle, wherein the current representation and the reference representation are both arranged and positioned co-centrically in relation to a representation of the marine vessel.
    Type: Grant
    Filed: August 31, 2018
    Date of Patent: November 23, 2021
    Assignee: ABB Schweiz AG
    Inventors: Santeri Vanhakartano, Pauli Hemmilä
  • Patent number: 11173838
    Abstract: An apparatus includes a plurality of capture devices and a processor. The plurality of capture devices may each be configured to generate video frames corresponding to an area outside of a vehicle. The processor may be configured to receive the video frames from each of the plurality of capture devices, generate video data for a display in response to the video frames, store a view preference for the display corresponding to (i) a location and (ii) a vehicle status, determine a current location and a current status of the vehicle and generate an output signal to select a view for the display. The output signal may be generated in response to the current location matching the location and the current status matching the vehicle status. The view selected may be determined based on the view preference.
    Type: Grant
    Filed: November 4, 2019
    Date of Patent: November 16, 2021
    Assignee: Ambarella International LP
    Inventor: Alberto Broggi
  • Patent number: 11176827
    Abstract: Extendable blind spot sensors and methods of use are provided herein, which may include a blind spot sensor configured to monitor a blind spot of a vehicle and an extender in mechanical communication with the blind spot sensor. The extender is configured to move the blind spot sensor between a first position and a second position when a trailer is attached to the vehicle.
    Type: Grant
    Filed: January 24, 2020
    Date of Patent: November 16, 2021
    Assignee: Ford Global Technologies, LLC
    Inventor: Steven Schondorf
  • Patent number: 11156515
    Abstract: A turning mechanism of a vehicle turns a wheel and is coupled to a steering wheel through a steering shaft. A torque sensor detects a torque applied to a first position of the steering shaft, as a sensor-detected torque. An upper friction torque is an absolute value of the sensor-detected torque that is caused by a friction force acting on the steering shaft between the first position and the steering wheel when the steering shaft is rotated. A vehicle control system repeatedly estimates the upper friction torque and variably sets a determination threshold to the estimated upper friction torque or more. The vehicle control system determines whether a driver state is a hands-on state or a hands-off state based on a comparison between the absolute value of the sensor-detected torque and the determination threshold.
    Type: Grant
    Filed: April 10, 2019
    Date of Patent: October 26, 2021
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Takahiro Kojo, Yoji Kunihiro, Ryo Irie, Hisaya Akatsuka
  • Patent number: 11110956
    Abstract: According to one or more embodiments a control system for a steering system, includes a control module that estimates a tire load by performing a method that includes receiving, as an input torque, motor-torque that is generated by a motor of the steering system. The method further includes computing an efficiency factor for a gear of the steering system based on the input torque and a motor velocity. The method further includes adjusting the input torque by scaling the input torque with the efficiency factor. The method further includes estimating the tire load using the adjusted input torque as an input to a state observer for the steering system.
    Type: Grant
    Filed: February 14, 2019
    Date of Patent: September 7, 2021
    Assignee: Steering Solutions IP Holding Corporation
    Inventors: Mariam Swetha George, Tejas M. Varunjikar
  • Patent number: 11110916
    Abstract: Disclosed herein are an impact-absorbing apparatus and method for a vehicle, which are applied to an automatic emergency brake (AEB) system of a vehicle. The impact-absorbing apparatus includes a path generation unit configured to generate an own vehicle travel path of an own vehicle, based on a speed and travel direction of the own vehicle, and a preceding vehicle travel path of a preceding vehicle, based on a speed and travel direction of the preceding vehicle, and a collision determination unit configured to determine whether or not the own vehicle collides with the preceding vehicle, based on the own vehicle travel path and the preceding vehicle travel path, wherein when it is impossible to avoid the collision between the own vehicle and the preceding vehicle, the path generation unit generates a new travel path by comparing the own vehicle travel path with the preceding vehicle travel path.
