Multi-function rotational rate sensor for use in motor vehicle, has sensor unit whose output signals are applied to two amplifiers that cause signals of sensor unit to be processed and/or evaluated for different applications

The sensor has a physical sensor unit (1.0) whose output signals are applied to two amplifiers (1.1, 1.2) for impedance and amplitude adjustments. The amplifier (1.1) causes the signals of the sensor unit to be ideally processed and/or evaluated for an application (2) e.g. rollover protection mechanism. The amplifier (1.2) causes the signals to be ideally processed and/or evaluated for an application (3) e.g. chassis regulation.

Verfahren zur Ermittlung einer Neigung einer Fahrzeugkarosserie

Die Erfindung betrifft ein Verfahren zur Ermittlung einer Neigung (a) einer Fahrzeugkarosserie (110) eines Fahrzeugs (100) gegenüber einer Straße (200) mittels eines ortsfest in Bezug zu der Fahrzeugkomponente (110) vorgesehenen ersten Messaufnehmers (115), mittels eines zweiten Messaufnehmers (125), welcher einem Rad (120) des Fahrzeugs (100) zugeordnet ist, und mittels eines dritten Messaufnehmers umfassend die folgenden Schritte: – unter Verwendung des ersten Messaufnehmers (115) wird eine Beschleunigung (ax) der Fahrzeugkarosserie (110) in eine Fahrzeuglängsrichtung (x) ermittelt, – unter Verwendung des ersten Messaufnehmers (115) wird eine Beschleunigung (az) des Fahrzeugs (100) in Richtung einer zu der Fahrzeuglängsrichtung orthogonalen Hochachse (z) des Fahrzeugs (100) ermittelt, – unter Verwendung des zweiten Messaufnehmers (125) wird eine Beschleunigung (astr) des Fahrzeugs (100) in Richtung der Straße (200) ermittelt und – unter Verwendung des dritten Messaufnehmers werden auf ...

PROCESS OF DETECTION Of OBSTACLES SINCE a MOTOR VEHICLE

차량 동역학의 특징화를 위한 레이저 다이오드 기반 다중 빔 레이저 스폿 이미징 시스템

... 본 발명은 차량 동역학의 특징화를 위한 레이저 다이오드 기반 다중 빔 레이저 스폿 이미징 시스템에 관한 것이다. 레이저 다이오드 기반, 바람직하게는 VCSEL 기반 레이저 이미징 시스템을 이용하여 차량 동역학을 특징화한다. 하나 이상의 레이저 빔이 노면(road surface)에 향해진다. CCD 또는 CMOS 카메라와 같은 이미징 매트릭스 센서를 포함하는 콤팩트 이미징 시스템은 개별 레이저 스폿들의 위치들 또는 간격들을 측정한다. 차량들의 적재 상태 및 차량들의 피치 및 롤 각은 레이저 스폿 위치들 또는 간격들의 변경을 분석함으로써 특징화될 수 있다.

DRIVING SUPPORT APPARATUS OF VEHICLE AND OPERATING METHOD THEREOF

The present invention relates to a driving support apparatus of a vehicle, to prevent error and failure in image detection by pitch motion, and an operating method thereof. According to one embodiment of the present invention, the driving support apparatus comprises a camera, a radar, a region of interest (ROI) setting unit, an object detection unit, an image correction unit, and a control unit. The radar detects a distance between one or more objects on a front side and a driver′s vehicle in real-time to generate distance information in a frame unit. The camera photographs the front side in real-time to generate a first image in the frame unit. The ROI setting unit converts the distance information of the first frame into a second image and sets an ROI based on the first and second images of the first frame. The object detection unit detects a plurality of objects placed in the ROI. A pitch motion detection unit detects a pitch motion in accordance with the speed and the altitude change ...

TRANSFER OF DATA FROM A MOBILE TERMINAL TO A VEHICLE

The invention relates to a method for improving a function of a vehicle. A mobile device measures the movement and/or position of the vehicle. The data received therefrom is transferred to the vehicle and is used to improve a function of the vehicle. Said mobile device can be, in particular, a smart phone.

BEHAVIOR CONTROL DEVICE FOR VEHICLE

A behavior control device for a vehicle includes: a first actuator configured to apply a vertical control force to a left wheel on a first axle, the first axle being a front axle or a rear axle of the vehicle; a second actuator configured to operate independently of the first actuator and to apply a vertical control force to a right wheel on the first axle; and a controller. The controller is configured to calculate a required value of a behavior parameter representing a behavior of the vehicle, convert the required value of the behavior parameter to a first required force for the first actuator and a second required force for the second actuator, and control the first actuator such that the vertical control force applied to the left wheel on the first axle becomes the first required force.

Verfahren und System zum Steuern des Sperrgrades einer elektronisch steuerbaren Differenzialsperre

Die Erfindung betrifft ein Verfahren zum Steuern des Sperrgrades einer elektronisch steuerbaren Differenzialsperre in einer angetriebenen Achse eines Fahrzeugs. DOLLAR A Erfindungsgemäß zeichnet sich das Verfahren dadurch aus, dass überprüft wird, ob ein Antriebsrad an der angetriebenen Achse durch einen Fahrdynamikregler gesteuert abgebremst wird, und dass ein Sperrgrad von Null in der Differenzialsperre eingestellt wird, wenn festgestellt wird, dass ein Antriebsrad an der angetriebenen Achse durch den Fahrdynamikregler gesteuert abgebremst wird. DOLLAR A Die Erfindung betrifft zudem eine zur Durchführung des Verfahrens geeignete Vorrichtung.

Verfahren zum Kompensieren einer Neigung

Verfahren zum Kompensieren einer Neigung eines Fahrzeugs (2) in zumindest einer Raumrichtung bei einer Steigungsauffahrt und Steigungsabfahrt, – wobei das Fahrzeug (2) einen Aufbau (6) und ein aktives Fahrwerk mit mehreren Rädern (8, 10, 54, 56) aufweist, die sich mit der Fahrbahn (4) in Kontakt befinden, – wobei jedes Rad (8, 10, 54, 56) über einen in seiner Länge verstellbaren Aktor (12, 14, 58, 60) an einem dem Rad (8, 10) zugeordneten Aufhängepunkt (50) mit dem Aufbau (6) verbunden ist, – wobei eine Neigung des Aufbaus (6) in die zumindest eine Raumrichtung ermittelt wird, wobei für mindestens zwei Räder (8, 10, 54, 56) je ein vertikaler Abstand zu dem dem jeweiligen Rad (8, 10, 54, 56) zugeordneten Aufhängepunkt (50) des Aufbaus (6) erfasst wird, – wobei über die mindestens zwei ermittelten Abstände eine Neigung des Fahrwerks in die zumindest eine Raumrichtung durch Transformation des vertikalen Abstands der mindestens zwei Räder (8, 10, 54, 56) zu dem Aufbau (6) mit einer Transformationsmatrixberechnet ...

Vorrichtung zur Erfassung eines Fahrzeuglängsneigungswinkels unter Anwendung eines Beschleunigungssensors und eines Kreiselsensors und Verfahren dazu

Die vorliegende Offenbarung umfasst eine Fahrzeugzustands-Erkennungseinheit, die ausgebildet ist, einen Haltezustand, einen beschleunigenden Zustand und einen Fahrzustand eines Fahrzeugs zu ermitteln, indem ein Beschleunigungswert und ein Winkelgeschwindigkeitswert verwendet werden, die entsprechend von einer Beschleunigungssensoreinheit und einer Kreiselsensoreinheit gemessen werden, eine Haltezustand-Schwerkraftvektor-Berechnungseinheit, die ausgebildet ist, einen Haltezustand-Schwerkraftvektorwert unter Anwendung eines Beschleunigungssensorwertes zu berechnen, der in dem Haltezustand des Fahrzeugs gemessen wird, eine Beschleunigungszustand-Fahrzeugbeschleunigungsvektor-Berechnungseinheit, die ausgebildet ist, einen Fahrzeugbeschleunigungsvektorwert zu berechnen, indem der Haltezustand-Schwerkraftvektorwert von einem Beschleunigungssensorwert subtrahiert wird, der in dem beschleunigenden Zustand des Fahrzeugs gemessen wird, eine Fahrzeuglängsneigungswinkelvektor-Berechnungseinheit, die ...

Control system for a vehicle and method

A vehicle control system for at least one vehicle subsystem of a vehicle, the vehicle control system comprising: a subsystem controller 10 for initiating control of the a vehicle subsystem (such as brakes, suspension, engine management or transmission) in a selected one of a plurality of subsystem control modes 12a-e, each of which corresponds to one or more different driving conditions for the vehicle. For a given control mode at least one control parameter of a vehicle subsystem is set by the controller to a predetermined state corresponding to that control mode. An evaluation means 18 automatically evaluates at least one driving condition indicator 16 to determine the most appropriate or optimum value of at least one control parameter of a vehicle subsystem, the subsystem controller 10 being configured to adjust the state of a control parameter of a vehicle subsystem in accordingly. Preferably the control modes include, grass, gravel, rocks, sand or snow modes. Preferably the control ...

Speed control system for a vehicle and method

Aspects of the present invention relate to a speed control system for a vehicle (10) which is configured to cause the vehicle to operate in accordance with a target speed value. The speed control system comprises one or more controllers (15). The speed control system determines when the vehicle is cresting and causes a reduction in speed of the vehicle when it is determined that the vehicle is cresting. When it is determined that a reduction in vehicle speed is required in response to a determination that the vehicle is cresting, the speed control system limits the value of jerk associated with the reduction in speed, the value of jerk being a rate of change of acceleration of the vehicle, such that the value of jerk does not exceed a jerk limit value.

Method and system for determining the tilt of a vehicle

A tilt sensor (11) and method comprises a first accelerometer (10) for measuring a first acceleration level associated with a first axis of the vehicle, a second accelerometer (12) measures a second acceleration level associated with a second axis of the vehicle that is generally perpendicular to the first axis. A data processor (30) is capable of determining an arcsine-derived tilt based on an arcsine equation and the determined first acceleration level. The data processor (30) is capable of determining an arc-cosine-derived tilt based on an arccosine equation and the determined second acceleration level. The data processor (30) comprises a selector (e.g., 24) for selecting the arcsine-derived tilt as the final tilt of the vehicle if the determined arcsine-derived tilt is lesser than the determined arccosine derived tilt such that the final tilt compensates for vertical acceleration associated with changes in the terrain In the direction of travel of the vehicle.

THE CONTROL DEVICE FOR A VEHICLE LAMP

ＴＯＦ 센서를 이용한 차량 피치각 검출 장치 및 그 방법

... 본 발명은 TOF 센서를 이용한 차량 피치각 검출 장치 및 그 방법에 관한 것으로, 광 빔을 이용하여 차량과 평행한 선을 기준으로 하측 방향의 특정각도 범위내에서 도로 노면을 주사하고, 상기 도로 노면에서 반사된 광 빔에 기초하여 상기 도로 노면까지의 각도별 거리데이터를 산출하는 TOF(Time of Flight) 센서부와, 상기 TOF 센서부로부터 각도별 산출된 거리데이터를 분석하여 도로의 노면정보 특징값을 산출하는 노면정보 특징값 산출부와, 도로의 노면정보 특징값과 차량 피치각을 대응시키는 매핑테이블을 저장하는 저장부와, 상기 노면정보 특징값 산출부로부터 산출된 노면정보 특징값을 제공받아 상기 저장부에 미리 저장된 매핑테이블을 참조하여 상기 노면정보 특징값 산출부로부터 산출된 노면정보 특징값에 대응되는 차량 피치각을 검색한 후, 상기 검색된 차량 피치각을 현재 차량 피치각으로 산출하는 차량 피치각 산출부를 포함함으로써, 차량의 피치각을 구조적으로 경제적인 시스템으로 산출할 수 있으며, 향하는 노면대비 피치각을 보다 정확하게 산출할 수 있는 효과가 있다.

SYSTEM AND METHOD FOR CALCULATING PITCH RATE USING DISTANCE INFORMATION OF RADAR

The present invention discloses a system and a method for calculating a pitch rate using distance information of a radar, capable of calculating height coordinates of a forward vehicle using longitudinal distance information provided by a vehicle radar and a vehicle recognition result of a front camera, and calculating a pitch rate of a subject vehicle generated between frames by using variation of the height coordinates between a previous frame and a current frame. The pitch rate calculation system includes: a radar unit for transmitting a radar signal to a forward vehicle and obtaining a longitudinal distance between the forward vehicle and a subject vehicle using a reflected radar signal; an image acquiring unit for acquiring a forward image by photographing a front side of the subject vehicle with a camera; an image processing unit for processing the obtained forward image to recognize the forward vehicle and storing the recognized forward vehicle image in a unit of frames; and a control ...

긴급 제동 시스템의 제어 장치 및 방법

... 본 발명은 긴급 제동 시스템의 제어 장치 및 방법에 관한 것으로서, 긴급 제동 시스템의 제어 장치는 차량의 전방을 촬영한 전방영상을 수신하는 영상 획득부, 상기 전방영상 내의 차선을 추출하여 상기 차선을 기반으로 소실점(vanishing point)을 생성하는 소실점 생성부, 생성된 상기 소실점의 위치 변화를 기반으로 상기 차량의 피칭(pitching) 발생 여부를 판단하는 피칭 판단부 및 상기 차량에 피칭이 발생한 것으로 판단되면 긴급 제동 장치의 구동을 비활성시키는 정지신호를 출력하는 신호 출력부를 포함한다.

Wheelie controller and control method thereof

A wheelie controller and a control method thereof or preventing a reduction of acceleration that is more than necessary and reducing a shock during a contact of a front wheel with the ground when a wheelie state is terminated. The wheelie controller for controlling a wheelie of a vehicle body computes a target trajectory, which is a target of a parameter and is used to control the wheelie state of the vehicle body, in accordance with the parameter that is related to pitch of the vehicle body and controls an increase/reduction of the pitch of the vehicle body so as to bring the parameter close to the target trajectory.

Vehicle physical quantity estimation apparatus and storage medium having stored thereon computer program relating to the apparatus

A vehicle physical quantity estimating device including: a longitudinal vehicle body velocity estimating unit, estimating a longitudinal vehicle body velocity based on vehicle wheel velocities of each wheel; a longitudinal/lateral acceleration state value deviation computing unit, computing deviations in longitudinal and lateral acceleration state values based on output sensor signals corresponding to detected values of the vehicle motions of triaxial accelerations and triaxial angular velocities output from a sensor, and the estimated longitudinal vehicle body velocity; a low pass filter, letting only signals corresponding to motions that need attention pass through from the longitudinal/lateral acceleration state value deviation computing unit 14 ; and an attitude angle estimating unit, estimating the attitude angle based on the sensor signal(s), and signal(s) representing the deviations in longitudinal and lateral acceleration state values after low pass filter processing. Also, a memory ...

Verfahren zur Bestimmung einer Fahrzeugaufbaubewegung

Die Erfindung betrifft ein Verfahren zur Bestimmung einer Fahrzeugaufbaubewegung eines Fahrzeugaufbaus eines Fahrzeuges (1), das eine an dem Fahrzeug (1) angeordnete Kamera (3) aufweist. Dabei werden mittels der Kamera (3) fortlaufend Kamerabilder von Fahrzeugumgebungen aufgenommen und in zu verschiedenen Zeiten aufgenommenen Kamerabildern jeweils Bildpositionsdaten wenigstens eines statischen Objektes (8) ermittelt. Anhand der zeitlichen Abfolge der ermittelten Bildpositionsdaten wird die Fahrzeugaufbaubewegung bestimmt. Die Erfindung betrifft ferner ein Verfahren zur Bestimmung einer Einfederbewegung wenigstens eines federnd gelagerten Rades (7) eines Fahrzeuges (1), das eine an dem Fahrzeug (1) angeordnete Kamera (3) aufweist.

Optikachsensteuervorrichtung für Scheinwerfer

Optikachsen-Steuervorrichtung für einen Scheinwerfer, wobei die Optikachsen-Steuervorrichtung umfasst:eine Steuereinheit (5), die einen Fahrzeugwinkel unter Verwendung von Beschleunigungssignalen in einer Auf/AbRichtung und in einer Front-Heck-Richtung berechnet und ein Signal erzeugt, um eine optische Achse des Scheinwerfers (5L, 5R) zu betätigen, wobei die Beschleunigungssignale durch einen Beschleunigungssensor (2), der an einem Fahrzeug (7) montiert ist, gemessen werden, und der Fahrzeugwinkel ein Neigungswinkel des Fahrzeugs (7) in Bezug auf eine Straßenoberfläche ist, wobeiin einem Zustand, in welchem das Fahrzeug (7) fährt, die Steuereinheit (15):einen ersten Fahrzeugwinkel aus einem Verhältnis einer Differenz zwischen Beschleunigungssignalen in der Auf/Ab-Richtung, die zu zwei ersten Zeitpunkten gemessen wurden, zu einer Differenz zwischen Beschleunigungssignalen in der Front-Heck-Richtung, die zu zwei ersten Zeitpunkten gemessen wurden, berechnet,einen zweiten Fahrzeugwinkel aus ...

Vehicle speed control system

A vehicle speed control system for a vehicle 100 having a plurality of wheels 111, 112, 114, 115 is provided. The vehicle speed control system is operable to receive an input signal corresponding to a rate of change of an angle of pitch of a leading edge of the vehicle, pitch rate; the system being operable to command a change in an amount of torque applied to at least one of the plurality of wheels in dependence on the pitch rate. The type of terrain that the vehicle is passing over, and an appropriate driving mode being adopted, may also be taken into account.

Control system for a vehicle and method

Aspects of the present invention relate to a speed control system for a vehicle (10) which is configured to cause the vehicle to operate in accordance with a target speed value. The speed control system comprises one or more controllers (15). The speed control system is configured to receive a pitch rate signal indicative of a rate of change of pitch of a vehicle and a driving surface gradient signal indicative of a gradient of a driving surface upon which the vehicle is being driven. The speed control system determines if the vehicle is cresting in dependence on the rate of change of pitch exceeding a predetermined value; and the gradient value of the driving surface being below a predetermined value. The speed control system is configured to limit the speed of the vehicle in dependence on the determination that the vehicle is cresting.

VEHICLE DRIVING CONTROL APPARATUS AND CALIBRATION METHOD PERFORMED BY THE VEHICLE DRIVING CONTROL APPARATUS

A vehicle driving control apparatus for controlling driving of a vehicle based on information received from a plurality of sensors, and a calibration method performed thereby is provided. The vehicle driving control apparatus includes at least one processor configured to determine a driving route to include a predetermined area of road, upon determining that calibration of a first sensor is required, and a memory configured to store values measured by the plurality of sensors while the vehicle is being driven along the driving route, wherein the at least one processor is further configured to calibrate the first sensor based on the stored measured values and information about the predetermined area of road.

IMU FEEDBACK BASED HD MAP SPEED LIMIT ADJUSTMENT SYSTEM

In one embodiment, a set of dynamic vehicle parameters of an ADV associated with a road location are determined based on outputs of an IMU of the ADV measured when the ADV is traveling through the road location. Whether the set of dynamic vehicle parameters satisfy one of a first set of criteria and a second set of criteria is determined. In response to the dynamic vehicle parameters satisfying the first set of criteria for a first predetermined quantity of times or satisfying the second set of criteria for a second predetermined quantity of times, the speed limit associated with the road location is adjusted within a limited range spanning from a minimum speed limit to a maximum speed limit. Operations of the ADV when the ADV subsequently travels through the road location are controlled based at least in part on the adjusted speed limit.

METHOD AND SYSTEM FOR ESTIMATING SURFACE ROUGHNESS OF GROUND FOR AN OFF-ROAD VEHICLE TO CONTROL GROUND SPEED

A method and system for estimating surface roughness of a ground for an off-road vehicle to control ground speed comprises detecting motion data of an off-road vehicle traversing a field or work site during a sampling interval. A pitch sensor is adapted to detect pitch data of the off-road vehicle for the sampling interval to obtain a pitch acceleration. A roll sensor is adapted to detect roll data of the off-road vehicle for the sampling interval to obtain a roll acceleration. An electronic data processor or surface roughness index module determines or estimates a surface roughness index based on the detected motion data, pitch data and roll data for the sampling interval. The surface roughness index can be displayed on the graphical display to a user or operator of the vehicle, or applied to control or execute a ground speed setting of the vehicle.

System and method for adjusting trailer reverse assist parameters based upon estimated trailer position

A method and system for operating a vehicle's trailer reverse assist system is disclosed, including receiving vehicle sensor system data from one or more sensors supported by the vehicle. Based upon the received vehicle sensor data, a trailer pitch angle and a trailer roll angle of a coupled trailer are estimated relative to the vehicle. Surface unevenness of a surface traversed by the vehicle and the trailer is estimated, based upon the estimated trailer pitch angle and the estimated trailer roll angle. One or more parameters of the trailer reverse assist system or of the tow vehicle are adjusted based upon the estimated road surface variance. The trailer reverse assist system of the tow vehicle is subsequently operated using the adjusted one or more parameters.

METHOD AND SYSTEM FOR RECOGNIZING ROAD SURFACE

A road surface recognition method may include extracting first point cloud data in a front road surface region of a vehicle from point cloud data generated by LiDAR of the vehicle, generating a point cloud map by use of a local map and the first point cloud data, determining a predicted driving route of the vehicle based on motion-related data of the vehicle; and generating a road surface height profile of the predicted driving route based on the point cloud map and the predicted driving route.

DEVICE FOR THE DETECTION OF THE ATTITUDE OF MOTOR VEHICLES

Automatische Niveaueinstellvorrichtung für einen Fahrzeugscheinwerfer

Eine automatische Niveaueinstellvorrichtung für einen Fahrzeugscheinwerfer eines Fahrzeugs, die aufweist: einen Scheinwerfer (1), dessen Lichtachse in Relation zu einer Karosserie des Fahrzeugs durch einen Antrieb eines Stellgliedes (10) nach oben oder nach unten geneigt wird; eine Steuereinheit (16) zum Steuern des Antriebs des Stellgliedes (10); einen Geschwindigkeitssensor (12) zum Detektieren einer Geschwindigkeit des Fahrzeugs; einen Höhenwinkelsensor (14) zum Detektieren eines Höhenwinkels des Fahrzeugs; und einen Speicher (20) zum Speichern von Höhenwinkeldaten des Fahrzeugs, die durch den Höhenwinkelsensor (14) detektiert werden, worin die Steuereinheit (16) den Antrieb des Stellgliedes (10) auf der Basis der Höhenwinkeldaten, die durch den Höhenwinkelsensor detektiert werden, derart steuert, dass die Lichtachse des Scheinwerfers (1) eine festgelegte Neigung bezüglich der Straßenoberfläche hat, und worin die Steuereinheit (16) den Antrieb des Stellglieds (10) nur in dem Fall steuert ...

FAHRZEUGBEWEGUNGSZUSTAND-SCHÄTZVORRICHTUNG, FAHRZEUGBEWEGUNGSZUSTAND-SCHÄTZVERFAHREN UND FAHRZEUG

Eine Aufgabe der vorliegenden Erfindung ist, eine Vorrichtung und ein Verfahren zur Fahrzeugbewegungszustandsschätzung zu schaffen, die den Vertikalbewegungszustandsbetrag mit hoher Genauigkeit unter Berücksichtigung einer vertikalen Kraft, mit der die Reibungskraft, die in der Vorne/Hintenrichtung oder der Querrichtung des Rads wirkt, aufgrund der Geometrie der Aufhängung auf die Fahrzeugkarosserie wirkt, schätzen können. Eine Fahrzeugbewegungszustand-Schätzvorrichtung in einem Fahrzeug, in dem ein Rad und eine Fahrzeugkarosserie mittels einer Aufhängung gekoppelt sind, wobei die Fahrzeugbewegungszustand-Schätzvorrichtung Folgendes enthält: eine Schätzeinheit für vertikalbewegungsinduzierte Radgeschwindigkeitskomponenten, die eine Radgeschwindigkeitskomponente, die durch eine vertikale Bewegung des Fahrzeugs verursacht wird, schätzt; eine Vertikalkraftschätzeinheit, die eine vertikale Kraft berechnet, mit der die Reibungskraft des Rads, die durch eine Bewegung des Fahrzeugs verursacht ...