    Type: Grant
    Filed: September 13, 2017
    Date of Patent: September 7, 2021
    Assignee: MANDO CORPORATION
    Inventors: Seung Bum Park, Man Bok Park
  • Patent number: 11052920
    Abstract: A system and method for mitigating unintended operation of a vehicle is described herein. The system and method analyze data and/or signals received from sensors to determine when the vehicle is experiencing changes the in the vehicle's direction, dynamic state and/or status. The analysis may be applied to data and/or signals from one or more sensors alone or in combination. Analysis of the data and/or signals may determine that one or more criterion are met and therefore the vehicle may be an identified state. When the vehicle is in an identified state, the system and method may disable, deaden or otherwise modify the response to one or more controls in order to mitigate unintended operation.
    Type: Grant
    Filed: December 19, 2016
    Date of Patent: July 6, 2021
    Assignee: BlackBerry Limited
    Inventor: Christopher Hutten-Czapski
  • Patent number: 11046361
    Abstract: An assisting force control device 1 includes a torque detection unit that detects the steering torque of a vehicle, a calculation unit that, after the torque detection unit has detected a steering torque of at least a prescribed size, integrates the steering torque to calculate an integrated torque amount, and an assisting force control unit that reduces the steering assisting force to a value that is smaller than a prescribed value in a direction in which the vehicle is prevented from deviating from a lane, such reduction carried out if the integrated torque amount calculated by the calculation unit becomes at least an integration threshold value corresponding to a traveling condition of the vehicle.
    Type: Grant
    Filed: July 31, 2017
    Date of Patent: June 29, 2021
    Assignee: ISUZU MOTORS LIMITED
    Inventor: Teruhiko Suzuki
  • Patent number: 11034384
    Abstract: A system includes a torque overlay device having an input shaft and an output shaft coupled to the input shaft. The system includes a steering wheel coupled to the input shaft. The system includes a processor and a memory storing instructions executable by the processor to detect a torque applied to the input shaft and to actuate the torque overlay device to provide torque to the output shaft in a direction opposite the torque applied to the input shaft.
    Type: Grant
    Filed: August 31, 2018
    Date of Patent: June 15, 2021
    Assignee: Ford Global Technologies, LLC
    Inventors: Soungjin Wou, Anand Pradip Naik, Bradley G. Hochrein
  • Patent number: 11034381
    Abstract: Disclosed herein are an apparatus and method of controlling a motor-driven power steering system. The apparatus may include: a sensor configured to detect at least one of a steering angle, an angular speed, and a column torque in the motor-driven power steering system; and a controller configured to determine whether a reverse steering operation has been performed based on the steering angle or the angular speed, and configured to output, when non-reverse steering, a high-frequency compensation gain (a second gain) based on the column torque, as a final compensation gain, and output, when reverse steering, a value obtained by applying an additional compensation gain (a first gain) optimized corresponding to an angular acceleration to the high-frequency compensation gain (the second gain), as the final compensation gain.
    Type: Grant
    Filed: December 3, 2018
    Date of Patent: June 15, 2021
    Inventor: Tae Hong Kim
  • Patent number: 11036223
    Abstract: According to one aspect, systems and techniques for driving mode control may include a steering wheel, a sensor, a display, and a controller. The steering wheel may have a button coupled thereto. The button may have a depressed state. When the button is in the depressed state, the steering wheel may be movable between a first position and a second position. The sensor may detect whether the steering wheel is in the first position or the second position. The display may display a display content. The controller may set the display content for the display or a driving mode of a vehicle, such as an autonomous driving mode or a manual driving mode, based on the detected position of the steering wheel.
    Type: Grant
    Filed: February 8, 2019
    Date of Patent: June 15, 2021
    Assignee: HONDA MOTOR CO., LTD.
    Inventor: Michael M. Tsay
  • Patent number: 11027778
    Abstract: A driving support ECU is configured to set, when a recognition state of a lane marker by a sensor is a one side lane marker recognizable state which is a state where the sensor can recognize only one of a left lane marker and a right lane marker, a steering angle guard value and/or a steering angle speed guard value to a value which is smaller than when the recognition state of the lane marker is a both lane markers recognizable state which is a state where the sensor can recognize both the left lane marker and the right lane marker.
    Type: Grant
    Filed: March 31, 2020
    Date of Patent: June 8, 2021
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Hirohito Ide
  • Patent number: 11024178
    Abstract: A method and system for controlling a vehicle along a curved roadway, including receiving vehicle sensed data relating to vehicle operation and/or vehicle position and orientation; identifying first and second lane markers from the sensed data; determining a reference path for the vehicle using the lane markers; calculating a feed-forward control output based upon the curvature of the lane markers; calculating a lateral position of the vehicle relative to the reference path, and a lateral position error based upon the lateral position; and calculating a vehicle heading angle based upon the vehicle sensed data, and a heading angle error. A feedback control output is calculated using a nonlinear control function based upon the lateral position error, the heading angle error, and the sensed velocity. A steering control output is generated for steering the vehicle, based upon the feed-forward control output and the feedback control output.
    Type: Grant
    Filed: September 25, 2018
    Date of Patent: June 1, 2021
    Assignee: Continental Automotive Systems, Inc.
    Inventor: Javier Alcazar
  • Patent number: 11021188
    Abstract: A system comprises: a radio frequency (RF) resonator comprising a cavity and a tuning element, the cavity having at least one port, and the tuning element having a length inside the cavity; a processor; a spectrum analyzer coupled to the at least one port, the spectrum analyzer to provide to the processor values of a resonance parameter, the resonance parameter indicative of a resonant wavelength of the RF resonator; and an automotive steering mechanism coupled to the tuning element.
    Type: Grant
    Filed: December 29, 2017
    Date of Patent: June 1, 2021
    Assignee: TEXAS INSTRUMENTS INCORPORATED
    Inventors: Siva RaghuRam Prasad Chennupati, Sandeep Tallada
  • Patent number: 10994773
    Abstract: A steering system steers wheels of a vehicle through a shift of a steering shaft. The steering system includes: an electric motor; transmission device that transmits an output of the electric motor to the steering shaft; and a malfunction detector that detects a malfunction of the transmission device based on a rotational angle of the electric motor and a shift distance of the steering shaft.
    Type: Grant
    Filed: December 13, 2018
    Date of Patent: May 4, 2021
    Assignee: Toyota Jidosha Kabushiki Kaisha
    Inventors: Shunsuke Yoshida, Koichi Ito, Ruriko Sakaguchi
  • Patent number: 10988170
    Abstract: A method and system corrects steering of a vehicle upon a brake system malfunction. The brake system has a diagonal split layout. An electronic brake system (EBS) controls operation of the master cylinder. An electronic power steering system (EPS) includes sensors to measure motion and torque of a steering column of the vehicle and includes a motor to provide torque to the steering column. During driver braking when one of the brake circuits has failed, the system calculates a yaw torque value introduced by a driver braking with just one functioning brake circuit. Based on a steer wheel angle and a steer wheel torque obtained from the sensors of the EPS and on the yaw torque value, a steer wheel torque request defining a steer wheel torque/angle needed to counter the yaw torque value is calculated and sent the EPS which operates the motor to compensate for the steering deviation.
    Type: Grant
    Filed: December 11, 2018
    Date of Patent: April 27, 2021
    Assignee: Continental Automotive Systems, Inc.
    Inventors: Bo Ye, Pedro Henriques, Naren Dhansri
  • Patent number: 10988169
    Abstract: A steering device includes a steering wheel, a torsion bar, a spiral cable, a torque sensor, and an electronic control unit. The electronic control unit is configured to compute a rotational angle of the steering wheel. The electronic control unit is configured to compute, as driver torque, a value that includes a sum obtained by adding torsion bar torque, a steering wheel inertial torque compensation value and a spiral cable torque compensation value. The steering wheel inertial torque compensation value is the product of a steering wheel inertial moment and a second-order differential value of the rotational angle of the steering wheel. The spiral cable torque is torque that acts on the steering wheel because of the spiral cable.
    Type: Grant
    Filed: September 30, 2019
    Date of Patent: April 27, 2021
    Assignee: JTEKT CORPORATION
    Inventors: Maxime Moreillon, Tsutomu Tamura, Robert Fuchs
  • Patent number: 10962429
    Abstract: The present disclosure relates to a technology of estimating rack force using force that is transmitted from a steering motor of a Steer-By-Wire (SBW) system to a rack bar. The present disclosure provides a method for estimating rack force of an SBW system, the method calculating restoring force that is applied to a reducer on the basis of the difference between position values of the rack bar that are obtained at the front end and the rear end of the reducer when the position of the rack bar is changed by operation of a steering motor; and calculating rack force by reflecting the restoring force to a motion equation including inertia force of the SBW system.