Erkennen einer Freifläche

Verfahren für ein mit Umfeldsensorik ausgestattetes Fahrzeug (101, 201, 301, 401) zur Erzeugung eines die Befahrbarkeit von wenigstens einem von dem Fahrzeug (101, 201, 301, 401) zu befahrenden Streckenabschnitt, welcher wenigstens in Teilen nicht direkt von der Umfeldsensorik erfassbar ist, repräsentierenden Bewertungssignals (504a, 603a), wobei das Bewertungssignal (504a, 603a) abhängig von Umgebungsdaten (511a, 601a), welche mittels der Umfeldsensorik erfasst werden, und weiterhin abhängig von- wenigstens einer Umgebungsinformation (512a, 602a) von einer die Topologie des wenigstens einen Streckenabschnitts repräsentierenden Höhenkarte und/oder- wenigstens einem einen Nick- und/oder Wankwinkel repräsentierenden Bewegungswert (513a, 622a) des Fahrzeugsermittelt wird.

Bestimmung eines Nickwinkels eines Umgebungssensors eines Fahrzeugs

Die Erfindung betrifft ein Verfahren zur Bestimmung eines Nickwinkels (α) eines Umgebungssensors (16) in einem montierten Zustand, insbesondere in einem an einem Fahrzeug (10) montierten Zustand, umfassend die Schritte Bereitstellen eines zweidimensionalen Informationsfeldes (28) mit Sensorinformationen, und Bestimmens des Nickwinkels (α) basierend auf einer vertikalen Winkelposition eines erfassten Fahrzeugs (22) in den Sensorinformationen. Die Erfindung betrifft außerdem ein Fahrassistenzsystem (12) für ein Fahrzeug (10) mit einer Steuerungseinheit (14) und einem Umgebungssensor (16), der ausgeführt ist, ein zweidimensionales Informationsfeld (28) mit Sensorinformationen bereitzustellen, wobei die Steuerungseinheit (14) ausgeführt ist, das obige Verfahren zur Bestimmung eines Nickwinkels (α) eines Umgebungssensors (16) durchzuführen. Die Erfindung betrifft weiterhin ein Fahrzeug (10) mit einem obigen Fahrassistenzsystem (12).

Verfahren zum Ermitteln einer Anhängerinformation und Kraftfahrzeug

Verfahren zum Ermitteln einer einen mit einem Kraftfahrzeug (2) gekuppelten Anhänger (3) betreffenden Anhängerinformation, wobei kraftfahrzeugseitig eine einen oder mehrere Radarsensoren (7) aufweisende Radarsensoreinrichtung (6) verwendet wird, in deren Erfassungsbereich (8) sich der Anhänger (3) zumindest teilweise befindet und welche die Umgebung des Kraftfahrzeugs (2) dreidimensional beschreibende Sensordaten bereitstellt, wobei eine Steuereinrichtung (9) des Kraftfahrzeugs (2) aus den Sensordaten die einen Nickwinkel und/oder einen Rollwinkel des Anhängers (3) beschreibende Anhängerinformation ermittelt, wobei in Abhängigkeit der Anhängerinformation ein Warnhinweis ausgegeben und/oder die Funktion wenigstens eines Fahrzeugsystems (11) des Kraftfahrzeugs (2) modifiziert wird, dadurch gekennzeichnet, dass- in Abhängigkeit des Nickwinkels ein eine zu geringe oder zu hohe Stützlast des Anhängers (3) auf eine Anhängerkupplung (4) des Kraftfahrzeugs (2) anzeigender Warnhinweis und/oder- ...

Vehicle dynamics estimation method and apparatus

Method and system for determining the tilt of a vehicle

A tilt sensor (11) and method comprises a first accelerometer (10) for measuring a first acceleration level associated with a first axis of the vehicle, A second accelerometer (12) measures a second acceleration level associated with a second axis of the vehicle that is generally perpendicular to the first axis. A data processor (30) is capable of determining an arcsine-derived tilt based on an arcsine equation and the determined first acceleration level The data processor (30) is capable of determining an arc-cosine-derived tilt based on an arccosine equation and the determined second acceleration level. The data processor (30) comprises a selector (e.g., 24) for selecting the arcsine-derived tilt as the final tilt of the vehicle if the determined arcsine-derived tilt is lesser than the determined arccosine derived tilt such that the final tilt compensates for vertical acceleration associated with changes in the terrain In the direction of travel of the vehicle.

Method for determining a movement of a vehicle body

The invention relates to a method for determining a movement of a vehicle body of a vehicle (1) which has a camera (3) which is arranged on the vehicle (1). In this context, camera images of the surroundings of the vehicle are continuously recorded by means of the camera (3) and image position data of at least one static object (8) are respectively determined in the camera images which are recorded at different times. The movement of the vehicle body is determined on the basis of the chronological sequence of the determined image position data. In addition, the invention relates to a method for determining a spring compression movement of at least one wheel (7), mounted in a sprung fashion, of a vehicle (1) which has a camera (3) arranged on the vehicle (1).

MOTOR VEHICLE WITH [...] LASER.

L'invention concerne un véhicule automobile (1) comportant un châssis (10), des roues avant et arrière (20, 25) reposant sur le sol, et des moyens de mesure d'un angle de tangage du châssis par rapport au sol. Selon l'invention, les moyens de mesure comportent : - un capteur LIDAR avant (30) qui est fixé à l'avant du châssis et qui est orienté vers l'avant, et - un capteur LIDAR arrière (35) qui est fixé à l'arrière du châssis et qui est orienté vers l'arrière.

MOTOR VEHICLE WITH TELEDETECTEURS LASER.

VEHICLE CONTROL APPARATUS, AND VEHICLE CONTROL METHOD

In a vehicle control apparatus according to the present invention, a damping force control amount for a variable damping force shock absorber is calculated in accordance with an unsprung vertical velocity. When the magnitude of the amplitude of sprung vertical acceleration in a given frequency band is expressed as a frequency scalar quantity, if the frequency scalar quantity of a high-frequency band is greater than the frequency scalar quantity of a low-frequency band, the damping force control amount is decreased for correction.

ORIENTATION ESTIMATION DEVICE AND TRANSPORT EQUIPMENT

An orientation estimation device that estimates the orientation of a moving body, estimates the roll angle of the moving body, and comprises: first and second angular speed detection units; and an orientation estimation unit that estimates, using arithmetic processing, offset errors for at least one among first, second, and third acceleration detection units. The orientation estimation unit includes a plurality of Kalman filters having applied thereto virtual offset amounts for target detection units, same being applied as at least two types of mutually different values. During the current estimation operation, the plurality of Kalman filters each use detection values for each detection unit, the estimated value from the previous estimation operation, and the virtual offset amounts and calculate the likelihood of the estimated value being correct. The orientation estimation unit estimates the roll angle of the moving body by applying a weighting to each Kalman filter estimated value on ...

VEHICLE MOTION STATE ESTIMATION APPARATUS

The present invention addresses the problem of providing a vehicle motion state estimation apparatus that is capable of highly accurately estimating the vertical motion amount of a vehicle on the basis of a wheel speed sensor signal during traveling such as acceleration/deceleration or turning where a longitudinal or horizontal wheel slippage occurs. According to the present invention, a fluctuation component generated due to the displacement of suspension is gleaned by estimating and removing a fluctuation component generated due to wheel slippage on the basis of the fluctuation component of the wheel speed sensor signal, and the vertical motion amount of the vehicle is estimated on the basis of the gleaned fluctuation component generated due to the displacement of the suspension.

Vehicle damping control device

A correction torque command is outputted to a driving/braking torque producing means in accordance with a correction torque to suppress vehicle body spring vibration. When a state of the correction torque amplitude being greater than a predetermined amplitude continues for a given predetermined time, a control apparatus outputs a hunting time correction torque command smaller than a normal time correction toque command. When a state of the correction torque amplitude being smaller than or equal to the predetermined amplitude continues for a first predetermined time, the control apparatus returns the output of correction torque command from the hunting time correction torque command to the normal time correction torque command. The control apparatus continues the output of the hunting time correction torque command if the state in which the correction torque amplitude exceeds the predetermined amplitude continues for the given predetermined time, before the expiration of the first time period ...

SYSTEMS AND METHODS FOR MANAGING ELECTRIC VEHICLE FOLLOWING DISTANCE

Disclosed herein are systems and methods, implementable in an electric vehicle equipped with adaptive cruise control, for maintaining in a subject vehicle substantially constant following distance relative to a preceding target vehicle where there has been a change in slope of a surface on which the subject vehicle is travelling and/or where pitch of the subject vehicle has changed. Systems and methods disclosed herein may maintain such substantially constant following distance by managing torque in the vehicle's electric motor. Such engine torque management effective for maintaining substantially constant following distance relative to a preceding target vehicle, notwithstanding change in driving surface slope and/or change in pitch of the subject vehicle, may be realized utilizing data received into the subject vehicle's vehicle control unit through sensors for detecting surface slope and sensors for detecting vehicle pitch, which may be located on the subject vehicle's frame.

AGRICULTURAL WORKING VEHICLE AND METHOD OF CONTROLLING SAME

Die Erfindung betrifft ein Arbeitsfahrzeug (2) für den Einsatz in der Landwirtschaft, an dessen Fahrzeugfront und/oder Fahrzeugheck ein seitlich ausladendes Arbeitsgerät montierbar ist, mit einem elektronisch steuerbaren Antriebsmotor (4), einer elektronisch steuerbaren Bremsanlage (6), einer Sensoranordnung (8) zur Messung von Drehbewegungen und/oder Drehschwingungen um mindestens eine Bezugsachse des Arbeitsfahrzeugs, und mit einem elektronischen Steuergerät (10) zur Auswertung von Sensordaten der Sensoranordnung (8) sowie zur Ansteuerung des Antriebsmotors (4) und/oder der Bremsanlage (6). Die Sensoranordnung (8) weist jeweils mindestens einen Sensor zur Messung einer Drehbewegung und/oder einer Drehschwingung um die Querachse (40), um die Längsachse (44) und um die Hochachse (48) des Arbeitsfahrzeugs auf. Dem Steuergerät ist ein Datenspeicher (50) zugeordnet, in dem Grenzwerte für eine Drehbewegung und/oder eine Drehschwingung um die Quer-, Längs- und Hochachse abgespeichert sind. Das ...

Verfahren und Vorrichtung zur Erkennung einer den Radradius eines Kraftfahrzeugrades betreffenden Zustandsänderung eines vier Räder aufweisenden zweispurigen Kraftfahrzeugs

Die Erfindung betrifft ein Verfahren zur Erkennung einer den Radradius eines Kraftfahrzeugrades betreffenden Zustandsänderung eines vier Räder aufweisenden zweispurigen Kraftfahrzeugs während der Fahrt,- bei dem das Vorliegen einer Absenkung des Fahrzeugaufbaus an einem Rad und einer Anhebung des Fahrzeugaufbaus am diagonal gegenüberliegenden Rad festgestellt wird und- abhängig davon das Vorliegen der den Radradius betreffenden Zustandsänderung an demjenigen Rad festgestellt wird, bei dem der Fahrzeugaufbau abgesenkt ist.

Vehicle control system and method

System for determining vehicle 10 trailer 12 attachment, receives a signal indicating vehicle pitch, and uses pitch data to automatically determine whether a trailer is attached to the vehicle. Data may comprise calculated pitch frequency of travelling / in motion vehicle. May use look-up table or algorithm to determine attachment. Trailer parameter data, e.g. leverage applied by trailer, may be measured. System may receive inputs from sensors / detection means for yaw rate, longitudinal acceleration, and engine torque, to be used in addition to pitch data to determine trailer attachment while in motion. Trailer attachment signal may be used by an electronic stability program (ESP), which may intervene, e.g. operate braking system / adjust torque application, when certain intervention parameter thresholds are met. A method of use is also included. System may require computer program / code, processor, electronic controller.

Vehicle control system and method

Vehicle state estimation apparatus and method

Vehicle state estimation system having a controller which determines a first vehicle state estimation (e.g. vehicle pitch angle / yaw angle / roll angle) depending on a vehicle dynamics parameter (e.g. vehicle speed / velocity, acceleration, roll, yaw, pitch, wheel slip). The first vehicle state estimation is filtered by a signal filter (e.g. high-pass / low-pass filter), having an operating frequency (e.g. cut-off frequency) set in dependence on a filter coefficient, which depends on a vehicle operating parameter (e.g. brake pressure, wheel slip, acceleration, throttle pedal position). A first filtered vehicle state estimation is generated, and a control signal is output. A second filtered vehicle state estimation (e.g. relative body pitch angle) may be generated depending on a second vehicle dynamics parameter, possibly using a look-up table. First and second vehicle state estimations may be combined. Filter coefficient may depend on a confidence value. Claims are also included to a dynamic ...

Vehicle state estimation apparatus and method

The present disclosure relates to an apparatus (1) for estimation of a vehicle state. The apparatus (1) includes a controller (21) configured to determine a first estimation of the vehicle state in dependence on at least one first vehicle dynamics parameter. A filter coefficient (F ...

Device and method for detecting driving status and vehicle

The invention discloses a device and a method for detecting driving status and a vehicle. The method for detecting the driving status includes: detecting three axis accelerated speed along three axial directions of the vehicle, which are vertical to one another; sampling information of the three axis accelerated speed, and sending out indicator signals corresponding to the sampled information; sending out a hint according to the indicator signals. The device for detecting the driving status comprises a three axis accelerated speed detection module used to detect the information of the three axis accelerated speed along the three axial directions of the vehicle, which are vertical to one another, a prompt module used to transmit hint information to the outside world and a control module used to send the indicator signals to the prompt module according to the sampled information of the three axis accelerated speed. The vehicle comprises the device for detecting the driving status. The device ...

Automobile and the control method

MOVING BODY

The purpose of the present invention is to provide a moving body capable of stabilizing the posture thereof when a situation occurs in which a wheel is lifted while turning. To achieve this purpose, the moving body is characterized by comprising: an upper body; two wheels connected through arms below the upper body and disposed to the front and rear in a direction of travel; a wheel driving motor for driving each of the two wheels; a steering driving motor for controlling the steering angle of each of the two wheels; a posture detecting unit for detecting posture information pertaining to the upper body; and a calculator for determining which wheel of the two wheels has bounced when at least one of the two wheels is detected to be freely revolving during turning operation, obtaining the time remaining until the vehicle will be planted on the ground, and controlling the wheel driving motor and the steering driving motor according to the calculated time in order to compensate for effects ...

METHOD FOR MOTION ESTIMATION IN A VEHICLE, CORRESPONDING DEVICE AND COMPUTER PROGRAM PRODUCT

A system includes inertial sensors and a GPS. The system generates a first estimated vehicle velocity based on motion data and positioning data, generates a second estimated vehicle velocity based on the processed motion data and the first estimated vehicle velocity, and generates fused datasets indicative of position, velocity and attitude of a vehicle based on the processed motion data, the positioning data and the second estimated vehicle velocity. The generating the second estimated vehicle velocity includes: filtering the motion data, transforming the filtered motion data in a frequency domain based on the first estimated vehicle velocity, generating spectral power density signals, generating an estimated wheel angular frequency and an estimated wheel size based on the spectral power density signals, and generating the second estimated vehicle velocity as a function of the estimated wheel angular frequency and the estimated wheel size. 1. A method , comprising:generating processed motion data and a first estimated vehicle velocity based on motion data generated by inertial sensing circuitry of a wheeled vehicle and positioning data generated by global positioning circuitry of the wheeled vehicle;generating a second estimated vehicle velocity based on the processed motion data and the first estimated vehicle velocity; and filtering the processed motion data, generating filtered motion data;', 'transforming the filtered motion data in a frequency domain based on the first estimated vehicle velocity, generating spectral power density signals;', 'generating an estimated wheel angular frequency and an estimated wheel size based on the spectral power density signals; and', 'generating the second estimated vehicle velocity as a function of the estimated wheel angular frequency and the estimated wheel size., 'generating fused datasets indicative of position, velocity and attitude of the vehicle based on the processed motion data, the positioning data and the second ...

Pitch angle calculation device and optical axis adjusting device for vehicles

A pitch angle calculation device includes a first acceleration acquisition unit that acquires an acceleration Gx in a longitudinal axis (x) direction of a vehicle; a second acceleration acquisition unit that acquires an acceleration Gy in a vertical axis (y) direction of a vehicle; a third acceleration acquisition unit that acquires an acceleration α in an advancement direction of a vehicle; and a pitch angle calculation unit that calculates a pitch angle β formed between the longitudinal axis direction and the vertical axis direction by using the acceleration Gx, the acceleration Gy and the acceleration α.

Verfahren und Steuergerät zur Ermittlung einer Neigung eines Fahrzeugs in Fahrtrichtung

Verfahren zur Ermittlung einer Neigung eines Fahrzeugs in Fahrtrichtung, wobei eine Neigung des Fahrzeugs in Fahrtrichtung auf Basis von Daten über eine Längsbeschleunigung des Fahrzeugs berechnet wird, und wobei die berechnete Neigung abhängig von einem Umgebungsluftdruck und/oder einer Änderung des Umgebungsluftdrucks plausibilisiert wird.

Verfahren zur Auswertung eines Drehratensignals eines Multifunktionsdrehratensensors

Verfahren zur Auswertung eines Drehratensignals eines Multifunktionsdrehratensensors 1, dadurch gekennzeichnet, dass das Drehratensignal des Sensorelements 1.0, das sich auf eine Drehachse bezieht, in zwei Teilsignale aufgeteilt wird und zwei Verstärkern 1.1, 1.2 zugeleitet wird und die Verstärker das Drehratensignal derart aufbereiten, dass die Sensorausgangssignale 1.1.1, 1.2.1 an Anforderungen nachchgeschalteter Applikationen 2, 3 angepasst werden, wobei das Signal des ersten Verstärkers einer ersten Applikation 2, die einen ersten Erfassungs- und/oder Darstellungsdynamikbereich hat, zugeleitet wird, und das Signal des zweiten Verstärkers einer zweiten Applikation 3, die einen zweiten Erfassungs- und/oder Darstellungsdynamikbereich hat, zugeleitet wird, wobei sich die Erfassungs- und/oder Darstellungsdynamikbereiche mindestens um den Faktor zwei differenzieren.

Method and apparatus of triggering an active device of a vehicle

Vehicle control system and vehicle control method

This vehicle control system is provided with: an engine posture control amount calculation unit (332) (a power source posture control means) that calculates an engine posture control amount for an engine (1) of a vehicle as a first posture control device, which uses the vehicle body posture as a target posture, and outputs the engine posture control amount to the engine (1); a second posture control means that calculates a second posture control amount for a second posture control device, which uses the vehicle body posture as a target posture, and outputs the second posture control amount to the second posture control device; a traveling state estimation unit (32) (a state quantity detection means) that detects a state quantity representing the vehicle body posture; and a skyhook control unit (33a) (a posture control means) that controls the vehicle body posture by means of the engine posture control amount calculation unit (332) when the absolute value of the amplitude of the detected ...

Vehicle state estimation device, control device, suspension control device, and suspension, and device of suspension control device

With active attitude adjusting capacity distributed independent driving vehicle control system

Vehicle motion state estimation device

METHOD AND DEVICE FOR DETERMINING AN AUTONOMOUS CONTROL SYSTEM OF A MOTOR VEHICLE.

VEHICLE ATTITUDE CONTROL DEVICE AND VEHICLE

This vehicle attitude control device is mounted to a vehicle having an actuator for generating a roll moment, and comprises a roll moment computing unit (24) and an actuator control means (25). The roll moment computing unit (24) computes a roll moment command value for controlling the actuator such that roll motion is generated to work together with yaw motion in a vehicle (1) during turning. The roll moment computing unit (24) calculates, on the basis of the vehicle speed and lateral slip angular velocity of the vehicle, a roll moment command value to be output. The actuator control means (25) uses the computed roll moment command value to control the actuator.

AUTONOMOUS METHOD AND DEVICE FOR DETERMINING A GLOBAL INCLINATION OF A MOTOR VEHICLE

ATTITUDE ESTIMATION APPARATUS AND TRANSPORTATION MACHINE

METHOD AND SYSTEM FOR CONTROLLING A VEHICLE'S ELECTRIC MOTOR OUTPUT

A method for controlling an electric vehicle's electric motor output, said method comprising: obtaining electric vehicle data; obtaining user-related data; receiving input from at least one sensor; and utilizing a controller to evaluate said electric vehicle data, said user-related data, and said input from said at least one sensor, and automatically tailor an output power curve of an electronic motor to improve performance for said electric vehicle for a given rate of conservation of a battery provided source of power.

Vehicle state estimation apparatus and method

Method and device for calibrating a vehicle camera of a vehicle

A method for self-calibrating an onboard vehicle camera 105 is described. Two subsequent images (305, 310, Fig. 3) are taken with the camera moving 210 while the automobile 100 is stationary, and said images are used to calibrate at least one calibration parameter (315, Fig. 3). Flow vectors (513, Fig. 5) might be used for calibration, which might be compared with reference vectors. The flow vectors may be determined by using multiple feature points from different images. The travel path 200 of the camera may be reconstructed via the control signal of an actuator motor. A car motion signal may be used to confirm that the vehicle is stationary. The camera trajectory may be related to the displacement of a camera mounted on a car door or a tailgate being opened or closed. Said motion may also derive from an exterior mirror being folded in or out of a door. The calibration procedure may be interrupted if an inclination sensor recognises that the automobile is inclined.

SELF-PROPELLED VEHICLES WITH PITCH CONTROL

Self-propelled vehicles that adjust the pitch of the vehicle during use are disclosed. The vehicle may include a suspension system position sensor and a control unit that adjusts a suspension element based at least in part on a signal from the suspension system position sensor. In some embodiments, the self-propelled vehicle may include an inclinometer for measuring the pitch of the terrain.

Obstacle detecting method for motor vehicle, involves temporally identifying closed contour blobs among averaged interest zones, and comparing identified blobs to obstacles for considered motor vehicle

La présente invention se rapporte à un procédé de détection d'obstacles depuis un véhicule automobile. Dans l'invention, le procédé de détection est essentiellement caractérisé par les différentes étapes consistant à : - sélectionner (103) des points d'intérêt sur une première image acquise ; - calculer (104), par rapport à une image précédant la première image acquise, un vecteur vitesse associé à chaque point d'intérêt sélectionné ; - conserver (106) uniquement les vecteurs vitesses orientés vers le centre de l'image suivante ; - magnifier (107) chaque zone de la première image acquise correspondant à l'origine des vecteurs vitesses conservés pour constituer des zones d'intérêt ; - réaliser une moyenne temporelle (108), sur plusieurs images consécutives suivantes, des zones d'intérêt constituées ; - identifier (109) des blobs à contour fermés parmi les zones d'intérêt constituées moyennées temporellement ; - assimiler (111) les blobs identifiés à des obstacles pour le véhicule considéré ...

A method and a system for controlling acceleration of a cab of a vehicle in z-direction during a gear shift

The invention relates to a method of controlling acceleration (a) of a cab (2) of a vehicle (1) in z-direction, which acceleration (a) in z-direction emanates from the output torque (T) of a propulsion source (4) of the vehicle (1); the propulsion source (4) is provided with an output shaft (22), which is connected to at least one driving wheel of the vehicle (1). The method comprises the step of: a) regulating the output torque(T) of the propulsion source (4) in response to a difference (e) between a reference acceleration (a) in z-direction and a measured acceleration (a) in z-direction for reducing the acceleration (a) of the cab (2) in z-direction. The invention also relates to a system (7), a computer program, a computer-readable medium and a vehicle (1).

VEHICLE STATE ESTIMATION APPARATUS AND METHOD

The present disclosure relates to apparatus (1) for estimation of a vehicle state. The apparatus (1) includes a controller (21) configured to determine a first estimation of the vehicle state in dependence on at least one first vehicle dynamics parameter. A filter coefficient (Fc) is calculated based on a first vehicle operating parameter. An operating frequency of a first signal filter (35) is set in dependence on the determined filter coefficient (Fc) and the first estimation is filtered to generate a first filtered estimation of the vehicle state. The present disclosure also relates to a vehicle; to a dynamic filtering apparatus; to a method of estimating a vehicle state; and to a method of performing dynamic filtering.