    Type: Grant
    Filed: November 2, 2018
    Date of Patent: March 30, 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: 10960926
    Abstract: Disclosed herein is a smart parking assist system may include: a forward object sensing unit, a lateral object sensing unit, a rearward object sensing unit, an object distance calculation unit configured to calculate distance from a lateral object and a rearward object, a parking control unit, and a steering angle adjusting unit. The parking control unit recognizes left parallel exiting, right parallel exiting or perpendicular exiting based on a distance from a forward object sensed through the forward object sensing unit, a distance from a rearward object sensed through the rearward object sensing unit, and a distance from a lateral object sensed through the lateral object sensing unit, and controls steering angle adjustment such that the vehicle moves through the recognized left parallel exiting, right parallel exiting or perpendicular exiting. The steering angle adjusting unit adjusts a steering angle according to steering control signal of the parking control unit.
    Type: Grant
    Filed: November 18, 2016
    Date of Patent: March 30, 2021
    Assignee: MANDO CORPORATION
    Inventors: Jae Suk Kim, Hyeong Min Woo
  • Patent number: 10946891
    Abstract: An electric power steering apparatus that suppresses occurrence of an abnormal noise at end hitting without providing uncomfortable feeling of steering for a driver, attenuates impact force, and enables suppression of the abnormal noise without making a turning radius worse. The apparatus includes a viscoelastic model following control section that sets a viscoelastic model as a reference model within a predetermined range in front of a rack end, and outputs a control output to correct a current command value; and a rack end approach judging section that performs judgment of being in the predetermined range in front of the rack end based on steering position information; adjusts the control output based on at least the steering position information, a steering velocity and a steering state, and corrects the current command value by the adjusted control output.
    Type: Grant
    Filed: March 6, 2018
    Date of Patent: March 16, 2021
    Assignee: NSK LTD.
    Inventors: Toru Sakaguchi, Shoya Maruyama
  • Patent number: 10933912
    Abstract: A driving support device may include, but is not limited to: a plurality of sensors is configured to detect state quantities relating to steering of a vehicle; a determiner is configured to determine whether each of the plurality of sensors is normal or abnormal; and a controller controlling execution of driving support functions for supporting a driving operation for the vehicle, in which the controller is configured to determine a control state of an executable driving support function on the basis of a result of the determination of the determiner.
    Type: Grant
    Filed: August 22, 2018
    Date of Patent: March 2, 2021
    Assignee: HONDA MOTOR CO., LTD
    Inventor: Shotaro Odate
  • Patent number: 10922708
    Abstract: A system and method for identifying a potential parking violation for a location includes storing and rating parking violation related data, and notifying a user, by a computing system communicating with a user's computing device, of the potential parking violation and how to avoid receiving the potential parking violation citation. The data is stored in a database and clustered by data types. The user's computing device is used to identify user type, location, and time. A user engagement panel is used to share and rate parking violation related data and notifications, and rewards are allocated to a user for contributing useful data. Highly rated data may be incorporated into the notifications. The data is analyzed to predict or infer a violation. A notification corresponding to a current location and user type are generated when violations are predicted.
    Type: Grant
    Filed: November 25, 2019
    Date of Patent: February 16, 2021
    Assignee: Operr Technologies, Inc.
    Inventor: Kevin Sunlin Wang
  • Patent number: 10899349
    Abstract: A method and system for centering a vehicle in a lane. The system includes an electromagnetic radiation sensor, a motion sensor, a steering system, and an electronic controller. The electronic controller is configured to receive environmental information regarding an environment external to the vehicle from the electromagnetic radiation sensor and to receive a first motion of the vehicle from the motion sensor. The electronic controller is also configured to determine a predicted position of the vehicle based the first motion of the vehicle and the environmental information, store the predicted position, compare the predicted position to a desired position of the vehicle to generate and send a corrective signal to the steering system. The electronic controller is further configured to determine a current position of the vehicle, compare the current position with the predicted position to generate a difference, and calibrate the motion sensor based on the difference.
    Type: Grant
    Filed: April 11, 2018
    Date of Patent: January 26, 2021
    Assignee: Robert Bosch GmbH
    Inventor: Thomas Voorheis
  • Patent number: 10889296
    Abstract: A vehicle traveling control apparatus includes a traveling state detector and a target value setter. The traveling state detector detects a traveling state of an own vehicle when the own vehicle traveling in a curve zone and decelerated to a curve-traveling speed approaches an exit of the curve zone. The curve traveling speed is a speed at which the own vehicle is to travel in the curve zone. The target value setter determines a target value of a vehicle speed control. The vehicle speed control starts to accelerate the own vehicle when the own vehicle approaches the exit of the curve zone. The target value is determined on the basis of the traveling state.
    Type: Grant
    Filed: April 3, 2019
    Date of Patent: January 12, 2021
    Assignee: SUBARU CORPORATION
    Inventor: Masato Mizoguchi
  • Patent number: 10893209
    Abstract: A photographing direction deviation detection method is provided for a deviation detection device. The method includes obtaining a horizontal acceleration of an image capturing device at each of a plurality of time points in a pre-determined time period, and determining a target photographing direction of the image capturing device according to the horizontal acceleration at each of the time points. The method also includes, when a direction angle satisfies a preset condition, determining that an actual photographing direction of the image capturing device deviates, where the direction angle is an angle between the target photographing direction and the actual photographing direction of the image capturing device at an end time point of the pre-determined time period.
    Type: Grant
    Filed: May 15, 2019
    Date of Patent: January 12, 2021
    Assignee: TENCENT TECHNOLOGY (SHENZHEN) COMPANY LIMITED
    Inventors: Dafeng Wang, Jianye Chen
  • Patent number: 10870448
    Abstract: A driving support control system includes a steering device and a control device. The control device performs a target value calculating process of calculating a target value; a first steering angle calculating process of calculating, as a first steering angle, a steering angle for causing a vehicle motion parameter to coincide with the target value; an actual value calculating process of calculating an actual value of the vehicle motion parameter; a second steering angle calculating process of calculating, as a second steering angle, a steering angle for cancelling out an external force based on a difference value between the actual value and the target value; a target steering angle calculating process of calculating, as a target steering angle, a summed value of the first and second steering angles; and a control process of controlling the steering device so that the steering angle coincides with the target steering angle.
    Type: Grant
    Filed: August 21, 2018
    Date of Patent: December 22, 2020
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Yoji Kunihiro, Masateru Amano
  • Patent number: 10843700
    Abstract: A system for operating a vehicle includes a perception sensor, vehicle controls, a controller circuit, and a leveling actuator. The perception sensor is operable to determine a slope of an area within an operable range of a vehicle. The vehicle controls are operable to control movement of the vehicle. The controller circuit is in communication with the perception sensor, the vehicle controls, and the leveling actuator. The controller circuit is configured to determine, using the perception sensor, a first slope of a first site within the area to stop the vehicle, and compare the first slope to a slope threshold. In response to a determination that the first slope is steeper than the slope threshold, the controller circuit is configured to access a digital map that indicates a plurality of slopes coinciding with a plurality of locations at least comprising a second site characterized by a second slope that is not steeper than the slope threshold.
    Type: Grant
    Filed: October 19, 2018
    Date of Patent: November 24, 2020
    Assignee: Aptiv Technologies Limited
    Inventors: Michael H. Laur, Nandita Mangal, Colton Gorman Stearns, Nilesh Gupta
  • Patent number: 10843728
    Abstract: A method for delivering a steering intention of an autonomous driving module to a steering apparatus more accurately by using a reference map is provided. And the method includes steps of: (a) a computing device, if a subject intended steering signal inputted by the autonomous driving module at a current timing is acquired, instructing a signal adjustment module to select, by referring to the reference map, specific reference steering guide values corresponding to the subject intended steering signal; (b) the computing device (i) adjusting the subject intended steering signal by referring to the specific reference steering guide values, in order to generate a subject adjusted steering signal, and (ii) transmitting the subject adjusted steering signal to the steering apparatus, to thereby support the steering apparatus to rotate the subject vehicle by a specific steering angle corresponding to the subject intended steering signal.