Vehicle lamp controller, vehicle lamp system, and vehicle lamp control method

A vehicle lamp controller, a vehicle lamp system, and a vehicle lamp control method are provided. The vehicle lamp system includes an acceleration sensor, a vehicle lamp, and the vehicle controller. The controller includes a receiver configured to receive an acceleration information detected by the acceleration sensor, a control unit configured to derive a vehicle longitudinal direction acceleration and a vehicle vertical direction acceleration from the acceleration information, and to generate a control signal for instructing an adjustment of an optical axis of the vehicle lamp, based on a variation in a ratio between a temporal change amount of the vehicle longitudinal direction acceleration and a temporal change amount of the vehicle vertical direction acceleration during at least one of an acceleration and a deceleration of a vehicle, and a transmitter configured to transmit the control signal to an optical axis adjusting portion of the vehicle lamp.

Traveling support device

A traveling support device includes: a comparing unit that compares a detection result based on an output value output from a sensor for detecting a state of a vehicle with a reference value stored in advance; and a controller that, when comparison by the comparing unit determines that the detection result is equal to or more than the reference value, switches a first control mode to a second control mode different from the first control mode with respect to at least one of a display control capable of switching display of information on the vehicle, a vehicle height control capable of switching a vehicle height with a vehicle height adjustment device of the vehicle, and a vehicle speed control capable of switching a speed limit value with a vehicle control device of the vehicle.

Method for pitch angle calibration based on 2D bounding box and its 3D distance for autonomous driving vehicles (ADVs)

In one embodiment, a system of an ADV perceives an object in a perspective view of the ADV using a plurality of sensors mounted on the ADV including capturing an image of the object. The system determines a two-dimensional (2D) bounding box for the object and a perceived distance from the ADV to the object. The system searches, within an image space of the image, a dynamic pitch angle based on the 2D bounding box and the perceived distance from the ADV to the object by modifying at least a previous extrinsic calibration value to calculate a distance. The system determines a distance from the ADV to a point on a ground plane of the perspective view of the ADV based on the determined dynamic pitch angle. The system generates a driving trajectory based on the determined distance for the point on the ground plane to control the ADV.

Attitude estimation apparatus and transportation machine

An attitude estimation apparatus includes an attitude estimation unit for estimating the roll angle and pitch angle of a movable body and for using a calculation process to estimate an offset error for at least one of first, second and third angular velocity detection units and first, second and third acceleration detection units. The attitude estimation unit estimates the roll angle and pitch angle of the movable body and the offset error for at least one detection unit based on detected values from the first, second and third angular velocity detection units, detected values from the first, second and third acceleration detection units, a detected value from the velocity information detection unit, an estimated value of the roll angle from a previous estimation operation, an estimated value of the pitch angle from the previous estimation operation, and an estimated value of the offset error from the previous estimation operation.

SYSTEM AND METHOD FOR ADJUSTING TRAILER REVERSE ASSIST PARAMETERS BASED UPON ESTIMATED TRAILER POSITION

A method and system for operating a vehicle's trailer reverse assist system is disclosed, including receiving vehicle sensor system data from one or more sensors supported by the vehicle. Based upon the received vehicle sensor data, a trailer pitch angle and a trailer roll angle of a coupled trailer are estimated relative to the vehicle. Surface unevenness of a surface traversed by the vehicle and the trailer is estimated, based upon the estimated trailer pitch angle and the estimated trailer roll angle. One or more parameters of the trailer reverse assist system or of the tow vehicle are adjusted based upon the estimated road surface variance. The trailer reverse assist system of the tow vehicle is subsequently operated using the adjusted one or more parameters.

ORIENTATION ESTIMATION DEVICE AND TRANSPORT EQUIPMENT

An attitude estimation apparatus for estimating the attitude of a movable body includes an attitude estimation unit for estimating the roll angle of the movable body and for using a calculation process to estimate the offset error for at least one of first and second angular velocity detection units and first, second and third acceleration detection units. The attitude estimation unit includes a plurality of Kalman filters that each receives at least two or more imaginary offset quantities for a detection unit of interest, the imaginary offset quantities being different from each other. In the current estimation operation, each of the Kalman filters uses detected values from the detection units, estimated values from the previous estimation operation and the imaginary offset quantities to calculate a likelihood, which indicates how reliable the estimated values are. The attitude estimation unit weights the estimated values from the Kalman filters based on the likelihood to estimate the ...

A method/system of determining a wade depth of a vehicle

A method/system of determining a wade depth of a vehicle, the method/system comprises determining an attitude of the vehicle using an attitude sensor, which may include, for example, a gyroscope and/or an accelerometer, and measuring a first height dsensed of a surface of water relative to a first reference point on the vehicle using a senor receiving a reflected signal. The wade depth is determined based on the attitude of the vehicle and the first height dsensed. In another embodiment a travel position of a vehicle suspension is determined and this is used with the first height of dsensed to determine the wade depth. Wade depth determination may comprise calculating a first vertical offset at a first position displaced longitudinally and/or laterally from the first reference point and adding the vertical offset to the measured height of water at the first reference point. The first position may be located at a front and/or a rear of the vehicle and a second reference point is used to ...

Vehicle speed control system

Vehicle dynamics estimation method and apparatus

A state estimation system (1, fig 1), for determining an estimated vehicle dynamics state EVD, comprises a processor (8) which receives a plurality of wheel speed input signals and a plurality of vehicle dynamics input signals. A measurement noise NS1 of the wheel speed input signals and/or the vehicle dynamics input signals is determined. A vehicle dynamics state PVD is predicted in dependence on the wheel speed input signals and/or the vehicle dynamics input signals. The estimated vehicle dynamics state EVD is determined in dependence on the predicted vehicle dynamics state PVD. The determination of the estimated vehicle dynamics state EVD includes applying a filter, e.g. Kalman filter 21, to the predicted vehicle dynamics state PVD. The filter 21 is controlled in dependence on the determined measurement noise NS1. The present disclosure also relates to a vehicle (1) incorporating the state estimation system (1). The present disclosure also relates to a method of estimating vehicle dynamics ...

Method and system for determining the tilt of a vehicle

A tilt sensor (11) and method comprises a first accelerometer (10) for measuring a first acceleration level associated with a first axis of the vehicle, A second accelerometer (12) measures a second acceleration level associated with a second axis of the vehicle that is generally perpendicular to the first axis. A data processor (30) is capable of determining an arcsine-derived tilt based on an arcsine equation and the determined first acceleration level The data processor (30) is capable of determining an arc-cosine-derived tilt based on an arccosine equation and the determined second acceleration level. The data processor (30) comprises a selector (e.g., 24) for selecting the arcsine-derived tilt as the final tilt of the vehicle if the determined arcsine-derived tilt is lesser than the determined arccosine derived tilt such that the final tilt compensates for vertical acceleration associated with changes in the terrain In the direction of travel of the vehicle.

Vehicle roll center position measuring device and calculating method of vehicle roll center position

The invention relates to a vehicle roll center position measuring device. The invention provides the vehicle roll center position measuring device, aiming at the deficiencies in vehicle roll and rollover studies at present. The vehicle roll center position measuring device comprises a left rear wheel vertical load sensor, a left rear suspension, a centroid sensing unit, a calculating unit, a right rear suspension, a right rear wheel vertical load sensor, a vehicle speed sensor, a left front suspension, a left front wheel vertical load sensor, a right front wheel vertical load sensor, a right front suspension and the like. The invention also relates to a calculating method of a vehicle roll center position. With the adoption of the vehicle roll center position measuring device and the calculating method, as the positions of roll centers when a vehicle rolls and is in side tumbling can be calculated according to the vertical load of each wheel, the yaw angle speed of the vehicle, the roll ...

Apparatus for supporting drive of mobile object based on target locus thereof

SELF-CONTAINED METHOD AND DEVICE FOR DETERMINING THE ATTITUDE OF A MOTOR VEHICLE.

VEHICLE STATE ESTIMATION APPARATUS AND METHOD

The present disclosure relates to an apparatus (1) for estimation of a vehicle state. The apparatus (1) includes a controller (21) configured to determine a first estimation of the vehicle state in dependence on at least one first vehicle dynamics parameter. A filter coefficient (Fc) is calculated based on a first vehicle operating parameter. An operating frequency of a first signal filter (35) is set in dependence on the determined filter coefficient (Fc) and the first estimation is filtered to generate a first filtered estimation of the vehicle state. The present disclosure also relates to a vehicle; and to a method of estimating a vehicle state.

DEVICES AND METHODS FOR A SENSOR PLATFORM OF A VEHICLE

VEHICLE SYSTEMS CONTROL FOR IMPROVING STABILITY

Vehicle control system

A vehicle control system estimates the vibration states of tires by using a vehicle vibration model that is separated into a vehicle body vibration model, a chassis vibration model, and a tire vibration model with high precision. The tire vibration model in the vehicle vibration model is formed of a rear wheel tire vibration model, a front wheel tire vibration model, and a virtual coupling element vibration model that virtually couples the rear wheel tire vibration model and the front wheel tire vibration model. Influence of the vibration state that is conducted between the front wheel tires and the rear wheel tires is considered while the tire vibration model and the chassis vibration model are separated from each other, thereby making it possible to estimate the vibrations that occur in the front wheel tires and the rear wheel tires.

Method for determining a movement of a vehicle body

A method for determining a vehicle body movement of a vehicle body of a vehicle (1) using a camera (3) arranged on the vehicle (1). Camera images of vehicle surroundings are thereby continuously recorded using the camera (3) and image position data of at least one static object (8) are determined by a processor in camera images recorded at different times. Using the time-based sequence of the determined image position data the vehicle body movement is determined by the processor. Further, a method for determining a spring compression movement of at least one wheel (7), mounted in a sprung fashion, of a vehicle (1) which comprises a camera (3) arranged on the vehicle (1).

Apparatus and method for sensing tilt of an object

A tilt-sensing apparatus for a vehicle, comprising: a controller; and a motion tracker, wherein the controller is configured for communication with the motion tracker and a display, wherein the motion tracker is configured for attachment to a vehicle at a position remote to the display and comprises a first tilt sensor configured to measure a first tilt angle with respect to a first axis and a second tilt sensor configured to measure a second tilt angle with respect to a second axis, wherein the controller is configured to receive data via an output of the motion tracker, said data comprising the first tilt angle and the second tilt angle, and communicate an instruction to the display to display a graphical representation indicative of the first tilt angle and the second tilt angle, and associated method.

VEHICLE PERFORMANCE EVALUATION METHOD, DEVICE AND TERMINAL

A vehicle performance evaluation method, device and terminal are provided. The method includes: acquiring a labeled ADE score of an ADE item within a time period in which the ADE item occurs, and recording labeled data of an ADE index for indicating a vehicle state; acquiring a correlation between the ADE item and the vehicle state, according to the labeled ADE score and the labeled data of the ADE index; acquiring data of a target ADE index within a preset time period, and acquiring a target ADE score according to the data of the target ADE index and a correlation between the ADE item and the vehicle state; and acquiring a vehicle performance evaluation result according to the target ADE score. The passenger participation is not necessary, costs can be reduced and a vehicle evaluation efficiency can be improved. 1. A vehicle performance evaluation method , implemented by circuits for implementing functions , comprising:acquiring a labeled auto driving experience (ADE) score of an ADE item within a time period in which the ADE item occurs, and recording labeled data of an ADE index for indicating a vehicle state;acquiring a correlation between the ADE item and the vehicle state, according to the labeled ADE score and the labeled data of the ADE index;acquiring data of an ADE index, as a target ADE index, within a preset time period, and acquiring an ADE score, as a target ADE score, according to the data of the target ADE index and a correlation between the ADE item and the vehicle state; andacquiring a vehicle performance evaluation result according to the target ADE score;wherein the ADE item comprises a forward lean, a yaw and a pitch; and after acquiring the labeled ADE score of the ADE item within the time period in which the ADE item occurs, the method further comprises:acquiring a plurality of forward lean scores, a plurality of yaw scores and a plurality of pitch scores within the time period; andcalculating an average of the plurality of forward lean scores ...

Kraftfahrzeug mit einem steuerbaren Fahrwerk und Verfahren zum Betreiben eines Kraftfahrzeugs

Kraftfahrzeug (10) mit einem steuerbaren Fahrwerk umfassend mindestens einen Aktor (12), wobei das Kraftfahrzeug (10) weiterhin eine Steuereinrichtung (16) zum Steuern des Fahrwerks aufweist, die dazu ausgebildet ist, das steuerbare Fahrwerk derart anzusteuern, dass durch den mindestens einen Aktor (12) eine vorbestimmte Bewegung des Kraftfahrzeugs (10) erzeugt wird, dadurch gekennzeichnet, dass das Kraftfahrzeug (10) ein Notfall-Assistenzsystem (18) aufweist, das dazu ausgelegt ist, eine nach zumindest einem vorbestimmten Kriterium klassifizierte Gefahrensituation zu erfassen und automatisch eine Warnblinkereinrichtung (20) des Kraftfahrzeugs (10) zu aktivieren, wobei die Steuereinrichtung (16) dazu ausgelegt ist, in Abhängigkeit von der Erfassung der Gefahrensituation und in Abhängigkeit von der automatischen Aktivierung der Warnblinkereinrichtung (20) automatisch ein Warnsignal an eine Umgebung des Kraftfahrzeugs auszugeben und zum Ausgeben des Warnsignals das steuerbare Fahrwerk zur ...

Fahrdynamik-Steuerungssystem für ein zweispuriges Kraftfahrzeug

Fahrdynamik-Steuerungssystem für ein zweispuriges Kraftfahrzeug, dessen dynamisches Verhalten bezüglich einer Vorgabe des Fahrers in zumindest zwei Freiheitsgraden durch eine der Zahl der Freiheitsgrade entsprechende Anzahl von modellgestützt angesteuerten Aktuatoren, welche das Verhalten des Fahrzeugs hinsichtlich dieser Freiheitsgrade bestimmen, veränderbar ist, dadurch gekennzeichnet, dass in der Ansteuerung der Aktuatoren für die unterschiedlich einstellbaren Freiheitsgrade die Übertragungsfunktionen einer modellgestützten Vorsteuerung unabhängig voneinander auf unterschiedliche Werte eingestellt werden, wobei die Übertragungsfunktionen einen das Stationärverhalten des Fahrzeugs beschreibenden Faktor und einen das dynamische Instationärverhalten beschreibenden Faktor enthalten.

VEHICLE CONTROL SYSTEM AND VEHICLE CONTROL METHOD

This vehicle control system is provided with: a plurality of actuators that perform sprung damping control; a wheel speed sensor that detects a wheel speed; and a plurality of actuator posture control means for controlling each actuator in such a manner that wheel speed changes detected by the wheel speed sensor achieves wheel speed changes corresponding to a target sprung state.

BRAKE CONTROL DEVICE FOR VEHICLE

A brake control device is applied to a brake device that controls a front-wheel braking force and a rear-wheel braking force. The brake control device includes a ratio calculation circuit that calculates a target front and rear braking force distribution ratio based on a target pitch angle, and a brake control circuit that performs a stability control by operating the brake device based on the target front and rear braking force distribution ratio during braking.

Laser diode based self-mixing sensor for a vehicle electronic stability program

The invention is related to laser diode based self-mixing laser sensors for simplified vehicle stability control. Vehicle's side slip angle, front and rear tire slip angles, yaw rate and lateral acceleration rate are derived explicitly from self-mixing laser sensors. Three criteria based on yaw rate, turn radius and tire slip angle analysis are employed to detect the occurrence of understeer or oversteer, which enables simplified vehicle electronic stability program.

Method and system for determining a reference yaw rate for a vehicle

The method and system described herein may be used to determine a reference yaw rate (γ ref ) for a vehicle chassis control system, and may do so across a wide spectrum of vehicle operating conditions. These conditions may include, for example, when the vehicle is being driven: at low and high vehicle speeds, in forward and reverse directions, with front-, rear- and all-wheel steering systems, according to subtle and aggressive driving maneuvers, and on roads with flat or banked surfaces, to cite a few of the potential scenarios. According to an exemplary embodiment, the method and system take into account certain tire dynamics, such as the relaxation length (λ) of the tires, when estimating the reference yaw rate (γ ref ). Once an accurate reference yaw rate (γ ref ) is determined, the vehicle chassis control system may use this estimate to control one or more actuators that can influence the yaw rate of the vehicle. Some non-limiting examples of systems that may include such actuators are chassis systems, brake systems, steering systems, suspension systems, safety systems, stability control systems, traction control systems, torque control systems, or any other system that can affect the vehicle yaw rate. It is also possible for the method and system described herein to determine a reference lateral velocity (V yref ) for the vehicle as well.

Device for estimating turning characteristic of vehicle

The device calculates a transient yaw rate of the vehicle on the basis of a standard yaw rate of the vehicle using an estimated value of a time constant coefficient of steering response, and adjusts the estimated value of a time constant coefficient of steering response on the basis of the relationship between a transient yaw rate of the vehicle and an actual yaw rate of the vehicle so that a transient yaw rate of the vehicle approaches an actual yaw rate of the vehicle.

Device for estimating turning characteristic of vehicle

A device for estimating turning characteristic of a vehicle estimates a stability factor indicating the turning characteristic of a vehicle. The device for estimating the turning characteristic calculates the transient yaw rate of a vehicle involved in the relationship of a primary delay relative to the steady-state standard yaw rate of a vehicle, and calculates the deviation between the transient yaw rate of the vehicle and the actual yaw rate of the vehicle. The device for estimating the turning characteristic corrects the estimated value of the stability factor so as to approach the true stability factor by correcting the initial value of the stability factor supplied to the calculation of the standard yaw rate of the vehicle on the basis of the relationship between the deviation of the yaw rate and the lateral acceleration of the vehicle so that the transient yaw rate of the vehicle approaches the true yaw rate.

Vehicle systems control for improving stability

Improved methods of controlling the stability of a vehicle are provided via the cooperative operation of vehicle stability control systems such as an Active Yaw Control system, Antilock Braking System, and Traction Control System. These methods use recognition of road surface information including the road friction coefficient (mu), wheel slippage, and yaw deviations. The methods then modify the settings of the active damping system and/or the distribution of drive torque, as necessary, to increase/reduce damping in the suspension and shift torque application at the wheels, thus preventing a significant shift of load in the vehicle and/or improving vehicle drivability and comfort. The adjustments of the active damping system or torque distribution temporarily override any characteristics that were pre-selected by the driver.

Motion Control Unit for Vehicle Based on Jerk Information

In a motion control system for a vehicle including control means for controlling a yaw moment of the vehicle; first detection means for detecting a longitudinal velocity (V) of the vehicle; second detection means for detecting a lateral jerk (Gy_dot) of the vehicle; and third detection means for detecting a yaw angular acceleration (r_dot) of the vehicle, the yaw moment of the vehicle is controlled by the control means so that a difference between the yaw angular acceleration (r_dot) detected by the third detection means and a value (Gy_dot/V) obtained by the lateral jerk (Gy_dot) of the vehicle detected by the second detection means by the longitudinal velocity (V) detected by the first detection means becomes small.

Lane assistance system using an in-wheel system

A lane assistance system using an in-wheel system according to an exemplary embodiment of the present invention may include determining a lane deviation danger of a vehicle whether a vehicle is in danger of deviating from a lane, calculating a necessary yaw rate to assist a driver in maintaining a the vehicle in the intended lane of travel, calculate a demand yaw rate through a difference between the calculated necessary yaw rate and an actual yaw rate, and calculate a distribution amount of a driving torque of torque vectoring for achieving the demand yaw rate. In doing so, the lane assistance system controls the torque selectively applied to each wheel according to the above calculations.

LEFT-RIGHT WHEEL DRIVE FORCE DISTRIBUTION CONTROL APPARATUS FOR A VEHICLE

Upon determining than an over-steered state exits, a feedback control coefficient for a rear wheel total drive force is set to 0 and a feedback control coefficient for a rear wheel drive force difference is also set to 0 to impose a two-wheel drive state. As a result, it is possible to avoid a turn cruising instability caused by cruising in four-wheel drive in an over-steered state. Upon determining that an under-steered state exists, the feedback control coefficients are set such that four-wheel drive is allowed but a drive force difference is not set between the left and right rear wheels. As a result, when the under-steered state exists, excellent traction can be enjoyed by operating in four-wheel drive and the phenomenon of riding up a canted road surface due to a drive force difference set between the left and right rear wheels can be avoided. 1. A four-wheel drive vehicle drive force distribution control apparatus comprising: an over-steering determining section that determines whether the vehicle is in an over-steered state in which an actual turning behavior is excessive with respect to a target turning behavior computed based on a vehicle operating state; and', 'an over-steering left-right wheel drive force difference control section that sets a drive force difference between the left and right subordinate drive wheels to 0 upon the over-steering determining section determining that the over-steered state exists., 'a controller programmed to execute a distributed output of a total drive force to main drive wheels and subordinate drive wheels of a vehicle with a portion of a main wheel drive force for the main drive wheels being redirected to the subordinate drive wheels between a left subordinate drive wheel and a right subordinate drive wheel in accordance with a drive force distribution control, the controller including'}2. A four-wheel drive vehicle drive force distribution control apparatus comprising: an under-steering determining section means that ...

VEHICLE YAW RATE CORRECTION

A control system or method for a vehicle references a camera and sensors to determine when an offset of a yaw rate sensor may be updated. The sensors may include a longitudinal accelerometer, a transmission sensor, a vehicle speed sensor, and a steering angle sensor. The offset of the yaw rate sensor may be updated when the vehicle is determined to be stationary by referencing at least a derivative of an acceleration from the longitudinal accelerometer. The offset of the yaw rate sensor may be updated when the vehicle is determined to be moving straight by referencing at least image data captured by the camera. Lane delimiters may be detected in the captured image data and evaluated to determine a level of confidence in the straight movement. When the offset of the yaw rate sensor is to be updated, a ratio of new offset to old offset may be used. 1. A method for determining a yaw rate for a road-based vehicle having a yaw rate sensor , the method comprising:(a) capturing image data representative of the environment exterior of the vehicle;(b) determining if the vehicle is moving and has a zero yaw rate at least based on processing of captured image data;(c) obtaining a first measured yaw rate from the yaw rate sensor when the vehicle is determined in step (b) to be moving and to have a zero yaw rate;(d) determining a yaw rate offset based at least in part on the measured yaw rate obtained in step (c);(e) obtaining a second measured yaw rate from the yaw rate sensor; and(f) determining a corrected yaw rate for the vehicle based on the second measured yaw rate and the yaw rate offset.2. The method of claim 1 , wherein step (b) includes:(g) determining, at least from image processing of captured image data that the vehicle is driving straight.3. The method of claim 2 , wherein step (b) further includes:(h) detecting any lane delimiters present in the exterior scene represented by the captured image data;(i) determining whether any lane delimiters detected in step (h) ...

LOAD SENSOR FOR A VEHICLE ELECTRONIC STABILITY SYSTEM

A method of controlling a three-wheeled vehicle comprises: determining a state of a load sensor associated with a portion of vehicle; selecting a first start mass when the load sensor is in a non-loaded state; selecting a second start mass when the load sensor is in a loaded state; determining at least one vehicle parameter during operation of the vehicle; determining a calculated mass based at least in part on the at least one vehicle parameter; determining an effective mass based at least in part on the calculated mass and a selected one of the first and second start masses; defining an output of an electronic stability system of the vehicle based at least in part on the effective mass; and controlling a stability of the vehicle using the output of the electronic stability system. 1. A method of controlling a three-wheeled vehicle , the three-wheeled vehicle comprising:a frame;three wheels attached to the frame; anda straddle seat supported by the frame, the straddle-seat defining a driver portion and a passenger portion adjacent to the driver portion, determining a state of a load sensor associated with a portion of vehicle;', 'selecting a first start mass when the load sensor is in a non-loaded state;', 'selecting a second start mass when the load sensor is in a loaded state:', 'determining at least one vehicle parameter during operation of the vehicle;', 'determining a calculated mass based at least in part on the at least one vehicle parameter;', 'determining an effective mass based at least in part on the calculated mass and a selected one of the first and second start masses;', 'defining an output of an electronic stability system of the vehicle based at least in part on the effective mass; and', 'controlling a stability of the vehicle using the output of the electronic stability system., 'the method comprising2. The method of claim 1 , wherein:the first start mass is based on a driver-and-vehicle combined mass; andthe second start mass is base one a driver- ...