    Type: Grant
    Filed: January 10, 2020
    Date of Patent: November 24, 2020
    Assignee: Stradvision, Inc.
    Inventors: Kye-Hyeon Kim, Yongjoong Kim, Hak-Kyoung Kim, Woonhyun Nam, SukHoon Boo, Myungchul Sung, Dongsoo Shin, Donghun Yeo, Wooju Ryu, Myeong-Chun Lee, Hyungsoo Lee, Taewoong Jang, Kyungjoong Jeong, Hongmo Je, Hojin Cho
  • Patent number: 10829149
    Abstract: Model-based control of dynamical systems typically requires accurate domain-specific knowledge and specifications system components. Generally, steering actuator dynamics can be difficult to model due to, for example, an integrated power steering control module, proprietary black box controls, etc. Further, it is difficult to capture the complex interplay of non-linear interactions, such as power steering, tire forces, etc. with sufficient accuracy. To overcome this limitation, a recurring neural network can be employed to model the steering dynamics of an autonomous vehicle. The resulting model can be used to generate feedforward steering commands for embedded control. Such a neural network model can be automatically generated with less domain-specific knowledge, can predict steering dynamics more accurately, and perform comparably to a high-fidelity first principle model when used for controlling the steering system of a self-driving vehicle.
    Type: Grant
    Filed: December 13, 2017
    Date of Patent: November 10, 2020
    Assignee: Zoox, Inc.
    Inventors: Gowtham Garimella, Joseph Funke, Chuang Wang, Marin Kobilarov
  • Patent number: 10822022
    Abstract: A steer-by-wire steering system for motor vehicles may include a primary steering level with a steering transmission device, which is arranged to subject wheels of the motor vehicle to a desired setpoint steering effect, and a secondary steering level with a safety device that provides predefined functions, so that in the case of a malfunction of the primary steering level, steering the wheels remains possible during an emergency mode. The steer-by-wire steering system may also include an authentication system with a communications interface for communications with the safety device. The authentication system may be arranged so that in the case of a successful authorization, the secondary steering level of the steer-by-wire steering system is also available after the emergency mode.
    Type: Grant
    Filed: April 12, 2017
    Date of Patent: November 3, 2020
    Assignees: THYSSENKRUPP PRESTA AG, THYSSENKRUPP AG
    Inventors: Kristof Polmans, Philippe Steck
  • Patent number: 10807635
    Abstract: An electric power steering apparatus of a vector control system that drives and controls a motor by an inverter and applies an assist torque to a steering system of a vehicle, including the first compensation function to perform a dead time (DT) compensation based on respective phase motor terminal voltages and respective phase duty command values, the second compensation function to perform a DT compensation based on steering assist command values, the third compensation function to perform the DT compensation based on dq-axis current command values, and a temperature detecting section to detect temperature of ECU, wherein the correction of the DT compensation is performed based on the temperature, wherein switches of the compensation functions are performed by using a conditional branch due to software and a gradual-changing switch, wherein the dq-axis DT compensation values after the conditional branch and the gradual-changing switch are performed are calculated, and wherein the dq-axis voltage command val
    Type: Grant
    Filed: February 13, 2018
    Date of Patent: October 20, 2020
    Assignee: NSK LTD.
    Inventors: Hiroaki Takase, Ryo Minaki, Hideki Sawada, Takayoshi Sugawara
  • Patent number: 10809783
    Abstract: A power source device includes a switching circuit configured to switch the power supply mode between a first power supply mode, in which power is supplied to a drive circuit for an electric motor by only a main power source, and a second power supply mode, in which power is supplied to the drive circuit utilizing both the main power source and an auxiliary power source. A control device includes: a determination unit that determines whether the operation state of the electric motor is a regeneration state or a power-running state; and a unit configured to limit power to be supplied to the drive circuit when the power supply mode is the second power supply mode and it is determined by the determination unit that the operation state of the electric motor is the regeneration state.
    Type: Grant
    Filed: August 6, 2018
    Date of Patent: October 20, 2020
    Assignee: JTEKT CORPORATION
    Inventor: Fumihiko Sato
  • Patent number: 10808798
    Abstract: A motor control device of a vehicle including an engine and a motor generator, a transmission transmitting an engine torque and/or a motor torque to a wheel, and a damper reducing vibration of a crankshaft of the engine includes: a damper torque calculation unit calculating a damper torque generated by the damper according to fluctuation in engine torque based on a difference between a crank angle and a motor angle; a reverse-phase torque calculation unit calculating a reverse-phase torque with a reverse phase to the damper torque; a correction amount calculation unit calculating a first value calculated at least based on the crank angle and the motor angle; and a motor torque command output unit outputting a motor torque command given to the motor generator based on the reverse-phase torque corrected by the correction amount.
    Type: Grant
    Filed: August 6, 2019
    Date of Patent: October 20, 2020
    Assignee: AISIN SEIKI KABUSHIKI KAISHA
    Inventors: Hirotaka Mizuguchi, Satoshi Kokubo
  • Patent number: 10800264
    Abstract: A vehicle control unit (e.g., a control unit for an automobile) receives feedback from an intelligent voltage/current sensor and a DC/DC controller. The DC/DC controller comprises a first switch for controlling power from a primary power source (e.g., low voltage power supplied from a high voltage battery). The intelligent voltage/current sensor senses power output from the primary power source. The vehicle control unit processes feedback from the intelligent voltage/current sensor and/or the DC/DC controller to determine if a failure has occurred in the primary power source. In response to determining the failure in the primary power source, the vehicle control unit disables the power from the primary power source using a second switch (e.g., a switch in a relay).
    Type: Grant
    Filed: September 15, 2017
    Date of Patent: October 13, 2020
    Assignee: NIO USA, Inc.
    Inventors: Xiaodong Liu, Bo Guo
  • Patent number: 10793190
    Abstract: This assist device for pulling out of a parking spot includes: an assist control unit for performing assist control to change the steering angle of a vehicle to a target steering angle; and a pulling out possibility determination unit for determining whether or not the vehicle can pull out on the basis of the detection result of a forward obstacle detected by forward detection unit. If it is determined that the vehicle can pull out, the assist control unit performs assist control to change the steering angle of the vehicle from the target steering angle to a neutral angle or a neutral vicinity angle.
    Type: Grant
    Filed: August 31, 2016
    Date of Patent: October 6, 2020
    Assignee: Honda Motor Co., Ltd.
    Inventors: Hiroshi Iwami, Katsuhiro Sakai
  • Patent number: 10696323
    Abstract: A steering control device includes a command value setting processing portion configured to set a current command value based on a detection value of steering torque; a feedback processing portion configured to control a voltage applied to a motor so as to control a current flowing through the motor to the current command value, based on an output value of an integral element obtained by using a difference between the current and the current command value; an end determination processing portion configured to determine whether a turning angle of steered wheels has reached a limit angle; and an end-time limit processing portion configured to perform correction to increase a magnitude of the difference, based on a degree of a decrease in a magnitude of a rotational speed of the motor when the end determination processing portion determines that the turning angle has reached the limit angle.
    Type: Grant
    Filed: August 11, 2017
    Date of Patent: June 30, 2020
    Assignees: JTEKT CORPORATION, TOYOTA JIDOSHA KABUSHIKI KAISHA, DENSO CORPORATION
    Inventors: Takahiro Toko, Hiromasa Tamaki, Jun Hasegawa, Shohei Fujita, Kohei Yanai, Tatsuya Suzuki, Tatsuya Miyake, Takashi Suzuki
  • Patent number: 10668941
    Abstract: An electric power steering apparatus compensates a dead time of an inverter without tuning operation, improves distortion of a current waveform and responsibility of a current control, and suppresses sound, vibration and ripple. The apparatus calculates dq-axes steering-assist command values based on at least a steering torque, calculates dq-axes current command values from the dq-axes steering-assist command values, converts the dq-axes current command values into 3-phase duty command values, driving-controls a 3-phase brushless motor by an inverter of a PWM control, and applies an assist torque to a steering system of a vehicle. Dead time reference compensation values are calculated based on a motor rotational angle. Dead time compensation of the inverter adds dead time compensation values in which the dead time reference compensation values are processed by using a gain, a sign and the like, to dq-axes voltage command values or to 3-phase voltage command values.
    Type: Grant
    Filed: July 14, 2017
    Date of Patent: June 2, 2020
    Assignee: NSK LTD.