DRIVING FORCE CONTROL SYSTEM FOR VEHICLE

A driving force control system for a vehicle, which is configured to control a driving force of a vehicle by calculating an actual value of a stability factor of a running vehicle based on a detection value of a predetermined sensor, and adjusting the calculated actual value of the stability factor toward a target value of the stability factor determined depending on a travelling condition of the vehicle. The driving force control system is comprised of: a steering judging unit that judges a fact that a change rate of a steering angle of the vehicle is smaller than a predetermined reference value; a correction value calculating unit that corrects the actual value of the stability factor based on a comparison between an actual value and a target value of a physical amount with respect to a turning motion of the vehicle, in case the steering judging unit judges that the change rate of the steering angle is smaller than a reference value; and a driving force correcting unit that corrects the driving force based on the correction value. 1. A driving force control system for a vehicle , which is configured to control a driving force of a vehicle by calculating an actual value of a stability factor of a running vehicle based on a detection value of a predetermined sensor , and adjusting the calculated actual value of the stability factor toward a target value of the stability factor determined depending on a travelling condition of the vehicle , comprising:a steering judging means that judges a fact that a change rate of a steering angle of the vehicle is smaller than a predetermined reference value;a correction value calculating means that corrects the actual value of the stability factor based on a comparison between an actual value and a target value of a physical amount with respect to a turning motion of the vehicle, in case the steering judging means judges that the change rate of the steering angle is smaller than a reference value; anda driving force correcting ...

System and method for preventing vehicle from rolling over in curved lane

The present invention proposes a system and method for preventing a vehicle from rolling over in curved lane. The road images captured by the image capture devices are used to calculate road information. The road information together with the vehicular dynamic information, such as the speed and acceleration of the vehicle are used to predict the rollover angle and lateral acceleration of the vehicle moving on the curved lane. The height of the gravity center and critical rollover speed of the vehicle moving on the curved lane are worked out and used to define a vehicular rollover index. If the vehicular rollover index exceeds a preset value, the system warns the driver or directly controls the speed of the vehicle to prevent the vehicle from rolling over in the curved lane.

Agricultural Lane Following

Systems and methods for agricultural lane following are described. For example, a method includes accessing range data captured using a distance sensor connected to a vehicle and/or image data captured using an image sensor connected to a vehicle; detecting a crop row based on the range data and/or the image data to obtain position data for the crop row; determining, based on the position data for the crop row, a yaw and a lateral position of the vehicle with respect to a lane bounded by the crop row; and based on the yaw and the lateral position, controlling the vehicle to move along a length of the lane bounded by the crop row. 1. A system comprising:a distance sensor connected to a vehicle, wherein the distance sensor is configured to output range data reflecting distances of objects with respect to the vehicle;actuators configured to control motion of the vehicle; and access range data captured using the distance sensor;', 'detect a crop row based on the range data to obtain position data for the crop row;', 'determine, based on the position data for the crop row, a yaw and a lateral position of the vehicle with respect to a lane bounded by the crop row; and', 'based on the yaw and the lateral position, control, using one or more of the actuators, the vehicle to move along a length of the lane bounded by the crop row., 'a processing apparatus configured to2. The system of claim 1 , in which the crop row includes multiple plants and processing apparatus is configured to:detect plants of the crop row based on the range data, and associate plants of the crop row with respective positions;fit a line to the respective positions of plants of the crop row; anddetermine the yaw and the lateral position based on the line.3. The system of claim 1 , in which the crop row includes a raised planting bed and processing apparatus is configured to:detect one or more edges of the raised planting bed based on the range data, and associate the one or more edges of the raised ...

OBJECT DETECTION SYSTEM FOR SADDLE-TYPE VEHICLE, AND SADDLE-TYPE VEHICLE

An object detection system for a saddle-type vehicle is provided. The system comprises an object detection unit configured to detect an object, wherein the object detection unit is provided on a handlebar which is rotatable to a body of the vehicle; an inclination detection unit configured to detect an inclination of a saddle-type vehicle; a steering angle detection unit configured to detect a steering angle of the handlebar to the body; and a position specification unit configure to specify a position of the object detected by the object detection unit, and correcting the position so that the inclination detected by the inclination detection unit is upright and the steering angle of the handlebar detected by the steering angle detection unit is directed straight. 1. An object detection system for a saddle-type vehicle , comprising:an object detection unit configured to detect an object, wherein the object detection unit is provided on a handlebar which is rotatable to a body of the vehicle;an inclination detection unit configured to detect an inclination of a saddle-type vehicle;a steering angle detection unit configured to detect a steering angle of the handlebar to the body; anda position specification unit configure to specify a position of the object detected by the object detection unit, and correcting the position so that the inclination detected by the inclination detection unit is upright and the steering angle of the handlebar detected by the steering angle detection unit is directed straight.2. The object detection system for a saddle-type vehicle according to claim 1 , whereinthe inclination detected by the inclination detection unit is an inclination caused by at least one of a rolling action, a pitching action, and a yaw action of the saddle-type vehicle.3. The object detection system for a saddle-type vehicle according to claim 1 , whereinthe inclination detection unit is a gyro sensor provided above a power source of the saddle-type vehicle when ...

Method for Combined Determining of a Momentary Roll Angle of a Motor Vehicle and a Momentary Roadway Cross Slope of a Curved Roadway Section Traveled by the Motor Vehicle

A method and device for the combined determining of a momentary vehicle roll angle of a motor vehicle and a momentary roadway cross slope of a curved roadway section traveled by the motor vehicle is disclosed. The momentary vehicle roll angle and momentary roadway cross slope are determined from chassis data and transverse dynamics data of the motor vehicle. 15-. (canceled)6. A method for combined determining of a momentary vehicle roll angle of a motor vehicle and a momentary roadway cross slope of a curved roadway section traveled by the motor vehicle , comprising the steps of:determining the momentary vehicle roll angle and the momentary roadway cross slope from chassis data and transverse dynamics data of the motor vehicle.7. The method according to claim 6 , wherein the chassis data comprises a momentary chassis roll angle of a chassis of the motor vehicle and/or a momentary tire roll angle of tires of the motor vehicle and wherein the transverse dynamics data comprises a momentary transverse acceleration of the motor vehicle.8. The method according to :{'b': '1', 'sub': A', 'y', 'x, 'sup': 'Sensor', 'claim-text': {'br': None, 'sub': A', 'y', 'x, 'i': g', '−v', 'd/dt ψ', 'g, 'sup': 'Sensor', 'φ=(1/)(a), where is gravitational acceleration;'}, 'wherein the step of determining the momentary vehicle roll angle includes a step (S) of calculating the momentary vehicle roll angle (φ) from the momentary transverse acceleration (a), a momentary speed (v) of the motor vehicle, and a momentary yaw speed (d/dt ψ) of the motor vehicle according to the following equation{'sub': FB', 'A', 'R, 'b': '1', 'claim-text': {'br': None, 'sub': FB', 'A', 'R, 'i': '−w−φ', 'φ=φ.'}, 'and wherein the step of determining the momentary roadway cross slope includes calculating the momentary roadway cross slope (φ) from the momentary vehicle roll angle (φ) calculated in step S, the momentary chassis roll angle (w), and the momentary tire roll angle (φ) according to the following equation9. A ...

METHOD FOR CALCULATING A DESIRED YAW RATE FOR A VEHICLE

A method is provided for calculating a driver's desired yaw rate of a vehicle for use in a vehicle movement control system and includes determining the current yaw rate of the vehicle, determining the rate of the vehicle's steering wheel rotation. The method further includes calculating a first desired yaw rate of the vehicle based on the determined current yaw rate of the vehicle and the determined rate of the vehicle's steering wheel rotation, the desired yaw rate being further calculated based on the assumption that the driver applies a rate of steering wheel rotation as function of the driver's perceived error in yaw rate, and finally the step of providing the first desired yaw rate as an input to the vehicle movement control system for controlling the vehicle. 1. A method for calculating a driver's desired yaw rate of a vehicle for use in a vehicle movement control system , comprising the steps of:determining the current yaw rate of the vehicle,determining the rate of the vehicle's steering wheel rotation, wherein the method further comprises the steps of:{'b': '5', "calculating (S) a first desired yaw rate of the vehicle based on the determined current yaw rate of the vehicle and the determined rate of the vehicle's steering wheel rotation, the desired yaw rate being further calculated based on the assumption that the driver applies a rate of steering wheel rotation as function of the driver's perceived error in yaw rate, and"}providing the first desired yaw rate as an input to the vehicle movement control system for controlling the vehicle.2. Method according to claim 1 , further comprising the step:calculating a severity of the yaw state of the vehicle.3. Method according to claim 2 , wherein the step of calculating a severity of the yaw state of the vehicle is a calculation based on the absolute rate of the steering wheel rotation.4. Method according to claim 2 , wherein the step of calculating a severity of the yaw state of the vehicle is a calculation ...

VEHICLE YAW RATE ESTIMATION SYSTEM

A yaw rate estimation system for a vehicle includes a camera, a yaw rate sensor, wheel sensors, an accelerometer and a steering sensor. A control includes a processor that estimates the actual yaw rate of the vehicle by processing (i) a first yaw rate derived from yaw rate data provided by the yaw rate sensor, (ii) a second yaw rate derived from wheel sensor data provided by the wheel sensors, (iii) a third yaw rate derived from acceleration data provided by the accelerometer, and (iv) a fourth yaw rate derived from steering data provided by the steering sensor. The vehicular control system utilizes (i) image data captured by the camera as the vehicle is being driven along a road and (ii) the estimated actual yaw rate of the vehicle as the vehicle is being driven along the road. 1. A yaw rate estimation system for a vehicle equipped with a vehicular control system , said yaw rate estimation system comprising:a camera disposed at a vehicle equipped with said yaw rate estimation system, wherein said camera is disposed at a windshield of the equipped vehicle and views through the windshield and forward of the equipped vehicle;wherein the vehicular control system of the equipped vehicle comprises one of (i) a collision avoidance system, (ii) a collision mitigation system and (iii) a lane keeping system;a yaw rate sensor disposed at the equipped vehicle;wheel sensors disposed at wheels of the equipped vehicle;an accelerometer disposed at the equipped vehicle and operable to determine acceleration of the equipped vehicle;a steering sensor disposed at the equipped vehicle and operable to determine steering of the equipped vehicle;a control disposed at the equipped vehicle, said control comprising a processor that estimates the actual yaw rate of the equipped vehicle by processing (i) a first yaw rate derived from yaw rate data provided to said control by said yaw rate sensor of the equipped vehicle, (ii) a second yaw rate derived from wheel sensor data provided to said ...

VEHICULAR CONTROL SYSTEM RESPONSIVE TO YAW RATE ESTIMATION

A vehicular control system includes a camera, a yaw rate sensor, wheel sensors, an accelerometer and a steering sensor. A control includes a processor that estimates the actual yaw rate of the vehicle based on (a) a first yaw rate derived from yaw rate data provided by the yaw rate sensor, and (b) at least one selected from the group consisting of (i) a second yaw rate derived from wheel sensor data provided by the wheel sensors, (ii) a third yaw rate derived from acceleration data provided by the accelerometer, and (iii) a fourth yaw rate derived from steering data provided by the steering sensor. The vehicular control system at least in part controls the vehicle based on (i) image data captured by the camera as the vehicle travels along a road and (ii) the estimated actual yaw rate of the vehicle. 1. A vehicular control system , said vehicular control system comprising:a camera disposed at a vehicle equipped with said vehicular control system, wherein said camera is disposed at a windshield of the equipped vehicle and views through the windshield and forward of the equipped vehicle;a yaw rate sensor disposed at the equipped vehicle, said yaw rate sensor generating yaw rate data as the equipped vehicle travels along a road;wheel sensors disposed at wheels of the equipped vehicle, said wheel sensors generating wheel sensor data as the equipped vehicle travels along the road;an accelerometer disposed at the equipped vehicle, said accelerometer generating acceleration data as the equipped vehicle travels along the road;a steering sensor disposed at the equipped vehicle, said steering sensor generating steering data as the equipped vehicle travels along the road;a control disposed at the equipped vehicle, said control comprising a processor that estimates an actual yaw rate of the equipped vehicle based on (a) a first yaw rate calculated at said control by processing yaw rate data generated by said yaw rate sensor and (b) at least one selected from the group consisting ...

Method for Controlling Position of Vehicle

The present invention relates to a method for controlling the position of a vehicle to ensure stable position of a vehicle against tilting due to a rapid change in vehicle speed. The method includes: determining whether a vehicle speed is rapidly changing in a straight direction on the basis of an extent of depression of a pedal that changes a position of a steering wheel and a change in vehicle speed; determining whether the vehicle is tilting on the basis of a change in a yaw-rate by means of the controller when the vehicle speed is rapidly changing in the straight direction; and providing compensation torque in the direction opposite the direction in which the vehicle is tilted by operating a steering motor when the controller determines that the vehicle is tilting.

SYSTEM AND METHOD FOR USING HUMAN DRIVING PATTERNS TO DETECT AND CORRECT ABNORMAL DRIVING BEHAVIORS OF AUTONOMOUS VEHICLES

A system and method for using human driving patterns to detect and correct abnormal driving behaviors of autonomous vehicles are disclosed. A particular embodiment includes: generating data corresponding to a normal driving behavior safe zone; receiving a proposed vehicle control command; comparing the proposed vehicle control command with the normal driving behavior safe zone; and issuing a warning alert if the proposed vehicle control command is outside of the normal driving behavior safe zone. Another embodiment includes modifying the proposed vehicle control command to produce a modified and validated vehicle control command if the proposed vehicle control command is outside of the normal driving behavior safe zone. 1. A system comprising:a data processor; and generate data corresponding to a normal driving behavior safe zone;', 'receive a proposed vehicle control command;', 'compare the proposed vehicle control command with the normal driving behavior safe zone; and', 'issue a warning alert if the proposed vehicle control command is outside of the normal driving behavior safe zone., 'a vehicle control module, executable by the data processor, the vehicle control module being configured to perform a vehicle control command validation operation for autonomous vehicles, the vehicle control command validation operation being configured to2. The system of being further configured to modify the proposed vehicle control command to produce a modified and validated vehicle control command if the proposed vehicle control command is outside of the normal driving behavior safe zone.3. The system of being further configured to capture data through vehicle sensor subsystems and driving simulation data to model typical human driving behaviors.4. The system of being further configured to plot data corresponding to typical human driving behaviors on a graph.5. The system of being further configured to determine a distance from a point on a graph corresponding to the proposed ...

U-TURN CONTROL SYSTEM FOR AUTONOMOUS VEHICLE AND METHOD THEREFOR

A U-turn control system for an autonomous vehicle is provided. The U-turn control system includes a learning device that subdivides information regarding situations to be considered when the autonomous vehicle executes a U-turn for each of a plurality of groups and performs deep learning. A controller executes a U-turn of the autonomous vehicle based on the result learned by the learning device. 1. A U-turn controller for an autonomous vehicle , comprising:a learning device configured to subdivide information regarding situations to be considered when the autonomous vehicle executes a U-turn for each of a plurality of data groups and perform deep learning; anda controller configured to execute a U-turn of the autonomous vehicle based on a result learned by the learning device.2. The U-turn controller of claim 1 , further comprising:an input device configured to input data for each group about information regarding surroundings at a current time.3. The U-turn controller of claim 2 , wherein the controller is configured to determine whether it is possible for the autonomous vehicle to execute a U-turn by applying the data input via the input device to the result learned by the learning device.4. The U-turn controller of claim 1 , wherein the controller is configured to determine whether it is possible for the autonomous vehicle to makes a U-turn based on whether the autonomous vehicle obeys the traffic laws.5. The U-turn controller of claim 4 , wherein the controller is configured to determine that it is possible for the autonomous vehicle to execute the U-turn when a U-turn traffic light is turned on claim 4 , when a U-turn sign is located in front of the autonomous vehicle.6. The U-turn controller of claim 4 , wherein the controller is configured to determine that it is impossible for the autonomous vehicle to execute the U-turn claim 4 , when the autonomous vehicle is not located on a U-turn permitted area although a U-turn sign is located in front of the ...

VEHICLE CONTROL DEVICE

A vehicle control device includes: a weight calculating unit configured to estimate a weight of the vehicle; a traveling state calculating unit configured to estimate a turning characteristic of the vehicle; a guard setting unit configured to change and set at least one of an upper limit value and a lower limit value of the turning characteristic based on the weight of the vehicle estimated by the weight calculating unit; an upper and lower limit processing unit configured to perform a process of putting the turning characteristic into a range of the upper and lower limit values; and a behavior control unit configured to perform behavior control of the vehicle based on the turning characteristic after the process of putting the turning characteristic into the range of the upper and lower limit values. 15-. (canceled)6. A vehicle control device comprising:a weight estimating unit configured to estimate a weight of a vehicle;a traveling state estimating unit configured to estimate a turning characteristic of the vehicle;an upper and lower limit values setting unit configured to change and set at least one of an upper limit value and a lower limit value of the turning characteristic based on the weight of the vehicle estimated by the weight estimating unit;an upper and lower limit processing unit configured to perform a process of putting the turning characteristic estimated by the traveling state estimating unit into a range of the upper and lower limit values set by the upper and lower limit values setting unit; anda behavior control unit configured to perform behavior control of the vehicle based on the turning characteristic after the process of putting the turning characteristic into the range of the upper and lower limit values performed by the upper and lower limit processing unit.7. The vehicle control device according to claim 6 , whereinthe upper and lower limit values setting unit sets the upper and lower limit values as values determined in advance in a ...

SLOPE ESTIMATION DEVICE AND VEHICLE

A slope estimation device estimates a slope of a vehicle traveling road, and includes an input section that acquires a detected value of an acceleration sensor for detecting acceleration in a front-back direction of the vehicle, a centripetal force detecting section that detects centripetal force acting on the acceleration sensor due to a turning motion of the vehicle, and a slope computing section that computes the slope of the vehicle traveling road based on the detected value of the acceleration sensor. When the vehicle is in the turning motion, the slope computing section computes the slope of the traveling road by determining a component of the centripetal force superimposed on the detected value of the acceleration sensor based on a turning center position of the vehicle, a gravity center position of the vehicle, and an installation position of acceleration sensor, and subtracting the component of the centripetal force from the detected value of the acceleration sensor. 1. A slope estimation device that estimates a slope of a traveling road where a vehicle travels , the slope estimation device comprising:an input section that acquires a detected value of an acceleration sensor for detecting acceleration in a front-back direction of the vehicle;a centripetal force detecting section that detects centripetal force acting on the acceleration sensor due to a turning motion of the vehicle; anda slope computing section that computes the slope of the traveling road based on the detected value of the acceleration sensor, whereinwhen the vehicle is in the turning motion, the slope computing section computes the slope of the traveling road by determining a component of the centripetal force superimposed on the detected value of the acceleration sensor based on a turning center position of the vehicle, a gravity center position of the vehicle, and an installation position of the acceleration sensor, and by subtracting the component of the centripetal force from the ...

METHOD AND SYSTEM FOR PREDICTING A RISK FOR ROLLOVER OF A WORKING MACHINE

A method is provided for predicting a risk for rollover of a working machine for load transportation. The method includes: obtaining ground topographic data of a geographical area located close to the working machine from a ground topographic detection system; extracting a ground gradient from the ground topographic data; obtaining weight information of the load being currently transported by means of an on-board load weighting system or by receiving load information originating from the device that loaded the load being currently transported; determining a current maximal allowed ground gradient for the working machine based on the weight information; and predicting a risk for working machine rollover if the working machine approaches a geographical area including a ground gradient exceeding or being close to the current maximal allowed ground gradient for the working machine. 1. A method for predicting a risk for rollover of a working machine for load transportation , the method comprising:obtaining ground topographic data of a geographical area located close to the working machine from a ground topographic detection system;extracting a ground gradient from the ground topographic data;predicting a future driving path of the working machine;obtaining weight information of the load being currently transported using an on-board load weighting system or by receiving load information originating from the device that loaded the load being currently transported;determining a current maximal allowed ground gradient for the working machine based on said weight information; andperforming an action to reduce the risk for rollover if the predicted future driving path of the working machine includes a ground gradient exceeding or being close to current maximal allowed ground gradient for the working machine.2. The method of claim 1 , wherein the working machine is an articulated hauler or mining truck.3. The method of claim 1 , wherein the working machine comprises a load ...

ENHANCED YAW RATE TRAILER ANGLE DETECTION INITIALIZATION

A trailer backup assist system for a vehicle reversing a trailer includes a sensor module adapted to attach to the trailer and generate a trailer yaw rate or a trailer speed. The trailer backup assist system also includes a vehicle sensor system that generates a vehicle yaw rate and a vehicle speed. Further, the trailer backup assist system includes a controller that estimates a hitch angle based on the trailer yaw rate or the trailer speed and the vehicle yaw rate and the vehicle speed in view of a kinematic relationship between the trailer and the vehicle. 1. A trailer backup assist system comprising:a trailer sensor module configured to be mounted to a trailer, the trailer sensor module including a yaw rate sensor and an inclinometer;a controller configured to:utilize data from the yaw rate sensor to generate vehicle control signals to control at least one of a vehicle speed and vehicle direction while a vehicle is backing up with a trailer attached thereto;utilize data from the inclinometer to generate a signal to a Human Machine Interface (HMI) concerning an orientation of the inclinometer and yaw rate sensor on a trailer.2. The trailer backup assist system of claim 1 , wherein:the yaw rate sensor comprises a camera.3. The trailer backup assist system of claim 1 , wherein:the yaw rate sensor comprises a piezoelectric device.4. The trailer backup assist system of claim 1 , wherein:the trailer backup assist system is configured to calculate a hitch angle utilizing data from the yaw rate sensor.5. The vehicle of claim 1 , wherein:the controller is configured to store unique trailer identification information prior to a power off event and to retrieve stored unique trailer identification information after a power on event to thereby determine if a trailer detected after a power on event is a different trailer than a trailer connected prior to a power off event.6. A vehicle claim 1 , comprising:a trailer backup assist system having a controller configured to: ...

LASER DIODE BASED MULTIPLE-BEAM LASER SPOT IMAGING SYSTEM FOR CHARACTERIZATION OF VEHICLE DYNAMICS

The invention is related to a laser diode based multiple beam laser spot imaging system for characterization of vehicle dynamics. A laser diode based, preferably VCSEL based laser imaging system is utilized to characterize the vehicle dynamics. One or more laser beams are directed to the road surface. A compact imaging system including an imaging matrix sensor such as a CCD or CMOS camera measures locations or separations of individual laser spots. Loading status of vehicles and vehicles' pitch and roll angle can be characterized by analyzing the change of laser spot locations or separations. 1. A laser sensor system , comprising:a laser device arranged to generate at least one laser beam, the laser beam have a laser beam direction, wherein the laser beam is arranged to produce a laser spot on a reference surface, wherein the imaging device has an optical axis,', 'wherein the optical axis of the imaging device and the laser beam direction are non-coincident with each other,, 'an imaging device, the imaging device comprising at least one matrix sensor,'}a data processing device arranged to detect a location of the laser spot, and to calculate an orientation of the laser sensor system using the laser spot location.2. The laser sensor system of claim 1 ,wherein the laser device is arranged to generate three spatially separated laser beams,wherein the three spatially separated laser beams generate three laser spots on the reference surface,wherein at least two pairs of the laser spots are separated along two different lateral directions along the reference surface.3. The laser sensor system of claim 2 ,wherein the data processing device is arranged to determine lateral distances between the laser spots,wherein the data processing device is arrange to determine the orientation of the laser sensor system with respect to the reference surface based on the lateral distances.4. The laser sensor system of claim 3 , wherein the data processing device calculates a distance of ...