    Inventors: Hiroaki Takase, Ryo Minaki, Hideki Sawada, Takayoshi Sugawara
  • Patent number: 10668925
    Abstract: In one embodiment, a lane assistant system is configured to provide lane assistance to a driver of an autonomous driving vehicle (ADV) based on the driver's intention determined at the point in time by capturing and analyzing user actions and driving environment surrounding the ADV. By analyzing the user actions and the driving environment surrounding the vehicle, the driver's intention can be determined. The driver's intention can be utilized to interpret whether the driver indeed intends to change lane. Based on the driver's intention, the lane assistance can be provided, either allowing the vehicle change or exit the current lane, or automatically providing warning or correction of the moving direction of the vehicle.
    Type: Grant
    Filed: September 5, 2017
    Date of Patent: June 2, 2020
    Assignee: BAIDU USA LLC
    Inventors: Fan Zhu, Qi Kong
  • Patent number: 10640148
    Abstract: A driving support ECU is configured to, when a specific recognition state occurs where a lane marker recognized changes from a left lane marker to a right lane marker or vice versa under a one side lane marker recognizable state, set a steering angle guard value to a second steering angle guard value smaller than a first steering angle guard value and set a steering angle speed guard value to a second steering angle speed guard value smaller than a first steering angle speed guard value.
    Type: Grant
    Filed: July 5, 2018
    Date of Patent: May 5, 2020
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Hirohito Ide
  • Patent number: 10604181
    Abstract: A control unit of an electric power steering apparatus including a feedforward control section, that inputs input angle information and calculates a first compensation signal compensating the current command value, a feedback control section, that inputs output angle information and calculates a second compensation signal compensating the current command value, and a response control section that adjusts the current command value based on the first compensation signal and the second compensation signal.
    Type: Grant
    Filed: July 20, 2016
    Date of Patent: March 31, 2020
    Assignee: NSK LTD.
    Inventor: Shuji Endo
  • Patent number: 10597071
    Abstract: An electric power steering apparatus of vector control system that calculates steering assist command values of dq axes based on at least a steering torque, calculates dq-axes current command values from the steering assist command values, converts the dq-axes current command values into 3-phase duty command values, driving-controls a 3-phase brushless motor by an inverter of a PWM control, and applies an assist torque to a steering system of a vehicle, wherein the electric power steering apparatus has plural dead time compensating functions of which efficiencies to respectively perform a dead time compensation of the inverter are different each other, and performs the dead time compensation by switching from one of the plural dead time compensating functions to an another dead time compensating function with a predetermined condition.
    Type: Grant
    Filed: August 16, 2017
    Date of Patent: March 24, 2020
    Assignee: NSK LTD.
    Inventors: Hiroaki Takase, Ryo Minaki, Hideki Sawada, Takayoshi Sugawara
  • Patent number: 10597072
    Abstract: [Problem] An object of the present invention is to provide an electric power steering apparatus that achieves manual steering even if steering intervention is performed by a driver during automatic steering, ensures more safety when the driver steers urgently, and enables both assist control and steering angle control.
    Type: Grant
    Filed: November 9, 2017
    Date of Patent: March 24, 2020
    Assignee: NSK LTD.
    Inventors: Takahiro Tsubaki, Tomoyuki Kikuta
  • Patent number: 10597036
    Abstract: The vehicle driving force control device comprises: a behavior control mechanism for reducing a driving force of an engine according to a steering speed; a driving force distribution mechanism for distributing the driving force of the engine to rear road wheels; and an ECU for controlling the mechanisms. The behavior control mechanism reduces the driving force by a target torque reduction amount set based on the steering speed, to thereby generate a deceleration, and the driving force distribution mechanism distributes the driving force to the front road wheels and the rear road wheels based on a distribution rate set for the rear road wheels depending on a traveling state, and the ECU corrects the distribution rate based on the target torque reduction amount during cornering of the vehicle.
    Type: Grant
    Filed: September 11, 2018
    Date of Patent: March 24, 2020
    Assignee: Mazda Motor Corporation
    Inventors: Yasumasa Imamura, Osamu Sunahara, Daisuke Umetsu, Naoki Nobutani