METHOD FOR CALCULATING REFERENCE MOTION STATE AMOUNT OF VEHICLE

Provided is a method of calculating a reference yaw rate as a reference motion state amount of a vehicle in a relationship of a first-order lag with respect to a normative yaw rate as a normative motion state amount of the vehicle. An overall weight (W) of the vehicle and a stability factor (Kh) of the vehicle are estimated (S and S), cornering powers (Kf and Kr) of front and rear wheels and a yaw moment of inertia (Iz) of the vehicle are calculated based on the overall weight and the stability factor (S to S). Then, a steering response time constant coefficient (Tp) for determining a time constant of the first-order lag is calculated based on the cornering powers (Kf and Kr) and the yaw moment of inertia (Iz) (S), and the reference yaw rate is calculated by using the coefficient (S). 17.-. (canceled)8. A method of calculating a reference motion state amount of a vehicle in a relationship of a first-order lag with respect to a normative motion state amount of the vehicle , the method comprising:estimating an overall weight of the vehicle and a stability factor of the vehicle;estimating a change amount of the overall weight of the vehicle and a change amount of the vehicle longitudinal direction position of the vehicle center of gravity with respect to a standard state of the vehicle based on the estimated overall weight and stability factor;estimating a change amount of the yaw moment of inertia of the vehicle based on the change amount of the overall weight of the vehicle and the change amount of the vehicle longitudinal direction position of the vehicle center of gravity;calculating a sum of the estimated change amount of the yaw moment of inertia and a standard value of the yaw moment of inertia set in advance for the standard state of the vehicle as the estimated value of the yaw moment of inertia of the vehicle;calculating a time constant of the first-order lag by using the estimated value of the yaw moment of inertia; andcalculating the reference motion state ...

Device and Method for Operating a Vehicle

A device for operating a vehicle includes: a vehicle movement module for forming control signals for a control unit of an actuating system of the vehicle; an energy management module for managing energy which is available for a vehicle operation, the energy management module being configured to form further control signals for the control unit as a function of the available energy, and a prioritizer for prioritizing the control signals over the further control signals as a function of a vehicle position and/or a vehicle movement state for stabilizing the vehicle. 19-. (canceled)10. A device for operating a vehicle , comprising:a vehicle movement module for forming first control signals for a control unit of an actuating system of the vehicle;an energy management module for managing energy which is available for a vehicle operation, wherein the energy management module is configured to form second control signals for the control unit as a function of the available energy; anda prioritizer for prioritizing the first control signals over the second control signals as a function of at least one of a vehicle position and a vehicle movement state, for stabilizing the vehicle.11. The device as recited in claim 11 , wherein the prioritizer is integrated into the vehicle movement module claim 11 , and the vehicle movement module includes an actuator interface for the control unit and an energy management interface for the energy management module.12. The device as recited in claim 11 , wherein the energy management module includes a data detection module for detecting data which are relevant for calculating a vehicle driving strategy claim 11 , the data detection module being configured to assign a quality factor to the detected data claim 11 , and wherein the energy management module is configured to form the second control signals as a function of the detected data and the assigned quality factor.13. The device as recited in claim 12 , wherein the energy management module ...

DISCRETIONARY CURRENT INPUT CIRCUIT

An improved discretionary current input circuit includes a switch sensing an operating condition of a tractor and having a first state if the operating condition is not satisfied and a second state if the operating condition is satisfied, and a microcontroller that deactivates at least one function of the tractor if the switch is in the first state. The switch draws a nominal current except during specified time intervals that are shorter than the time for drawing the nominal current. A power transistor is connected through a diode and resistor to the switch. The power transistor normally is in an off condition, and is powered during the specified time intervals to an on condition to increase current above the nominal current to a threshold through the switch. The microcontroller reads if the switch is in the first state or the second state only during the specified time intervals, and uses a timer circuit to determine a duration of each of the specified time intervals such that the power transistor is turned off before the end of a task interval of the microcontroller. 1. An improved discretionary current input circuit comprising:a switch sensing an operating condition of a tractor and having a first state if the operating condition is not satisfied and a second state if the operating condition is satisfied;a microcontroller to deactivate at least one function of the tractor if the switch is in the first state; the switch drawing a nominal current except during specified time intervals that are shorter than the time for drawing the nominal current; anda power transistor connected through a diode and resistor to the switch, the power transistor normally being in an off condition, and being powered during the specified time intervals to an on condition to increase current above the nominal current to a threshold through the switch; the microcontroller reading if the switch is in the first state or the second state only during the specified time intervals;a timer ...

VEHICLE DISTURBANCE HANDLING SYSTEM

A vehicle disturbance handling system to handle a disturbance that is an external force that acts on a vehicle and causes deflection of the vehicle, including: a disturbance detecting portion configured to determine an occurrence of the disturbance and to estimate a degree of influence of the disturbance; and a disturbance handling portion configured to handle the disturbance based on the estimated degree, wherein, when it is determined that the disturbance is occurring, the handling portion controls a brake device and a steering device of the vehicle to handle the disturbance, and wherein the handling portion is configured to determine a disturbance-handling braking force, which is a braking force that should be applied to the vehicle by the brake device to reduce the influence of the disturbance, and to gradually decrease the disturbance-handling braking force with a lapse of time from a time point of the occurrence of the disturbance. 1. A disturbance handling system for a vehicle to handle a disturbance , the disturbance being an external force that acts on the vehicle and causes deflection of the vehicle , comprising:a disturbance detecting portion configured to determine an occurrence of the disturbance and to estimate a degree of influence of the disturbance; anda disturbance handling portion configured to handle the disturbance based on the estimated degree of influence of the disturbance,wherein, when it is determined that the disturbance is occurring, the disturbance handling portion controls a brake device and a steering device of the vehicle to handle the disturbance, andwherein the disturbance handling portion is configured to determine a disturbance-handling braking force and to gradually decrease the disturbance-handling braking force with a lapse of time from a time point of the occurrence of the disturbance, the disturbance-handling braking force being a braking force that should be applied to the vehicle by the brake device to reduce the influence ...

Rollover alarming system, rollover risk prediction method, and rollover alarming method

A rollover alarming system, a rollover risk prediction method, and a rollover alarming method. An axle housing strain measurement unit measures strain values on both sides of an axle housing of a vehicle body. A roll angle measurement unit measures a roll angle of the vehicle body. A collection control unit is configured to collect the strain values on both sides of the axle housing of the vehicle body and the roll angle of the vehicle body, calculate a strain difference between the strain values according to the strain values on both sides of the axle housing of the vehicle body, and output a corresponding alarm control signal according to the strain difference between both sides of the axle housing of the vehicle body and the roll angle of the vehicle body. An alarm unit is configured to output a corresponding alarm signal according to the received alarm control signal.

Information processing apparatus, mobile apparatus, method, and program

To achieve an information processing apparatus and a mobile apparatus that individually calculate an inclination of the mobile apparatus itself and an inclination of a traveling surface. A measurement value of an air pressure sensor that measures an air pressure of a tire of the mobile apparatus is received, and the inclination of the mobile apparatus is calculated on the basis of the tire air pressure. Furthermore, a measurement value of an absolute pressure sensor attached to the mobile apparatus is received, and an angle of the traveling surface on which the mobile apparatus travels and a position of the mobile apparatus are calculated on the basis of a horizontal movement amount of the mobile apparatus and a vertical movement amount that is calculated on the basis of the measurement value of the absolute pressure sensor. Furthermore, a plurality of different state values such as inclination information of the traveling surface that changes with time transition is input to a Kalman filter, and state values that have already been acquired are updated on the basis of the newly input state values to generate and output the latest state values.

System and Method for Providing an Indication of Driving Performance

A method of providing an indication of driving performance involves obtaining a forward acceleration and speed of a vehicle. A forward acceleration threshold value is identified for use in identifying excessive forward acceleration of the vehicle based on the determined speed of the vehicle. For any vehicle speed within a range of vehicle speeds, the acceleration threshold value is defined by a function based on the determined speed of the vehicle, wherein the forward acceleration threshold value according to the function varies continually with vehicle speed over the range of vehicle speeds. The determined forward acceleration of the vehicle is compared with the determined acceleration threshold value, and an indication of an excessive forward acceleration driving event is generated when the determined forward acceleration exceeds the determined acceleration threshold value. 139-. (canceled)40. A method of providing an indication of driving performance , comprising:obtaining a forward acceleration and speed of a vehicle;determining an acceleration threshold value based on the obtained speed of the vehicle, wherein, for any vehicle speed within a range of vehicle speeds, the acceleration threshold value is defined by a function based on the obtained speed of the vehicle, wherein the acceleration threshold value according to the function varies continually with vehicle speed over the range of vehicle speeds;comparing the obtained forward acceleration of the vehicle with the determined acceleration threshold value; andgenerating an indication of an excessive forward acceleration driving event when the determined forward acceleration exceeds the determined acceleration threshold value.41. The method of claim 40 , wherein the function is dependent upon a mass of the vehicle claim 40 , and the method comprises estimating the mass of the vehicle for use in the function using data indicative of an energy consumption of the vehicle.42. The method of claim 41 , wherein ...

BEHAVIOR CONTROL APPARATUS FOR VEHICLE

A behavior control apparatus for a vehicle having a control unit for controlling a braking device and controlling a behavior of a vehicle by controlling braking forces of wheels. When the vehicle is in the non-braking state, the control unit acquires information on a lateral acceleration of the vehicle; calculates, based on the lateral acceleration of the vehicle, a target yaw moment of a feedforward control for reducing a rate of decrease of the vehicle's yaw gain accompanying with an increase in an absolute value of a lateral acceleration of the vehicle, and controls braking forces of the wheels by controlling the braking device so that at least a yaw moment corresponding to the target yaw moment is applied to the vehicle. 1. A behavior control apparatus for a vehicle having a braking device configured to independently control braking forces of respective wheels and a control unit that controls the braking device , and configured to control a behavior of the vehicle by controlling braking forces of the wheels , whereinthe control unit is configured, when the vehicle is in the non-braking state, to acquire information on a lateral acceleration of the vehicle; to calculate, based on the lateral acceleration of the vehicle, a target yaw moment of a feedforward control for reducing a rate of decrease in a yaw gain of the vehicle accompanying with an increase in an absolute value of a lateral acceleration of the vehicle, and to control braking forces of the wheels by controlling the braking device so that at least a yaw moment corresponding to the target yaw moment is applied to the vehicle.2. The vehicle behavior control apparatus for a vehicle according to claim 1 , wherein the control unit is configured to obtain information on an actual yaw rate of the vehicle claim 1 , to calculate a normative yaw rate of the vehicle claim 1 , to calculate a target acceleration/deceleration and a target yaw moment of the vehicle of a feedback control on a yaw rate of the vehicle ...

VEHICLE VISION SYSTEM WITH YAW RATE DETERMINATION

A vision system for a vehicle includes a camera having a forward field of view to the exterior of the vehicle through the vehicle windshield. A control includes an image processor that is operable to process captured image data to determine lane delimiters present in the field of view of the camera. The control connects to and receives vehicle data via a vehicle communication bus. The vehicle data includes a yaw rate sensed by a yaw rate sensor of the vehicle. Responsive at least in part to processing of captured image data by the image processor and to vehicle data received via the vehicle communication bus, the control determines a corrected yaw rate at least one of (i) when the vehicle is stationary and (ii) when the vehicle is moving straight. The control provides the corrected yaw rate to a driver assistance system of the vehicle. 1. A vision system for a vehicle , said vision system comprising:a camera comprising a lens and a photosensor array;said photosensor array comprising a plurality of photosensor elements arranged in a matrix that comprises multiple columns of photosensor elements and multiple rows of photosensor elements;wherein said camera is disposed at or proximate to an in-cabin portion of a windshield of a vehicle equipped with said vision system;wherein said camera has a forward field of view to the exterior of the equipped vehicle through the windshield of the equipped vehicle;wherein said camera is operable to capture image data;a control comprising an image processor;wherein said image processor is operable to process captured image data to determine lane delimiters present in the field of view of said camera;said control connecting to a vehicle communication bus of the equipped vehicle;said control receiving vehicle data via said vehicle communication bus;wherein said vehicle data is provided by at least one of (i) an accelerometer of the equipped vehicle, (ii) a transmission sensor of the equipped vehicle, (iii) a steering angle sensor of ...

PREDICTIVE ROUTING OF A TRANSPORTATION VEHICLE

A method and a device for predicting the future course of a roadway for a transportation vehicle driving on a road, wherein the road has a first section, a bend and a second section, and the bend is arranged between the first and the second section. The method determines an approximated course of a road derived from a digital map material using an original clothoid segment, wherein the clothoid segment has a starting point on the first section, an end point on the second section, and the clothoid segment sweeps over the angle defined by the bend between the first and the second section, and continuously corrects the original clothoid segment by subsequent corrective clothoid segments, wherein the corrective clothoid segments take into account the curvature of the route actually traveled by the transportation vehicle after the starting point. 1. A device for predicting the future course of a road for a transportation vehicle driving on a road , wherein the road has a first section , a bend and a second section , and the bend is arranged between the first and the second section , the device comprising:a digital map system;an approximation system which determines from the map data of the map system an original clothoid segment with starting and endpoints for approximating the course of the road;a system for determining the actual curvature of the path already traveled by the transportation vehicle after the starting point;a system for comparing the actual curvature and the predicted curvature of the original clothoid segment; anda system for correcting the original clothoid segment by corrected clothoid segments based on the comparison,wherein an approximated road course derived from a digital map material is determined using the original clothoid segment, wherein the clothoid segment has a starting point on the first section, an end point on the second section, and the clothoid segment sweeps over the angle defined by bend between the first and the second section, ...

LOCALIZATION SYSTEM FOR UNDERGROUND MINING APPLICATIONS

A mining machine is disclosed. The mining machine may include a mobile ranging device, a movement sensor device, and a control unit. The mobile ranging device may be configured to communicate with a location sensor device and cause the location sensor device to transmit location data relating to a location of the mining machine. The movement sensor device may be configured to transmit movement data relating to a movement of the mining machine. The control unit may be configured to receive coordinate data relating to a plurality of zones and a plurality of drawpoints of a tunnel, the location data, and the movement data. The control unit may identify an active zone, determine a machine heading, determine a machine articulation, identify an active drawpoint based on the active zone, the machine heading, or the machine articulation, and cause an action to be performed in connection with the active drawpoint. 1. A method , comprising: 'the coordinate data defining a plurality of zones of the tunnel based on locations of a plurality of drawpoints disposed within the tunnel;', 'receiving, by a device, coordinate data relating to a tunnel,'}receiving, by the device and from a location sensor device associated with the tunnel, location data relating to a location of a mining machine within the tunnel;receiving, by the device and from a movement sensor device associated with the mining machine, movement data relating to a movement of the mining machine within the tunnel; 'the active zone corresponding to one of the plurality of zones accessed by the mining machine;', 'identifying, by the device, an active zone based on the coordinate data and the location data,'}determining, by the device, a machine heading based on one or more of the location data or the movement data;determining, by the device, a machine articulation based on the movement data; 'the active drawpoint corresponding to one of the plurality of drawpoints accessed by the mining machine; and', 'identifying, by ...

SAFE DRIVING BEHAVIOR NOTIFICATION SYSTEM AND SAFE DRIVING BEHAVIOR NOTIFICATION METHOD

A safe driving behavior notification system includes: an obstacle detector to detect position of each obstacle existing around a subject vehicle; a first specifier to specify driving behavior to be carried out by a driver based on the detected position of each obstacle and information relating to the subject vehicle; a second specifier to specify driving behavior predicted to be carried out by the driver from the detected position of each obstacle and information on a travel state of the subject vehicle using a driving behavior model for the driver created based on past driving behavior of the driver; and a notificator to determine whether notification to the driver is necessary based on a degree of a difference between the driving behaviors specified by the first and second specifiers, and to notify the driver of information indicating action to be carried out when determining the notification is necessary. 1. A safe driving behavior notification system to be equipped in a vehicle , comprising:an obstacle detector configured to detect position of each obstacle existing around a subject vehicle;a first specifier configured to specify driving behavior to be carried out by a driver of the subject vehicle based on the position of each obstacle detected by the obstacle detector and information relating to the subject vehicle;a second specifier configured to specify driving behavior predicted to be carried out by the driver from the position of each obstacle detected by the obstacle detector and information on a travel state of the subject vehicle using a driving behavior model for the driver which is created based on past driving behavior of the driver; anda notificator configured to determine whether notification to the driver is necessary, based on a degree of a difference between the driving behavior specified by the first specifier and the driving behavior specified by the second specifier, and to notify the driver of information indicating action to be carried out ...

METHOD AND APPARATUS FOR SELF-DIAGNOSIS, SELF-CALIBRATION, OR BOTH IN AN AUTONOMOUS OR SEMI-AUTONOMOUS VEHICLES

A number of illustrative variations may include a method of diagnosing and/or calibrating components in vehicles. 1) A method comprising:a) initiating moving a vehicle in one or more predefined maneuvers;b) comparing data collected during the one or more predefined maneuvers with at least one of prior data collected or initial data collected; andc) analyzing the data from the comparing step to determine if at least one of calibration of one or more components of the vehicle is needed, if repair of one or more components of the vehicle is needed, or one or more components of vehicle is performing properly.2) The method of claim 1 , wherein the step of initiating includes a step of selecting one or more types of predefined maneuvers.3) The method of claim 2 , wherein the one or more types of predefined maneuvers are moving the vehicle in at least one of a slalom claim 2 , ramp claim 2 , step claim 2 , or straight configuration.4) The method of wherein the step of initiating includes a step of includes a step of adjusting one or more configurations of the vehicle.5) The method of claim 4 , wherein the one or more configurations of the vehicle includes at least one of speed of the vehicle claim 4 , transmission settings of the vehicle claim 4 , steering settings of the vehicle claim 4 , or brake settings of the vehicle.6) The method of claim 5 , wherein the speed of the vehicle includes maintaining at least one of a constant speed claim 5 , accelerating claim 5 , decelerating claim 5 , rate of acceleration claim 5 , rate of deceleration claim 5 , or drop throttling.7) The method of claim 5 , wherein the transmission settings includes at least one of two-wheel drive claim 5 , four-wheel drive claim 5 , or transmission shift points.8) The method of claim 5 , wherein the brake settings includes at least one of braking using anti-lock claim 5 , braking to prevent anti-lock from engaging claim 5 , changing clamp force of a brake claim 5 , changing fluid pressure claim 5 , or ...

BACKWARD DRIVING ASSIST APPARATUS FOR VEHICLE AND CONTROL METHOD THEREOF

A backward driving assist apparatus for a vehicle may include: a vehicle speed sensor configured to measure a vehicle speed by counting a wheel pulse of a wheel; a steering angle sensor configured to measure a steering angle of a steering wheel; a yaw rate sensor configured to measure a yaw rate of the vehicle during driving; a driving trace storage configured to store driving trace data generated during forward driving; and a controller configured to estimate the position of the ego vehicle, interpolate the driving trace data generated at each preset distance, store the driving trace data in the driving trace storage, read the driving trace data from the driving trace storage during backward driving, generate a target steering angle by compensating for a direction angle error from the ego vehicle position, and output the target steering angle to an MDPS controller. 1. A backward driving assist apparatus for a vehicle , comprising:a vehicle speed sensor configured to measure a vehicle speed by counting a wheel pulse count of a wheel;a steering angle sensor configured to measure a steering angle of a steering wheel;a yaw rate sensor configured to measure a yaw rate of the vehicle during driving;a driving trace storage configured to store driving trace data generated during forward driving; anda controller configured to estimate a vehicle position by matching the wheel pulse count, the steering angle and the yaw rate, interpolate the driving trace data generated at each preset distance with a curve function or a linear function depending on a lateral change, read the driving trace data during backward driving, generate a target steering angle by compensating for a direction angle error between the driving trace data and the vehicle position, and output the target steering angle to a Motor Driven Power Steering (MDPS) controller.2. The backward driving assist apparatus of claim 1 , wherein the driving trace storage comprises a ring buffer.3. The backward driving assist ...

SYSTEM AND METHOD FOR OFF-ROAD DRIVING ASSISTANCE FOR A VEHICLE

A vehicle control system for a vehicle may include a controller, a single pedal and a torque control module. The controller may be operably coupled to components and/or sensors of the vehicle to receive information indicative of operational intent of an operator of the vehicle and information indicative of vehicle status. The single pedal may be configured to provide the information indicative of operational intent. The torque control module may be configured to generate both a propulsive torque request and a braking torque request based on the information indicative of the operational intent and the information indicative of vehicle status. 1. A vehicle control system for a vehicle , the system comprising:a controller operably coupled to components and/or sensors of the vehicle to receive information indicative of operational intent of an operator of the vehicle and information indicative of vehicle status;a single pedal configured to provide the information indicative of operational intent; anda torque control module configured to generate both a propulsive torque request and a braking torque request based on the information indicative of the operational intent and the information indicative of vehicle status.2. The system of claim 1 , wherein the information indicative of vehicle status comprises vehicle speed and vehicle pitch claim 1 , andwherein the information indicative of operational intent comprises pedal position of the single pedal.3. The system of claim 2 , wherein the torque control module comprises a propulsive torque determiner configured to determine the propulsive torque request based on the pedal position claim 2 , the vehicle speed and the vehicle pitch.4. The system of claim 3 , wherein the propulsive torque determiner comprises a propulsive torque map defining a base map of propulsive torque based on the pedal position and the vehicle speed claim 3 , andwherein the base map is adjusted based on the vehicle pitch to determine the propulsive ...

STEER CONTROL LOGIC FOR EMERGENCY HANDLING OF AUTONOMOUS VEHICLES

A method is provided for steering control of a vehicle by using lateral velocity of two know points (or lateral velocity of one known point and yaw rate), longitudinal velocity and steer angle information. These factors are used to calculate a target steer angle based on the track angle based on yaw decomposition to thus adjust a current steer angle of the vehicle based on the target steer angle. 1. A method of steer control for a vehicle , comprising:detecting, by a processor using a sensor, a first lateral velocity of the vehicle at a first point of a vehicle body, a second lateral velocity of the vehicle at a second point of the vehicle body, a longitudinal velocity of the vehicle, and a current steer angle of the vehicle;calculating, by the processor, a yaw rate and a third lateral velocity at a reference point of the vehicle based on the first lateral velocity and the second lateral velocity, wherein the second lateral velocity is directly measured, or calculated based on the first lateral velocity and the yaw rate;calculating, by the processor, the third lateral velocity at the reference point, a side slip angle and a yaw center location based on the yaw rate and the lateral velocity of the first point or based on the lateral velocities of the first and second points;calculating, by the processor, a side slip angle change based on the side slip angle and calculating, by the processor, a side slip angle rate portion of the third lateral velocity based on the side slip angle change and the yaw center location or a distance from the reference point to a yaw center;calculating, by the processor, a track angle rate portion of the third lateral velocity by subtracting the side slip angle rate portion of the third lateral velocity from the third lateral velocity;calculating, by the processor, a track angle by calculating an angle between the track angle rate portion of the third lateral velocity and the longitudinal velocity;calculating, by the processor, a target ...

SYSTEM AND METHOD FOR SELF-TEST OF INERTIAL MEASUREMENT UNIT (IMU)

An inertial measurement unit (IMU) self-test system includes an IMU and a control circuit. The control circuit is configured to receive IMU data collected by the IMU and inputs from systems external to the IMU indicative of mechanical stimulus, wherein the control circuit utilizes IMU data collected in response to the mechanical stimulus to determine IMU validity. 1. A method of self-testing an inertial measurement unit (IMU) , the method comprising:detecting a mechanical stimulation event generated external to the IMU;receiving IMU data from the IMU that includes IMU data collected with respect to the mechanical stimulation event; anddetermining IMU validity based on IMU data recorded in response to the mechanical stimulation event.2. The method of claim 1 , wherein detecting a mechanical stimulation event includes identifying an event type.3. The method of claim 2 , wherein determining IMU validity is further based on identified event type.4. The method of claim 3 , wherein determining IMU validity includes comparing the received IMU data with expected IMU data determined based on identified event type.5. The method of claim 2 , wherein event type includes one or more of driver side door opening/closing claim 2 , passenger side door opening/closing claim 2 , and engine start.6. The method of claim 1 , wherein detecting a mechanical stimulation event includes detecting an imminent mechanical stimulation event.7. The method of claim 6 , further including initiating a wake-up of the IMU in response to detection of an imminent mechanical stimulation event.8. The method of claim 1 , wherein detecting a mechanical stimulation event generated external to the IMU includes passively detecting a mechanical stimulation event.9. The method of claim 1 , wherein detecting a mechanical stimulation event generated external to the IMU includes actively initiating a mechanical stimulation event.10. A method of self-testing an inertial measurement unit (IMU) claim 1 , the method ...

YAW MOTION CONTROL METHOD FOR FOUR-WHEEL DISTRIBUTED VEHICLE

A yaw motion control method for a four-wheel distributed vehicle includes: calculating the steering response of the vehicle in a steady state using a nonlinear vehicle model in reference with an understeering degree while constraining by the limit value of the road surface adhesion condition according to the sideslip angle response and the vertical load change in the steady state, calculating the lateral force response and the self-aligning moment response of the tires in the steady state by a magic tire formula, calculating the required additional yaw moment by using the yaw motion balance equation, reasonably distributing the generalized control force to the four drive motors through the optimization algorithm in combination with the current driving conditions; finally, off-line storing and retrieving the calculation results of the off-line distribution of different vehicle parameters required by different upper layers to distribute the torques to the four drive wheels. 1. A yaw motion control method for a four-wheel distributed vehicle , wherein the yaw motion control method adopts a hierarchical control architecture , an upper layer of the hierarchical control architecture is a motion tracking layer; the yaw motion control method specifically comprises the following steps:step (1): performing a white noise filtering processing on original data collected by a sensor through a vehicle control unit (VCU);step (2): based on a magic formula tire model, constructing a generalized Luenberger observer, and estimating a sideslip angle β of a center of mass combined with an integral algorithm;{'sub': y', 'z, 'step (3): calculating a lateral force Fand a self-aligning moment Mof the four-wheel distributed vehicle in a steady state by a magic formula according to an estimation result of the sideslip angle β of the center of mass;'}{'sub': z', 'y', 'x, 'step (4): calculating a vertical load Fof four drive wheels based on a lateral acceleration aand a longitudinal ...

VEHICLE DRIVING ASSIST APPARATUS

A vehicle driving assist apparatus includes an first calculator to calculate a degree of acceleration suppression, a controller to suppress target acceleration based on the degree of acceleration suppression, a map information storage to store road map information, an estimator to estimate a vehicle position and identify a traveling lane on the road map information, a detector to detect whether there is a crossing road ahead of the identified traveling lane, and a second calculator to calculate an azimuth angle difference between an azimuth of the crossing road where the own vehicle is about to turn and an azimuth in the traveling direction of the own vehicle. The acceleration suppression degree calculator makes a degree of acceleration suppression for suppressing the acceleration of the own vehicle higher then an azimuth angle difference becomes narrower based on the azimuth angle difference. 1. A vehicle driving assist apparatus comprising:an acceleration suppression degree calculator configured to calculate a degree of acceleration suppression for suppressing acceleration of an own vehicle;a traveling state controller configured to suppress target acceleration of the own vehicle on a basis of the degree of acceleration suppression calculated by the acceleration suppression degree calculator;a map information storage configured to store road map information;an own vehicle position estimator configured to estimate a position of the own vehicle that is a current position of the own vehicle, and identify a traveling lane on the road map information stored in the map information storage on a basis of the position of the own vehicle;a crossing road detector configured to detect whether there is a crossing road ahead of the traveling lane identified by the own vehicle position estimator, on a basis of the road map information stored in the map information storage; andan azimuth angle difference calculator configured to calculate, when the crossing road is detected by ...

SYSTEM AND METHOD OF CONTROLLING VEHICLE USING TURNING DEGREE

A system and a method of controlling a vehicle using a turning degree are disclosed. The method includes detecting input variables including a driving input variable and a turning input variable and calculating a driving tendency index based on the driving input variable. A turning degree related to the number of consecutive turnings is calculated based on the turning input variable and then the vehicle is operated based on the driving tendency index and the turning degree. 1. A method of controlling a vehicle , comprising:detecting, by a controller, input variables including a driving input variable and a turning input variable;calculating, by the controller, a driving tendency index based on the driving input variable;calculating, by the controller, a turning degree related to the number of consecutive turnings based on the turning input variable; andoperating, by the controller, the vehicle based on the driving tendency index and the turning degree.2. The method of claim 1 , wherein the driving input variable includes a position of an accelerator pedal claim 1 , a change rate of the position of the accelerator pedal claim 1 , a vehicle speed claim 1 , and a gradient of a road.3. The method of claim 1 , wherein the turning input variable includes a difference between a left wheel speed and a right wheel speed and a lateral acceleration.4. The method of claim 1 , wherein the operating of the vehicle includes operating at least one selected from the group consisting of: an engine claim 1 , a transmission claim 1 , a suspension system claim 1 , and steering system.5. The method of claim 1 , wherein the number of consecutive turnings is defined as the number of turning manipulations occurring consecutively during a predetermined time.6. The method of claim 5 , wherein occurrence of the turning manipulation is determined when a difference between a left wheel speed and a right wheel speed is greater than a predetermined value and an absolute value of a lateral ...

POSTURE ESTIMATION METHOD, POSTURE ESTIMATION DEVICE, AND VEHICLE

A posture estimation method includes calculating a posture change amount of an object based on an output of an angular velocity sensor, predicting posture information of the object by using the posture change amount, limiting a bias error in a manner of limiting a bias error component of an angular velocity around a reference vector in error information, and correcting the predicted posture information of the object based on the error information, the reference vector, and an output of a reference observation sensor. 1. A posture estimation method comprising:calculating a posture change amount of an object based on an output of an angular velocity sensor;predicting posture information of the object by using the posture change amount;limiting a bias error in a manner of limiting a bias error component of an angular velocity around a reference vector, in error information; andcorrecting the predicted posture information of the object based on the error information, the reference vector, and an output of a reference observation sensor.2. The posture estimation method according to claim 1 , wherein determining whether or not the bias error component exceeds an upper limit, and', 'limiting the bias error component when the bias error component exceeds the upper limit., 'the limiting of the bias error includes'}3. The posture estimation method according to claim 1 , further comprising:removing a rotational error component around the reference vector, in the error information.4. The posture estimation method according to claim 2 , further comprising:removing a rotational error component around the reference vector, in the error information.5. The posture estimation method according to claim 1 , whereinthe reference observation sensor is an acceleration sensor.6. The posture estimation method according to claim 1 , whereina rotation error around the reference vector is an azimuth error.7. The posture estimation method according to claim whereinthe reference vector is a ...

Pitch angle calculation device and optical axis adjusting device for vehicles

A pitch angle calculation device includes a first acceleration acquisition unit that acquires an acceleration Gx in a longitudinal axis (x) direction of a vehicle; a second acceleration acquisition unit that acquires an acceleration Gy in a vertical axis (y) direction of a vehicle; a third acceleration acquisition unit that acquires an acceleration α in an advancement direction of a vehicle; and a pitch angle calculation unit that calculates a pitch angle β formed between the longitudinal axis direction and the vertical axis direction by using the acceleration Gx, the acceleration Gy and the acceleration α.

Methods and systems for estimating road surface friction

Methods and systems are provided for determining a road surface friction coefficient and controlling a feature of the vehicle based thereon. In one embodiment, a method includes: receiving signals from an electronic power steering system and an inertial measurement unit; estimating parameters associated with an electronic power steering system model using an iterative optimization method; calculating an electronic power steering system variable using the electronic power steering system model, the estimated parameters and one or more of the received signals; determining whether the calculated electronic power steering system variable satisfies a fitness criterion; and when the calculated electronic power steering system variable does satisfy the fitness criterion, determining a road surface friction coefficient based on at least one of the estimated parameters.

CONSISTENCY VALIDATION FOR VEHICLE TRAJECTORY SELECTION

The present disclosure is directed to performing one or more validity checks on potential trajectories for a device, such as an autonomous vehicle, to navigate. In some examples, a potential trajectory may be validated based on whether it is consistent with a current trajectory the vehicle is navigating such that the potential and current trajectories are not too different, whether the vehicle can feasibly or kinematically navigate to the potential trajectory from a current state, whether the potential trajectory was punctual or received within a time period of a prior trajectory, and/or whether the potential trajectory passes a staleness check, such that it was created within a certain time period. In some examples, determining whether a potential trajectory is feasibly may include updating a set of feasibility limits based on one or more operational characteristics of statuses of subsystems of the vehicle. 1. A collision avoid system comprising:one or more processors; and receive a first set of values indicating a current state of an autonomous vehicle, the first set of values comprising one or more of a first position, a first orientation, a first yaw rate, or a first velocity;', 'receive a potential trajectory for the autonomous vehicle;', 'determine a second set of values indicating a potential state of the autonomous vehicle on the potential trajectory, the second set of values comprising one or more of a second position, a second orientation, a second yaw rate, or a second velocity;', 'determine, as a validity signal, whether the second set of values differs from the first set of values by a set of corresponding threshold amounts; and', 'cause the autonomous vehicle to operate according to the potential trajectory based at least in part on the validity signal., 'memory that stores instructions which, when executed by the one or more processors, cause the system to2. The system of claim 1 , wherein the set of threshold amounts comprising at least two of a ...

ESTIMATOR AND METHOD

A surface roughness estimator for a vehicle configured to generate a first surface roughness index value indicative of terrain surface roughness and to output a signal in dependence at least in part on the first surface roughness index value, the estimator being configured to receive first acceleration information indicative of a first acceleration along a first axis, receive second acceleration information indicative of a second acceleration along a second axis, calculate a combined value in dependence on the first acceleration and second acceleration, and adjust the combined value in dependence on a speed of the vehicle to generate the first surface roughness index value. 1. A surface roughness estimator for a vehicle configured to generate a first surface roughness index value indicative of terrain surface roughness and to output a signal in dependence at least in part on the first surface roughness index value , the estimator being configured to:receive first acceleration information indicative of a first acceleration along a first axis,receive second acceleration information indicative of a second acceleration along a second axis,calculate a combined value in dependence on the first acceleration and second acceleration, andadjust the combined value in dependence on a speed of the vehicle to generate the first surface roughness index value.2. The surface roughness estimator according to claim 1 , wherein the first acceleration and the second acceleration comprise two of acceleration along a vertical axis claim 1 , acceleration along a longitudinal axis and acceleration along a lateral axis of the vehicle.3. The surface roughness estimator according to claim 1 , wherein the first acceleration is lateral acceleration and the second acceleration is vertical acceleration.4. The surface roughness estimator according to claim 1 , wherein the combined value corresponds to a product of the first and second accelerations.5. The surface roughness estimator according to ...

TRAVEL ASSISTANCE APPARATUS AND TRAVEL ASSISTANCE METHOD

A travel assistance apparatus includes aerodynamic devices that execute a travel assistance for stabilizing a behavior of a vehicle and a calculation apparatus for controlling the aerodynamic devices in response to a disturbance to the behavior of the vehicle caused by an airflow around the vehicle, the calculation apparatus controls the aerodynamic devices in response to the disturbance in an unsteady state in which the disturbance is unsteady between two steady states in which the disturbances caused by the airflow are steady. 113-. (canceled)14. A travel assistance apparatus comprising:a travel assistance unit configured to execute a travel assistance for stabilizing a behavior of a vehicle; anda control unit configured to control the travel assistance unit in response to a disturbance to the behavior of the vehicle caused by an airflow around the vehicle,wherein the control unit is configured to control the travel assistance unit by an amount of operation that varies in response to the disturbance,wherein the control unit is configured to control the travel assistance unit in response to the disturbance in an unsteady state in which the disturbance is unsteady between a first steady state in which the disturbance caused by the airflow is steady and a second steady state in which the disturbance caused by the airflow is steady after the first steady state,wherein the control unit is configured to predict the disturbance in the unsteady state and to control the travel assistance unit in response to the predicted disturbance in the unsteady state, andwherein the control unit is configured to control the travel assistance unit by an amount of operation that varies in response to the disturbance in the unsteady state.15. The travel assistance apparatus according to claim 14 ,wherein the control unit is configured to control the travel assistance unit in response to at least any of the disturbance in the unsteady state when the vehicle enters a weak wind region where ...

METHOD AND APPARATUS OF PREDICTING COLLISION FOR OMNIDIRECTIONAL APPLICATION WITHIN EMERGENCY BRAKE SYSTEM

A method and an apparatus for predicting a collision are provided. The method includes calculating, by a controller, a driving trajectory of the subject vehicle based on a yaw rate using driving information of the subject vehicle. In addition, the controller is configured to calculate a driving trajectory of a target vehicle for a predetermined period of time that uses driving information of the target vehicle that includes information from an imaging device, configured to obtain a front image, and radar sensors installed on a plurality of locations. Further, the method also includes predicting classified collision types by analyzing a collision possibility between the subject vehicle and the target vehicle based on the driving trajectory of the subject vehicle and the driving trajectory of the target vehicle. 1. A method for predicting a collision with a target vehicle by a subject vehicle , comprising:calculating, by a controller, a driving trajectory of the subject vehicle based on a yaw rate using driving information of the subject vehicle;calculating, by the controller, a driving trajectory of a target vehicle for a predetermined period of time using driving information of the target vehicle including information from an imaging device mounted on the subject vehicle for obtaining a front image and information from a plurality of radar sensors mounted on the subject vehicle; andpredicting, by the controller, classified collision types by analyzing a collision possibility between the subject vehicle and the target vehicle based on the driving trajectory of the subject vehicle and the driving trajectory of the target vehicle, analyzing, by the controller, the driving information of the target vehicle as the driving trajectory of the target vehicle;', 'estimating, by the controller, a velocity, an acceleration, and a yaw rate of the target vehicle; and', 'calculating, by the controller, locations of the target vehicle at a predetermined time unit based on the ...

System and Method for Reducing Vehicle Turning Radius

A method of providing automated application of turn radius reduction in a driver assist mode may include receiving steering wheel angle and wheel speed information to determine a target wheel slip during a turn. The method may further include comparing the target wheel slip to a current wheel slip to determine a slip error, and applying braking torque to an inside wheel based on the slip error to reduce the turn radius. 1. A vehicle control system for reducing turn radius of a vehicle , the system comprising:a controller operably coupled to components and/or sensors of the vehicle to receive information including vehicle wheel speed and steering wheel angle, the controller being configured to determine a target wheel slip for a turn based on the information; anda torque control module configured to compare the target wheel slip to a current wheel slip and control application of braking torque to an inside wheel during the turn to reduce the turn radius based on a difference between the current wheel slip and the target wheel slip.2. The system of claim 1 , wherein the controller is configured to control vehicle operation in any of a plurality of operator selectable modes of operation claim 1 , andwherein the torque control module is configured to apply the braking torque during the turn responsive to operator selection of a corresponding one of the modes of operation and detection of a trigger event.3. The system of claim 2 , wherein the trigger event comprises detecting the steering wheel angle being within a first range of steering wheel angles claim 2 , the first range of steering wheel angles extending from a starting angle to a maximum angle that corresponds to a limit of rotation of the steering wheel claim 2 , and detecting vehicle speed within a range of enabling speeds.4. The system of claim 3 , wherein the controller is configured to evaluate effectiveness of applying of the braking torque on reducing the turn radius during the turn.5. The system of claim ...

TRACTION CONTROL SYSTEM AND SADDLED VEHICLE

A traction control system according to an embodiment of the present invention includes a yaw rate detector configured to detect the yaw rate of a saddled vehicle, and a controller configured to perform a traction control based on the detected yaw rate. 1. A traction control system comprising:a yaw rate detector configured to detect a yaw rate of a saddled vehicle; anda controller configured to perform a traction control of the saddled vehicle based on the detected yaw rate.2. The traction control system of claim 1 , wherein the controller changes a threshold slip value claim 1 , at which the traction control is turned ON and OFF claim 1 , according to the detected yaw rate.3. The traction control system of claim 2 , wherein the controller is responsive to the detected yaw rate being large claim 2 , so that the controller decreases the threshold slip value claim 2 , compared to when the detected yaw rate is small.4. The traction control system of claim 2 , wherein the controller detects a slip value of the saddled vehicle's rear wheel claim 2 , andthe controller is responsive to the detected rear wheel's slip value being equal to or greater than the threshold slip value, so that the controller starts to perform the traction control.5. The traction control system of claim 1 , further comprising an accelerator position angle detector configured to detect an accelerator position angle of an accelerator of the saddled vehicle claim 1 ,wherein the controller changes a threshold slip value, at which the traction control is turned ON and OFF, according to the detected accelerator position angle.6. The traction control system of claim 5 , wherein the controller is responsive to the detected accelerator position angle being large claim 5 , so that the controller increases the threshold slip value claim 5 , compared to when the detected accelerator position angle is small.7. The traction control system of claim 1 , wherein the controller reduces a driving force of the vehicle ...

ADAPTIVE ELECTRONIC STABILITY CONTROL

An adaptive control adjusts thresholds in a vehicle stability control in response to video camera data, GPS data and weather data indicating that vehicle road conditions are not ideal. Video data determines mue (coefficient of friction) and type of road. Weather data includes temperature, visibility, precipitation and wind velocity. A human machine interface manually overrides the adaptive control in response to a user input. 1. A method for providing vehicle stability control in weather conditions , the method comprising:receiving location/position data via a global positioning signal;receiving weather information;receiving video data from a video camera mounted to a vehicle;determining whether to provide a restricted driving condition in response to the location/position data, the weather information and the video data; andrestricting operation of the vehicle in response to the determination of a restricted driving condition.2. The method according to claim 1 , wherein the step of restricting operation of the vehicle comprises modifying standard thresholds of a vehicle stability control by providing restricted thresholds.3. The method according to claim 2 , wherein the step of restricting operation of the vehicle further comprises limiting maximum vehicle speed of an engine control.4. The method according to claim 1 , including the step of receiving an input from a human machine interface to enable or disable the restricting of operation of the vehicle claim 1 , and wherein receiving weather information includes receiving the weather information from an RF antenna.5. The method according to claim 1 , wherein the step of receiving weather information comprises receiving at least two selected from the group of temperature claim 1 , visibility claim 1 , precipitation and wind velocity.6. The method according to claim 1 , wherein the step of determining a driving condition includes processing the video data to determine a type of road from the group of a tar road ...

MOVING BODY CONTROL DEVICE, MOVING BODY CONTROL METHOD, AND CONTROL PROGRAM

A moving body control device includes an attitude angle detection section configured to detect ah attitude angle of an inverted moving body, a command value generation section configured to generate an attitude angular speed command value of the inverted moving body according to the attitude angle detected by the attitude angle detection section, a control section configured to control drive of the inverted moving body according to the attitude angular speed command value generated by the command value generation section, a determination section configured to make a determination whether or not the inverted moving body travels in a constant direction for a prescribed time or longer, and an acceleration-deceleration command section configured to increase or decrease the attitude angular speed command value generated by the command value generation section when the determination section makes a determination that travel is performed in the constant direction for the prescribed time or longer. 1. A moving body control device comprising:an attitude angle detection section configured to detect an attitude angle of an inverted moving body;a command value generation section configured to generate an attitude angular speed command value of the inverted moving body according to the attitude angle that is detected by the attitude angle detection section;a control section configured to control drive of the inverted moving body according to the attitude angular speed command value that is generated by the command value generation section;a determination section configured to make a determination whether or not the inverted moving body travels in a constant direction for a prescribed time or longer; andan acceleration-deceleration command section configured to increase or decrease the attitude angular speed command value that is generated by the command value generation section when the determination section makes a determination that travel is performed in the constant ...

METHOD TO DETERMINE THE ROLL ANGLE OF A MOTORCYCLE

A method to determine a roll angle (λ) of a vehicle, wherein the roll angle (λ) is calculated as a combination of at least a first roll angle variable (λ) and a second roll angle variable (λ), wherein the first roll angle variable (λ) is determined from an acquired rolling rate ({dot over (λ)}) of the vehicle using a first method, wherein the second roll angle variable (λ) is determined from one or more further vehicle movement dynamics characteristic variables using a second method. 1. A method to determine a roll angle (λ) of a vehicle , comprising:{'sub': E', '1', '2, 'calculating the roll angle (λ) as a combination of at least a first roll angle variable (λ) and a second roll angle variable (λ),'}{'sub': 1', 'm, 'determining wherein the first roll angle variable (λ) from an acquired rolling rate ({dot over (λ)}) of the vehicle using a first method, and'}{'sub': '2', 'determining the second roll angle variable (λ) from one or more further vehicle movement dynamics characteristic variables using a second method.'}2. The method according to claim 1 , wherein the combination comprises multiple levels claim 1 , wherein each level comprises at least one filtering step and at least one combination step.3. The method according to claim 2 , wherein the number of levels is x claim 2 , wherein the y-st level comprises 2filtering steps and 2combination steps claim 2 , wherein the output of level y is the input of level y+1 claim 2 , and wherein in the y-st level 2cutoff frequencies are applied.4. The method according to claim 1 , wherein the first roll angle variable (λ) has different characteristics than the second roll angle variable (λ).5. The method according to claim 1 , wherein the second roll angle variable (λ) is determined from:a yaw rate of the vehicle and a vehicle velocity; and/ora lateral acceleration and vertical acceleration of the vehicle.6. The method according to claim 1 , further comprising eliminating cross effects between angular rates due to the ...

VEHICLE CONTROL APPARATUS AND METHOD FOR CONTROLLING VEHICLE

A vehicle control apparatus includes an additional yaw moment decider that decides an additional yaw moment based on a yaw rate of a vehicle, a spin tendency determiner that makes a determination as to a spin tendency of the vehicle, a rotation difference decider that decides a rotation difference control amount for controlling a difference in rotation between left and right front wheels of the vehicle so as to reduce the difference in rotation, when the vehicle is determined to have the spin tendency, a rear wheel braking/driving force decider that decides a rear wheel braking/driving force control amount for controlling braking/driving forces of left and right rear wheels of the vehicle based on the additional yaw moment, and a front wheel braking/driving force decider that decides a front wheel braking/driving force control amount for controlling braking/driving forces of the left and right front wheels of the vehicle. 1. A vehicle control apparatus , comprising:an additional yaw moment decider that decides an additional yaw moment based on a yaw rate of a vehicle;a spin tendency determiner that makes a determination as to a spin tendency of the vehicle;a rotation difference decider that decides a rotation difference control amount to control a difference in rotation between left and right front wheels of the vehicle so as to reduce the difference in rotation, when the vehicle is determined to have the spin tendency;a rear wheel braking/driving force decider that decides a rear wheel braking/driving force control amount to control braking/driving forces of left and right rear wheels of the vehicle based on the additional yaw moment; anda front wheel braking/driving force decider that decides a front wheel braking/driving force control amount to control braking/driving forces of the left and right front wheels of the vehicle based on the rotation difference control amount.2. The vehicle control apparatus according to claim 1 , further comprising:a vehicle slip ...

VEHICULAR SENSING SYSTEM FOR ANTICIPATING CUT-IN BY OTHER VEHICLE

A method for anticipating a lane change by another vehicle ahead of a vehicle equipped with a sensing system having a camera and a radar sensor includes processing captured image data to determine lane markers of a traffic lane along which the equipped vehicle is traveling, and to determine presence of another vehicle in an adjacent traffic lane. Responsive to processing of captured radar data, an oblique angle of a direction of travel of the other vehicle relative to the traffic lane is determined. Responsive to determination that the oblique angle of the direction of travel of the other vehicle is indicative of a cut-in intent of the other vehicle, and based on the determined range to the determined other vehicle, the system anticipates the cut-in of the other vehicle and applies a braking system of the equipped vehicle to mitigate collision with the determined other vehicle. 1. A method for anticipating a lane change by another vehicle ahead of a vehicle equipped with a sensing system , the method comprising:disposing at least one forward-sensing radar sensor at a vehicle equipped with the sensing system, the at least one forward-sensing radar sensor having a field of sensing exterior and at least forward of the equipped vehicle, wherein the at least one forward-sensing radar sensor comprises an antenna array having multiple transmitting antennas and multiple receiving antennas;disposing a forward-viewing camera at the equipped vehicle and having a field of view exterior and at least forward of the equipped vehicle;providing a control at the equipped vehicle, the control comprising at least one processor;transmitting, via the transmitting antennas, radar signals and receiving, via the receiving antennas, the radar signals reflected off objects, and capturing, via the at least one forward-sensing radar sensor, radar data based on the received radar signals;providing the radar data captured by the at least one forward-sensing radar sensor to the control;capturing ...

DRIVING STATE DETERMINATION DEVICE AND DRIVING STATE DETERMINATION METHOD

A control device that determines whether a driver is in a careless driving slate based on the number of times a driver performs a viewing action includes: a number-of-times acquisition unit that acquires the number of times the driver performs viewing actions in a plurality of viewing directions with respect to z traveling direction of a vehicle; a driving state determination unit that determines whether he driver is in the careless driving state based on the number of times of each viewing direction acquired by the number-of-times acquisition unit and a determination value defines by a percentage of viewing action in each viewing direction; a road information acquisition unit that acquires road information on the type of road on which the vehicle travels and a determination value adjustment unit that adjusts the determination value based on the road information acquired by the road information acquisition unit 1. A driving stale determination device that determines whether a driver is in a careless driving state based on the number of times the driver performs viewing actions , the driving state determination device comprising:a number-of-times acquisition unit configured to acquire the number of times the driver performs viewing actions in a plurality cf viewing directions with respect to a traveling direction of a vehicle:a driving slate determination unit configured to determine whether the driver is in the careless driving state based on die number of times in each viewing direction acquired by the number-of-times acquisition unit and a determination value defined by a percentage of the viewing actions in each viewing direction;a road information acquisition unit configured to acquire road information on a type of road on which the vehicle travels; anda determination value adjustment unit configured to adjust the determination value based on the road information acquired by the road information acquisition unit.2. The driving state determination device ...

WALKING ASSISTANCE MOVING VEHICLE

A walking assistance moving vehicle includes a walking assistance moving vehicle main body with wheels, a distance sensor, an inclination sensor, and a controller. The distance sensor senses distance between the walking assistance moving vehicle main body and an object ahead of the walking assistance moving vehicle main body. The inclination sensor senses inclination of the walking assistance moving vehicle main body. The controller distinguishes between a first state in which the walking assistance moving vehicle moves on a sloped ground and a second state in which at least one of the wheels is off a ground based on the distance sensed by the distance sensor and the inclination sensed by the inclination sensor. The controller further controls the walking assistance moving vehicle main body according to a result of distinguishing between the first state and the second state. 1. A walking assistance moving vehicle comprising:a walking assistance moving vehicle main body with wheels, the walking assistance moving vehicle main body being configured to assist walking of a user;a distance sensor configured to sense distance between the walking assistance moving vehicle main body and an object ahead of the walking assistance moving vehicle main body;an inclination sensor configured to sense inclination of the walking assistance moving vehicle main body; anda controller configured to distinguish between a first state in which the walking assistance moving vehicle moves on a sloped ground and a second state in which at least one of the wheels is off a ground based on the distance sensed by the distance sensor and the inclination sensed by the inclination sensor, the controller being further configured to control the walking assistance moving vehicle main body according to a result of distinguishing between the first state and the second state.2. The walking assistance moving vehicle according to claim 1 , whereinthe controller is further configured to acquire a change ...

ATTITUDE ESTIMATION APPARATUS AND TRANSPORTATION MACHINE

An attitude estimation apparatus includes an attitude estimation unit for estimating the roll angle and pitch angle of a movable body and for using a calculation process to estimate an offset error for at least one of first, second and third angular velocity detection units and first, second and third acceleration detection units. The attitude estimation unit estimates the roll angle and pitch angle of the movable body and the offset error for at least one detection unit based on detected values from the first, second and third angular velocity detection units, detected values from the first, second and third acceleration detection units, a detected value from the velocity information detection unit, an estimated value of the roll angle from a previous estimation operation, an estimated value of the pitch angle from the previous estimation operation, and an estimated value of the offset error from the previous estimation operation. 1. An attitude estimation apparatus for estimating an attitude of a movable body , the attitude estimation apparatus comprising:a first angular velocity detection unit configured to detect a first angular velocity, the first angular velocity being an angular velocity of the movable body about a first axis;a second angular velocity detection unit configured to detect a second angular velocity, the second angular velocity being an angular velocity of the movable body about a second axis, the second axis being in a direction different from a direction of the first axis;a third angular velocity detection unit configured to detect a third angular velocity, the third angular velocity being an angular velocity of the movable body about a third axis, the third axis being in a direction different from the direction of the first axis and the direction of the second axis;a first acceleration detection unit configured to detect a first acceleration, the first acceleration being an acceleration of the movable body in a first direction;a second ...

VEHICLE BEHAVIOR CONTROL DEVICE

There is provided a vehicle behavior control device capable of improving responsivity of a vehicle behavior and a linear feeling with respect to a steering wheel operation without causing a driver to experience a strong feeling of intervention of the control, and capable of controlling behavior in such a manner as to improve stability of the vehicle attitude and riding comfort. The device includes a PCM which acquires a steering speed relating to a jerk in a width direction of the vehicle, sets a torque reduction flag, indicative of whether or not a condition for allowing reduction of an output torque of an engine is satisfied, based on the steering speed, and starts to reduce a torque when the torque reduction flag is set to True indicative of a state in which the condition for allowing reduction of the torque is satisfied. 1. A vehicle behavior control device applied to a vehicle having a steerable front road wheel , the vehicle behavior control device comprising:a lateral jerk-related quantity acquiring part configured to acquire a lateral jerk-related quantity relating to a jerk in a width direction of the vehicle;a driving force reduction flag setting part configured to set a driving force reduction flag, indicative of whether or not a condition for allowing a reduction of a driving force of the vehicle is satisfied, based on the lateral jerk-related quantity; anda driving force reducing part configured to start to reduce the driving force of the vehicle when the driving force reduction flag is set to a true value indicative of a state in which the condition for allowing the reduction of the driving force of the vehicle is satisfied.2. The vehicle behavior control device according to claim 1 , wherein the driving force reduction flag setting part is configured to set the driving force reduction flag to the true value when the lateral jerk-related quantity exceeds a given threshold.3. The vehicle behavior control device according to claim 1 , wherein the lateral ...

INTEGRATED GRADE AND PITCH ESTIMATION USING A THREE-AXIS INERTIAL-MEASURING DEVICE

A system for use at a vehicle to estimate vehicle pitch angle and road grade angle, in real time and generally simultaneously. The system includes a sensor configured to measure vehicle pitch rate, a processor, and a computer-readable medium. The medium includes computer-executable instructions that, when executed by the processor, cause the processor to perform operations comprising estimating, using an observer and the vehicle pitch rate measured by the sensor, an estimated vehicle pitch rate. The operations further comprise estimating, using an observer and the measured vehicle pitch rate, the vehicle pitch angle, and estimating, based on the estimated vehicle pitch rate and the vehicle pitch angle estimated, the road grade angle. 1. A system , for use at a vehicle to estimate vehicle pitch angle and a road grade angle , in real time and generally simultaneously , comprising:a sensor configured to measure vehicle pitch rate;a processor; and estimating, using an observer and the vehicle pitch rate measured by the sensor, an estimated vehicle pitch rate;', 'estimating, using an observer and the measured vehicle pitch rate, the vehicle pitch angle; and', 'estimating, based on the estimated vehicle pitch rate and the vehicle pitch angle estimated, the road grade angle., 'a computer-readable medium comprising computer-executable instructions that, when executed by the processor, cause the processor to perform operations comprising2. The system of claim 1 , wherein the sensor is claim 1 , or is part of a three-axis inertial-measurement unit.3. The system of claim 1 , wherein the operations include receiving the measured vehicle pitch rate.4. The system of claim 3 , wherein the operations include estimating claim 3 , using the measured vehicle pitch rate received claim 3 , the estimated vehicle pitch rate.5. The system of claim 3 , wherein the operations include estimating claim 3 , using the measured vehicle pitch rate received claim 3 , a vehicle pitch angle.6. The ...

INTEGRATED BANK AND ROLL ESTIMATION USING A THREE-AXIS INERTIAL-MEASURING DEVICE

A system, for use at a vehicle to estimate vehicle roll angle and road bank angle, in real time and generally simultaneously. The system includes a sensor configured to measure vehicle roll rate, a processor; and a computer-readable medium. The medium includes instructions that, when executed by the processor, cause the processor to perform operations comprising estimating, using an observer and the vehicle roll rate measured by the sensor, a vehicle roll rate. The operations also include estimating, using an observer and a measured vehicle roll rate, the vehicle roll angle, and estimating, based on the vehicle roll rate estimated and the vehicle roll angle estimated, the road bank angle. 1. A system , for use at a vehicle to estimate vehicle roll angle and a road bank angle , in real time and generally simultaneously , comprising:a sensor configured to measure vehicle roll rate;a processor; and estimating, using an observer and the vehicle roll rate measured by the sensor, an estimated vehicle roll rate;', 'estimating, using an observer and the measured vehicle roll rate, the vehicle roll angle; and', 'estimating, based on the estimated vehicle roll rate and the vehicle roll angle estimated, the road bank angle., 'a computer-readable medium comprising computer-executable instructions that, when executed by the processor, cause the processor to perform operations comprising2. The system of claim 1 , wherein the sensor is claim 1 , or is part of a three-axis inertial-measurement unit.3. The system of claim 1 , wherein the operations include receiving the measured vehicle roll rate.4. The system of claim 3 , wherein the operations include estimating claim 3 , using the measured vehicle roll rate received claim 3 , the estimated vehicle roll rate.5. The system of claim 3 , wherein the operations include estimating claim 3 , using the measured vehicle roll rate received claim 3 , a vehicle roll angle.6. The system of claim 5 , wherein the measured vehicle roll rate ...

VEHICLE SENSING SYSTEM WITH ENHANCED DETECTION OF VEHICLE ANGLE

A sensing system for a vehicle includes at least one radar sensor disposed at the vehicle and having a field of sensing exterior of the vehicle. The at least one radar sensor includes an array of multiple transmitting antennas and multiple receiving antennas. A control is responsive to the outputs of the at least one radar sensor and determines the presence of one or more other vehicles exterior the vehicle and within the field of sensing of the at least one radar sensor. Lane markers may be determined via a vision system of the equipped vehicle. The control determines range and relative lane position of a detected other vehicle relative to the equipped vehicle and determined lane markers, and the sensing system may anticipate a lane change, cut-in or merge intent of the detected other vehicle. 1. A sensing system for a vehicle , said sensing system comprising:at least one radar sensor disposed at a vehicle equipped with said sensing system and having a field of sensing exterior of the equipped vehicle;wherein said at least one radar sensor comprises an antenna array having multiple transmitting antennas and multiple receiving antennas, wherein said transmitters transmit signals and said antennas receive the signals reflected off objects;a control, wherein radar data sensed by said at least one radar sensor is received at said control, and wherein said control, responsive to received sensed radar data, detects the presence of one or more objects exterior the equipped vehicle and within the field of sensing of said at least one radar sensor;wherein said control, via determination of edges of detected objects, determines an oblique angle of another vehicle present in the field of sensing relative to motion of the equipped vehicle;wherein said sensing system performs successive scanning cycles to determine range to and relative lane position of the determined other vehicle relative to the equipped vehicle;wherein lane markers are determined via a vision system of the ...

HYBRID VEHICLE AND DRIVING CONTROL METHOD FOR THE SAME

A driving control method of a hybrid vehicle is provided. The method includes acquiring link information on each of a current link in which the vehicle currently travels in an electric vehicle (EV) mode and a forward link connected to the current link ahead of the current link. A first average driving load of the current line and a second average driving load of the forward link are calculated based on the acquired link information. When the second average driving load is greater than the first average driving load a minimum required state of charge (SoC) based on the second average driving load and a preset driving mode switch reference are determined. 1. A driving control method of a hybrid vehicle , comprising:acquiring, by a controller, link information on each of a current link in which the vehicle currently travels in an electric vehicle (EV) mode and a forward link connected to the current link ahead of the current link;calculating, by the controller, a first average driving load of the current line and a second average driving load of the forward link, based on the acquired link information;in response to determining that the second average driving load is greater than the first average driving load, determining, by the controller, a minimum required state of charge (SoC) based on the second average driving load and a preset driving mode switch reference; anddetermining, by the controller, whether to change the driving mode switch reference based on first average driving power required to travel in the current link in the EV mode based on the first average driving load and maximum EV driving power based on a maximum SoC reduction rate to satisfy the minimum required SoC at a time point of entry into the forward link.2. The method of claim 1 , wherein the determining whether the driving mode switch reference is changed includes changing the driving mode switch reference to the minimum required SoC in response to determining that the first average driving ...

SURFACE PROFILE MEASURING APPARATUS AND METHOD HAVING NO MINIMUM SPEED REQUIREMENT

A profiler arranged to be used on a host vehicle. The profiler is capable of (a) receiving data collected by the profiler while traveling over a surface and (b) generating a surface profile using the data collected with no minimum speed requirement. Since there is no minimum speed requirement, the profiler is capable of generating valid, repeatable and reliable road surface profiles in situations not previously possible, such as during a stop, during acceleration of the host vehicle, during deceleration of the host vehicle, or while the host vehicle is traveling at very low speeds below thresholds typically required for prior profilers. 1. A profiler system arranged to be used in cooperation with a vehicle , the profiler system capable of:(a) receiving data collected by the profiler system indicative of a surface, the data collected while the vehicle is moving less than a predetermined threshold speed; and(b) generating a surface profile of the surface traveled by the vehicle while moving less than the predetermined threshold speed, the surface profile generated from the received data collected while the vehicle was moving less the predetermined threshold speed.2. The profiler system of claim 1 , wherein the surface profile is generated while the vehicle is moving less than a predetermined threshold speed is collected during one or more of the following:(a) while the vehicle is stationary during a stop;(b) while the vehicle is travelling at low speeds with or without intermittent stoppages;(c) during acceleration of the vehicle;(d) during deceleration of the vehicle; or(e) without lead-in or lead-out distances,wherein the data collected during any of (a) through (e) is considered valid and suitable for generating the surface profile.3. The profiler system of claim 1 , wherein the predetermined threshold is one of the following:(a) 15 miles per hour;(b) 10 miles per hour; or(c) 5 miles per hour.4. The profiler system of claim 1 , wherein surface profile generated ...

Lane departure prevention control system for vehicle

A lane departure prevention control system for a vehicle includes: a lane detector that detects a lane on which the vehicle travels; a disturbance information detector that detects information on disturbance applied to the vehicle; a correction module that corrects position information of a departure determination line used for determining whether the vehicle departs from the lane, based on at least the information on the disturbance applied to the vehicle; a departure predictor that makes a prediction of departure from the lane, based on position information on the departure determination line and a travelling state, the position information being corrected by the correction module; a target turn amount calculator that calculates a target turn amount to be applied to the vehicle, required for preventing departure from the lane based on the prediction of the departure from the lane; and a target turn amount generator that generates the target turn amount.

ENGINE POWER SUPPRESSING DEVICE

An engine power suppressing device includes a controller which controls an operation of a power changing element which changes engine power for driving a vehicle; and an environment sensor which detects an environment parameter indicating an environment in which the vehicle is used, wherein the controller determines whether or not a power suppressing condition in which a vehicle state is a state in which the engine power is to be suppressed, is met, wherein in a case where the controller determines that the power suppressing condition is met, the controller sets a suppressing value for the power changing element to suppress the engine power, and compensates the suppressing value based on the environment parameter detected by the environment sensor. 1. An engine power suppressing device comprising:a controller which controls an operation of a power changing element which changes engine power for driving a vehicle; andan environment sensor which detects an environment parameter indicating an environment in which the vehicle is used,wherein the controller determines whether or not a power suppressing condition in which a vehicle state of the vehicle is a state in which the engine power is to be suppressed, is met,wherein in a case where the controller determines that the power suppressing condition is met,the controller sets a suppressing value for the power changing element to suppress the engine power, and compensates the suppressing value based on the environment parameter detected by the environment sensor.2. The engine power suppressing device according to claim 1 ,wherein the environment parameter is an environment value which affects the engine power.3. The engine power suppressing device according to claim 2 ,wherein the environment parameter is an atmospheric pressure, and the environment sensor is an atmospheric pressure sensor which detects an atmospheric pressure in a region surrounding the vehicle, andwherein the controller compensates the suppressing ...

Vehicle and method of controlling the same

A vehicle includes an inertial measurement unit (IMU); and a controller electrically connected to the IMU. The controller is configured to receive an output signal including at least one of an angular velocity and an acceleration from the IMU, to identify a driving state of the vehicle according to at least one of the output signal, a steering angle of the vehicle, a steering angular velocity of the vehicle, a number of gear stages of the vehicle, a wheel speed of the vehicle, and a braking pressure of the vehicle, to identify an offset and an offset reliability of the output signal according to the driving state of the vehicle, and to transmit a signal from which the offset is removed from the output signal according to the offset and the offset reliability.

VEHICLE BEHAVIOR DETECTION DEVICE

A vehicle behavior detection device mounted on an own vehicle detects own vehicle's behavior, in particular driver's right or left turn behavior at an intersection on a roadway. The vehicle behavior detection device is a microcomputer system having a CPU capable of providing an intended direction acquiring section, a turn direction acquiring section, a coincidence judgment section and an information output section. The intended direction acquiring section obtains an intended direction toward which the own vehicle is turning. The turn direction acquiring section acquires a direction to which the own vehicle turns. The coincidence judgment section detects whether or not the intended direction coincides with the turn direction of the own vehicle. The information output section provides warning regarding wide right or left turn of the own vehicle when the judgment result indicates that the intended direction does not coincide with the turn direction of the own vehicle. 1. A vehicle behavior detection device to be mounted on an own vehicle , comprising a computer system including a central processing unit , the computer system being configured to provide:an intended direction acquiring section obtaining an intended direction to which the own vehicle turns;a turn direction acquiring section acquiring a turn direction to which the own vehicle turns;a coincidence judgment section judging whether or not the intended direction coincides with the turn direction of the own vehicle; andan information output section outputting wide turn information showing that the own vehicle is now turning wide when the judgment result indicates that the intended direction does not coincide with the turn direction of the own vehicle.2. The vehicle behavior detection device according to claim 1 , further comprising:a vehicle speed acquiring section acquiring a vehicle speed of the own vehicle;an appropriate vehicle speed detection section detecting whether or not the vehicle speed of the own ...

VEHICLE BEHAVIOR CONTROL DEVICE

There is provided a vehicle behavior control device capable of improving responsivity of a vehicle behavior and a linear feeling with respect to a steering wheel operation without causing a driver to experience a strong feeling of intervention of the control and, at the same time, capable of controlling behavior of a vehicle in such a manner as to also improve stability of the vehicle attitude and riding comfort. In a vehicle behavior control device applied to a vehicle having steerable front road wheels the vehicle behavior control device includes a PCM which acquires a steering speed of the vehicle, and increases a pitch angle in such a direction that a front portion of the vehicle dips when the steering speed becomes equal to or greater than a given threshold Twhich is greater than zero. 1. A vehicle behavior control device applied to a vehicle having a steerable front road wheel , the vehicle behavior control device comprising:a steering speed acquiring part configured to acquire a steering speed of the vehicle; anda pitch angle increasing part configured to increase a pitch angle in such a direction that a front portion of the vehicle dips, when the steering speed becomes equal to or greater than a given threshold which is greater than zero.2. The vehicle behavior control device according to claim 1 , wherein the pitch angle increasing part is configured to start to reduce a driving force of the vehicle when the steering speed becomes equal to or greater than the threshold claim 1 , so as to increase the pitch angle in such a direction that the front portion of the vehicle dips.3. The vehicle behavior control device according to claim 1 , wherein claim 1 , when the steering speed becomes equal to or greater than the threshold claim 1 , the pitch angle increasing part is configured to increase the pitch angle in such a direction that the front portion of the vehicle dips claim 1 , in synchronization with an increase in a roll angle of the vehicle.4. The vehicle ...

VEHICLE BEHAVIOR CONTROL DEVICE

There is provided a vehicle behavior control device capable of improving responsivity of a vehicle behavior and a linear feeling with respect to a steering wheel operation without causing a driver to experience a strong feeling of intervention of the control and, at the same time, capable of controlling behavior of a vehicle in such a manner as to also improve stability of the vehicle attitude and riding comfort. In a vehicle behavior control device applied to a vehicle having steerable front road wheels the vehicle behavior control device includes a PCM which acquires a steering speed of the vehicle, and increases a vertical load on the front road wheels when the steering speed becomes equal to or greater than a given threshold Twhich is greater than zero. 1. A vehicle behavior control device applied to a vehicle having a steerable front road wheel , the vehicle behavior control device comprising:a steering speed acquiring part configured to acquire a steering speed of the vehicle; anda vertical load increasing part configured to increase a vertical load on a front road wheel when the steering speed becomes equal to or greater than a given threshold which is greater than zero.2. The vehicle behavior control device according to claim 1 , wherein the vertical load increasing part is configured to start to reduce a driving force of the vehicle when the steering speed becomes equal to or greater than the threshold claim 1 , so as to increase the vertical load on the front road wheel.3. The vehicle behavior control device according to claim 1 , wherein claim 1 , when the steering speed becomes equal to or greater than the threshold claim 1 , the vertical load increasing part is configure to increase the vertical load on the front road wheel claim 1 , in synchronization with a lateral load shift of the front road wheel.4. The vehicle behavior control device according to claim 1 ,wherein the vehicle comprises a driving device configured to drive a drive road wheel,wherein ...

INFORMATION PROCESSING APPARATUS

An information processing apparatus includes a receiver configured to receive a data set including a requested acceleration as information representing movement of a vehicle in a front-rear direction and any one of a steering angle, a yaw rate, and a rotation radius as information representing movement of the vehicle in a lateral direction from each of a plurality of applications, an arbitration unit configured to perform arbitration of information representing the movement of the vehicle in the front-rear direction and arbitration of information representing the movement of the vehicle in the lateral direction based on a plurality of the data sets received by the receiver, and a first output unit configured to output instruction information for driving an actuator based on an arbitration result of the arbitration unit. 1. An information processing apparatus that arbitrates requests from a plurality of applications implementing driving assistance functions to an actuator , the information processing apparatus comprising:a receiver configured to receive a data set including a requested acceleration as information representing movement of a vehicle in a front-rear direction and any one of a steering angle, a yaw rate, and a rotation radius as information representing movement of the vehicle in a lateral direction from each of the applications;an arbitration unit configured to perform arbitration of the information representing the movement of the vehicle in the front-rear direction and arbitration of the information representing the movement of the vehicle in the lateral direction based on a plurality of the data sets received by the receiver; anda first output unit configured to output instruction information for driving the actuator based on an arbitration result of the arbitration unit.2. The information processing apparatus according to claim 1 , wherein the data set received by the receiver includes information designating whether the information representing the ...

VEHICLE CONTROL DEVICE

Provided is a vehicle control device capable of accurately estimating a self-vehicle location with a yaw angle error occurring when a vehicle starts to travel due to an initial phase shift between pulsed waveforms of left and right wheels when the vehicle starts to travel suppressed. The vehicle control device further estimates a direction of wheel rotation while the vehicle is at a stop. A yaw angle deviation when the vehicle starts to travel is estimated and corrected on the basis of a weighted average of discrete yaw angle values obtained immediately after the vehicle starts to travel from wheel speed sensors installed on left and right non-steered wheels of the vehicle. A yaw angle while the vehicle is at a stop and a yaw angle when the vehicle starts to travel are also estimated, and the direction of wheel rotation while the vehicle is at a stop is also estimated from a difference between the yaw angles. The yaw angle and coordinates are corrected on the basis of the estimation result. 1. A vehicle control device configured to calculate an amount of change in yaw angle , a travel distance , and a forward and backward travel direction on a basis of information from a sensor installed on a vehicle , and calculate , from the amount of change in yaw angle , the travel distance , and the forward and backward travel direction , a relative location and relative direction from an estimated start state of a travel direction of the vehicle to estimate a self-vehicle location.2. The vehicle control device according to claim 1 , whereinthe amount of change in yaw angle is calculated from a difference between travel distances of left and right non-steered wheels and left and right-side distances from a center between the left and right non-steered wheels to the left and right non-steered wheels.3. The vehicle control device according to claim 1 , whereinthe travel distance is calculated from an average of the travel distances of the left and right non-steered wheels.4. The ...

VEHICLE BEHAVIOR CONTROL DEVICE

The vehicle behavior control device comprises: a steer-by-wire type steering apparatus () having a steering wheel-side mechanism and a road wheel-side mechanism which are mechanically separated from each other; and a controller () performs a driving force reduction control when a steering speed in the steering apparatus () becomes equal to or greater than a given threshold. The steering apparatus () comprises a first steering angle sensor () provided in the steering wheel-side mechanism and a second steering angle sensor () provided in the road wheel-side mechanism. The controller () performs the driving force reduction control using the first steering angle sensor () when a yaw rate or a steering speed is equal to or greater than a given value, and performs the driving force reduction control using the second steering angle sensor () when the yaw rate or the steering speed is less than the given value. 1. A vehicle behavior control device configured to control a behavior of a vehicle having steerable front road wheels , comprising:a steering apparatus configured to transmit rotation of a steering wheel toward the front road wheels, the steering apparatus having: a steering wheel-side mechanism which is coupled to the steering wheel and configured to transmit rotation of the steering wheel; and a road wheel-side mechanism which is coupled to the steering wheel-side mechanism via a low rigidity portion having a relatively low torsional rigidity or is mechanically separated from the steering wheel-side mechanism, and configured to turn the front road wheels according to the rotation of the steering wheel; anda driving force reduction part configured to, when a steering speed in the steering apparatus becomes equal to or greater than a given threshold greater than 0, perform a driving force reduction control in order to reduce a vehicle driving force according to the steering speed,wherein the steering apparatus comprises: a first steering angle sensor provided in the ...

Devices and Methods for a Sensor Platform of a Vehicle

In one example, a vehicle includes a platform and a yaw sensor mounted on the platform. The yaw sensor provides an indication of a yaw rate of rotation of the yaw sensor. The vehicle also includes an actuator that rotates the platform. The vehicle also includes a controller coupled to the yaw sensor and the actuator. The controller receives the indication of the yaw rate from the yaw sensor. The controller also causes the actuator to rotate the platform (i) along a direction of rotation opposite to a direction of the rotation of the yaw sensor and (ii) at a rate of rotation based on the yaw rate of the yaw sensor. The controller also estimates a direction of motion of the vehicle in an environment of the vehicle based on at least the rate of rotation of the platform.

PARKING ASSISTANCE APPARATUS, PARKING ASSISTANCE METHOD, AND PROGRAM

A parking assistance apparatus includes: a route calculation unit configured to calculate a movement route for moving a vehicle to a parking target position; an inclination angle calculation unit configured to calculate first inclination angle information, calculate second inclination angle information by performing a filtering process, and when there is a deviation between the first inclination angle information and the second inclination angle information, reset the first inclination angle information used in the filtering process and calculate the second inclination angle information by performing the filtering process using first inclination angle information calculated after the resetting; and a movement control unit configured to execute movement control for controlling a driving force and a braking force to move the vehicle to the parking target position along the movement route, while adjusting the driving force and the braking force according to the second inclination angle information. 1. A parking assistance apparatus comprising:a route calculation unit configured to calculate a movement route for moving a vehicle from a current position of the vehicle to a parking target position;an inclination angle calculation unit configured to calculate first inclination angle information, which is information indicating an inclination angle with respect to the ground on which the vehicle travels, in a chronological order, calculate second inclination angle information by performing a filtering process of removing a high frequency component equal to or higher than a predetermined threshold value on waveform information represented by arranging a plurality of pieces of the calculated first inclination angle information in a chronological order, and when it is determined that there is a deviation between the first inclination angle information and the second inclination angle information based on a predetermined reference, reset the plurality of pieces of the first ...

METHODS AND SYSTEM FOR OPERATING A VEHICLE

Methods and systems for operating a driveline that includes one or more electric machine providing torque to one or more axles are described. In one example, a requested vehicle speed is adjusted responsive to at least one of vehicle yaw, vehicle roll, and vehicle pitch so that vehicle speed may be maintained at a requested value. 1. A driveline operating method , comprising:operating a vehicle at a requested speed in a speed control mode via a controller; andadjusting the requested speed via the controller according to vehicle pitch.2. The method of claim 1 , further comprising operating the vehicle in a rock crawl mode while operating the vehicle at the requested speed in the speed control mode and adjusting the requested speed according to vehicle roll.3. The method of claim 2 , where the speed control mode adjusts wheel torque so that the vehicle moves at the requested speed claim 2 , and further comprising:adjusting the requested speed according to vehicle yaw.4. The method of claim 1 , further comprising adjusting the requested speed via the controller such that slip of a wheel is less than a threshold amount of wheel slip.5. The method of claim 1 , where the wheel is a driven wheel claim 1 , and where the rock crawl mode includes a vehicle upper threshold speed below which vehicle speed is maintained below.6. The method of claim 1 , where the requested speed is based on a vehicle speed command from an accelerator pedal.7. The method of claim 1 , where the requested speed is output from a cruise control system claim 1 , and further comprising adjusting the requested speed based on a position of a brake pedal.8. A driveline operating method claim 1 , comprising:operating a vehicle at a requested speed in a speed control mode via a controller; anddistributing a torque to operate the vehicle at the requested speed to a first axle and a second axle according to a vehicle suspension compression amount via the controller.9. The method of claim 8 , where the ...

PERIPHERY MONITORING DEVICE

A periphery monitoring device includes: a bird's-eye view image generation unit that generates a bird's-eye view image from a captured image obtained by imaging a periphery of a vehicle; an indicator control unit that superimposes at least one indicator of a target region indicator indicating a target region to which the vehicle is able to move, a 3D object indicator indicating a 3D object present around the vehicle, and an approaching object indicator indicating an approaching object approaching the vehicle, on the bird's-eye view image in a highlighting mode; and a display adjustment unit that displays an image region based on the captured image in the bird's-eye view image on which the indicator is superimposed with at least one of a luminance value and a saturation being reduced when the vehicle is guided to the target region. 1. A periphery monitoring device comprising:a bird's-eye view image generation unit that generates a bird's-eye view image from a captured image obtained by imaging a periphery of a vehicle;an indicator control unit that superimposes at least one indicator of a target region indicator indicating a target region to which the vehicle is able to move, a 3D object indicator indicating a 3D object present around the vehicle, and an approaching object indicator indicating an approaching object approaching the vehicle, on the bird's-eye view image in a highlighting mode; anda display adjustment unit that displays an image region based on the captured image in the bird's-eye view image on which the indicator is superimposed with at least one of a luminance value and a saturation being reduced when the vehicle is guided to the target region.2. The periphery monitoring device according to claim 1 , whereinthe bird's-eye view image generation unit changes an area of a display region of the bird's-eye view image between a first bird's-eye view display region of a predetermined range centered on the vehicle and a second bird's-eye view display region ...

VEHICLE PERFORMANCE EVALUATION METHOD, DEVICE AND TERMINAL

A vehicle performance evaluation method, device and terminal are provided. The method includes: acquiring a labeled. ADE score of an ADE item within a time period in which the ADE item occurs, and recording labeled data of an ADE index for indicating a vehicle state; acquiring a correlation between the ADE item and the vehicle state, according to the labeled ADE score and the labeled data of the ADE index; acquiring data of a target ADE index within a preset time period, and acquiring a target ADE score according to the data of the target ADE index and a correlation between the ADE item and the vehicle state; and acquiring a vehicle performance evaluation result according to the target ADE score. The passenger participation is not necessary, costs can be reduced and a vehicle evaluation efficiency can be improved. 1. A vehicle performance evaluation method , implemented by circuits for implementing functions , comprising:acquiring a labeled auto driving experience (ADE) score of an ADE item within a time period in which the ADE item occurs, and recording labeled data of an ADE index for indicating a vehicle state;acquiring a correlation between the ADE item and the vehicle state, according to the labeled ADE score and the labeled data of the ADE index;acquiring data of an ADE index, as a target ADE index, within a preset time period, and acquiring an ADE score, as a target ADE score, according to the data of the target ADE index and a correlation between the ADE item and the vehicle state; andacquiring a vehicle performance evaluation result according to the target ADE score;wherein the acquiring the correlation between the ADE item and the vehicle state, according to the labeled ADE score and the labeled data of the ADE index comprises:performing statistics to a plurality of labeled ADE scores and labeled data of a plurality of ADE indexes within a preset time period;calculating a change rate of each ADE index corresponding to the labeled data of the ADE index; ...

SYSTEMS AND METHODS FOR HEDGING FOR DIFFERENT GAPS IN AN INTERACTION ZONE

Implementations described and claimed herein provide systems and methods for controlling an autonomous vehicle. In one implementation, the autonomous vehicle is navigated towards a flow of traffic with a first gap between first and second vehicles and a second gap following the second vehicle. A motion plan for directing the autonomous vehicle into the flow of traffic at an interaction zone is generated based on whether an ability of the autonomous vehicle to enter the interaction zone at the second gap exceeds a confidence threshold. The autonomous vehicle is autonomously navigated into the flow of traffic at the first gap when the confidence threshold is exceeded. The motion plan forgoes navigation of the autonomous vehicle into the flow of traffic at the first and second gaps when the ability of the autonomous vehicle to enter the interaction zone at the second gap does not exceed the confidence threshold. 1. A method for controlling an autonomous vehicle , the method comprising: navigating the autonomous vehicle along a route towards a flow of traffic, the flow of traffic including a first vehicle followed by a second vehicle, the second vehicle followed by a third vehicle, a first gap between the first vehicle and the second vehicle, and a second gap between the second vehicle and the third vehicle; and', determining whether an ability of the autonomous vehicle to enter the interaction zone at the second gap at a time of replanning exceeds a confidence threshold;', 'autonomously navigating the autonomous vehicle into the flow of traffic at the first gap when the ability of the autonomous vehicle to enter the interaction zone at the second gap at the time of replanning exceeds the confidence threshold; and', 'forgoing navigation of the autonomous vehicle into the flow of traffic at the first gap and the second gap when the ability of the autonomous vehicle to enter the interaction zone at the second gap at the time of replanning does not exceed the confidence ...

INTEGRATED CHASSIS CONTROL SYSTEM

An integrated chassis control system includes a first sensor configured to sense a first vehicle driving in a lane adjacent to a lane in which an own vehicle is driving and to sense behavior information of the first vehicle, a second sensor configured to sense a variation in behavior of the own vehicle, a first determinator configured to determine a degree of influence of a side wind, which is predicted to occur due to the first vehicle, based on the behavior information of the first vehicle, a second determinator configured to determine a variance in abnormal behavior of the own vehicle based on information sensed by the second sensor, a first controller configured to perform a semi-active chassis system control, and a second controller configured to perform an active chassis system control. 1. An integrated chassis control system comprising:a first sensor configured to sense a first vehicle driving in a lane adjacent to a lane in which an own vehicle is driving and to sense behavior information of the first vehicle;a second sensor configured to sense a variation in behavior of the own vehicle;a first determinator configured to determine a degree of influence of a side wind, which is predicted to occur due to the first vehicle, based on the behavior information of the first vehicle;a second determinator configured to determine a variance in abnormal behavior of the own vehicle based on information sensed by the second sensor;a first controller configured to perform a semi-active chassis system control when the degree of influence of the side wind, which is predicted by the first determinator, is greater than or equal to a predetermined setting value; anda second controller configured to perform an active chassis system control by calculating a control value for stabilizing the behavior of the own vehicle according to the variance in abnormal behavior of the own vehicle which is determined by the second determinator.2. The integrated chassis control system of claim ...

METHOD AND DEVICE FOR ASCERTAINING A HIGHLY ACCURATE ESTIMATED VALUE OF A YAW RATE FOR CONTROLLING A VEHICLE

A method for ascertaining a highly accurate piece of yaw rate information for controlling a vehicle is provided. The method includes ascertaining a first yaw rate estimated value of the vehicle based on a fusion of sensor data of an inertial sensor, a GNSS sensor, a wheel velocity sensor and/or a steering angle sensor; ascertaining a second yaw rate estimated value of the vehicle by an evaluation of sensor data of a camera assigned to the vehicle, which optically detects the surroundings of the vehicle; carrying out a correction of the first yaw rate estimated value with the aid of the second yaw rate estimated value to ascertain a corrected yaw rate estimated value; and outputting the corrected yaw rate estimated value as a piece of yaw rate information to generate a control signal for controlling the vehicle. 1. A method for ascertaining a highly accurate piece of yaw rate information for controlling a vehicle , comprising the following steps:ascertaining a first yaw rate estimated value of the vehicle, based on a fusion of sensor data of an inertial sensor, and/or a GNSS sensor, and/or a wheel velocity sensor and/or a steering angle sensor;ascertaining a second yaw rate estimated value of the vehicle by an evaluation of sensor data of a camera assigned to the vehicle, which optically detects surroundings of the vehicle;carrying out a correction of the first yaw rate estimated value using the second yaw rate estimated value to ascertain a corrected yaw rate estimated value; andoutputting the corrected yaw rate estimated value as a piece of yaw rate information to generate a control signal for controlling the vehicle.2. The method as recited in claim 1 , wherein the first yaw rate estimated value is compared with the second yaw rate estimated value to ascertain a yaw rate correction value claim 1 , and wherein the yaw rate correction value is used to correct the first yaw rate estimated value.3. The method as recited in claim 2 , wherein an offset of the first yaw ...

VEHICLE MOTION CONTROL APPARATUS AND VEHICLE MOTION CONTROL SYSTEM

In order to propose a vehicle motion control apparatus providing a good operability for a driver and capable of reducing a pedal operation, motional state information acquiring means configured to acquire longitudinal acceleration, lateral acceleration, and a vehicle speed generated in a vehicle; pedal operating amount acquiring means configured to acquire pedal operation information performed by the driver; and vehicle motion control command calculating means configured to calculate a longitudinal acceleration command value on the basis of information acquired therefrom and output a command value realizing the calculated longitudinal acceleration command value are provided, and the vehicle motion control command calculating means is configured to calculate the longitudinal acceleration command value on the basis of the acquired information so as to generate longitudinal acceleration which provides a longitudinal jerk of a value comparable to a longitudinal jerk on the basis of a pedal opening operation performed by the driver. 1. A vehicle motion control apparatus comprising:motional state information acquiring means configured to acquire a longitudinal acceleration, a lateral acceleration, and a vehicle speed generated in a vehicle;pedal operating amount acquiring means configured to acquire pedal operation information performed by a driver; andvehicle motion control command calculating means configured to calculate a longitudinal acceleration command value on the basis of information acquired from the motional state information acquiring means and the pedal operating amount acquiring means and output a command value realizing the calculated longitudinal acceleration command value, whereinthe vehicle motion control command calculating means is configured to calculate the longitudinal acceleration command value on the basis of the acquired information so as to generate longitudinal acceleration which provides a longitudinal jerk of a value comparable to a ...

TURNING BEHAVIOR CONTROL APPARATUS FOR A VEHICLE

A turning behavior control apparatus that is applied to a vehicle includes front wheel suspensions and rear wheel suspensions having anti-dive and anti-lift geometries, respectively, and left and right front wheels are steered wheels. The turning behavior control apparatus includes a control unit for controlling the braking device, and the control unit is configured to control the braking device to apply a braking force to a turning inner driving wheel when a deviation between a standard yaw rate of the vehicle and an actual yaw rate exceeds a deviation reference value and a time change rate of the deviation exceeds a start reference value in a situation where the vehicle is turning without braking. 1. A behavior control apparatus for a vehicle that is applied to a vehicle which comprises front wheel , suspensions and rear wheel suspensions having anti-dive and anti-lift geometries , respectively , and a braking device configured to independently apply braking forces to left and right front wheels and left and right rear wheels , and the left and right front wheels are steered wheels , whereinthe behavior control apparatus comprises a control unit for controlling the braking device, and the control unit is configured to control the braking device to apply a braking force to a turning inner driving wheel when a deviation between a standard yaw rate of the vehicle and an actual yaw rate exceeds a deviation reference value and a time change rate of the deviation exceeds a start reference value in a situation where the vehicle is turning without braking.2. The behavior control apparatus for a vehicle according to claim 1 , wherein the control unit is configured to calculate a target value of the braking force to be applied to the turning inner driving wheel based on at least the time change rate of the deviation so as to increase as the time change rate of the deviation increases and control the braking device such that a braking force applied to the turning inner ...

PREDICTIVE VEHICLE STABILITY CONTROL METHOD

A method of controlling vehicle stability includes the steps of obtaining a measured yaw rate from the vehicle, generating a predicted yaw rate based on the measured yaw rate, calculating a first error signal based on a difference between the measured yaw rate and a desired yaw rate, calculating a second error signal based on a difference between the predicted yaw rate and the desired yaw rate, and sending a selected one of the first and second error signals to a yaw controller to conduct stability control. The predicted yaw rate can be generated by sending the measured yaw rate through a lead filter. 1. A method of controlling stability of a vehicle , comprising:obtaining a measured yaw rate from the vehicle;generating a predicted yaw rate based on the measured yaw rate;calculating a first error signal based on a difference between the measured yaw rate and a desired yaw rate;calculating a second error signal based on a difference between the predicted yaw rate and the desired yaw rate; andsending a selected one of the first and second error signal to a yaw controller to conduct stability control.2. The method of claim 1 , wherein the predicted yaw rate is generated by sending the measured yaw rate through a lead filter.3. The method of claim 1 , wherein the sending step comprises sending a maximum of the first and second error signals to the yaw controller to conduct stability control during an oversteering condition.4. The method of claim 3 , wherein the sending step further comprises sending a minimum of the first and second error signals to the yaw controller to conduct stability control during an understeering condition.5. The method of claim 1 , wherein the sending step comprises sending a minimum of the first and second error signals to the yaw controller to conduct stability control during an understeering condition.6. The method of claim 1 , further comprising calculating a saturated value of at least one of the first and second error signal before sending ...

DRIVING FORCE CONTROL DEVICE FOR A VEHICLE

A sprung vibration estimation unit is configured to calculate a pitch rate of a vehicle body based on the wheel speeds detected by wheel speed sensors. A vibration suppression driving force calculation unit is configured to calculate a vibration suppression driving force for suppressing pitching of the vehicle body based on the pitch rate. An integration unit is configured to calculate a vehicle body speed based on a driver required driving force. A second sprung vibration estimation unit is configured to calculate a pitch rate of the vehicle body (vehicle body speed pitch rate) generated by a change in the vehicle body speed. A determination unit is configured to output a cutoff command for the vibration suppression driving force to an adjustment unit when the vehicle body speed pitch rate is more than a threshold. 1. A driving force control device for a vehicle , comprising:wheel speed detection means for detecting a wheel speed;sprung vibration estimation means for estimating, based on the wheel speed, a sprung vibration to be generated in a pitch direction of a vehicle body due to an input from a road surface;vibration suppression driving force calculation means for calculating a vibration suppression driving force for suppressing the estimated sprung vibration;target driving force calculation means for calculating a target driving force acquired by adding the vibration suppression driving force to a driver required driving force to be set depending on a driver required acceleration/deceleration;driving force control means for controlling a driving force to be generated on a wheel in accordance with the target driving force;error indication value calculation means for calculating, based on the driver required acceleration/deceleration, an error indication value representing a magnitude of an error, which is included in an estimation of the sprung vibration and is generated by a change in a vehicle body speed; andvibration suppression driving force adjustment ...

Lane change control apparatus and control method of the same

A lane change control apparatus includes a lane information extractor configured to obtain lane information for a driving lane by using image information for a lane. A lane changeable time calculator is configured to calculate a lane changeable time by using speed information of an own vehicle and information for peripheral vehicles obtained from sensing apparatuses installed in the vehicle. A reference yaw rate generator is configured to determine a lane change time by using the lane changeable time and speed information and generate a reference yaw rate symmetrically changed on a time axis during the lane change time by using the lane change time and lane information. A reference yaw rate tracker is configured to control an operation of the own vehicle so as to track the reference yaw rate.

Systems And Methods For Detecting And Compensating Camera Yaw Angle Offset For Autonomous Vehicles

A control system for a vehicle using a forward-facing camera includes a look ahead module configured to determine a distance to a look ahead point. A lane center module determines a location of a lane center line. A vehicle center line module determines a location of a vehicle center line. A first lateral offset module determines a first lateral offset based on the look ahead point and the determined lane center line. A second lateral offset module determines a second lateral offset based on the determined lane center line and the vehicle center line. A yaw angle offset calculating module receives the first lateral offset, the second lateral offset and the distance to the look ahead point, calculates a yaw angle offset, and compensates a yaw angle error based on the yaw angle offset. 1. A control system for a vehicle using a forward-facing camera , comprising:a look ahead module configured to determine a look ahead point of the forward-facing camera and a distance from the vehicle to the look ahead point;a lane center module configured to determine a location of a lane center line of a lane of a road occupied by the vehicle;a vehicle center line module configured to determine a location of a vehicle center line;a first lateral offset module configured to determine a first lateral offset based on the look ahead point and the determined lane center line;a second lateral offset module configured to determine a second lateral offset based on the determined lane center line and the vehicle center line; and receive N samples of the first lateral offset, the second lateral offset and the distance to the look ahead point, where N is an integer greater than one;', 'calculate a yaw angle offset in response to the N samples of the first lateral offset, the second lateral offset and the distance to the look ahead point; and', 'compensate a yaw angle error of the forward-facing camera in response to the calculation of the yaw angle offset., 'a yaw angle offset calculating module ...

SYSTEM AND METHOD FOR AUTONOMOUS CONTROL OF A VEHICLE

An automotive vehicle includes an actuator configured to control vehicle steering, acceleration, or shifting, a sensor configured to provide signals indicative of a lateral distance between a current vehicle location relative to a desired path, and a controller. The controller is configured to, in response to a determination that the lateral distance exceeds a threshold, automatically control the actuator according to an interstitial path. The interstitial path is automatically defined by the controller, and is based on a b-spline defined by a first position boundary condition at the current vehicle location, a second position boundary condition at a merge location relative to the desired vehicle path, a first curvature boundary condition based on a current vehicle yaw rate, and a second curvature boundary condition based on a curvature of the desired vehicle path at the merge location. The interstitial path is further optimized based on a cost function. 1. An automotive vehicle comprising:at least one actuator configured to control vehicle steering, acceleration, or shifting;at least one sensor configured to provide signals indicative of a current vehicle location relative to a desired path;at least one controller configured to, in response to a determination that a lateral distance between the current vehicle location and the desired vehicle path exceeds a threshold, automatically control the at least one actuator according to an interstitial path defined by the controller, the interstitial path comprising a B-spline defined by a first position boundary condition at the current vehicle location, a second position boundary condition at a merge location relative to the desired vehicle path, a first curvature boundary condition based on a current vehicle yaw rate, and a second curvature boundary condition based on a curvature of the desired vehicle path at the merge location, the interstitial path being further optimized based on a cost function.2. The vehicle of ...

CALCULATION APPARATUS, CONTROL METHOD, PROGRAM AND STORAGE MEDIUM

In cases when it is determined that a measured yaw angle (Ψ) can be calculated on the basis of the output of a LIDAR (), a control unit () calculates the measured yaw angle (Ψ) as the estimated yaw angle (Ψ), and performs calibration processing on a gyro sensitivity coefficient (A), a gyro offset coefficient (B), a steering angle sensitivity coefficient (C) and a steering angle offset coefficient (D). Meanwhile, in cases when it has been determined that the measured yaw angle (Ψ) cannot be calculated, the control unit () calculates a gyro sensor-based yaw rate (Ψ) on the basis of the steering angle sensitivity coefficient (C) and the steering angle offset coefficient (D) while calculating a steering angle-based yaw rate (Ψ) on the basis of the steering angle sensitivity coefficient (C) and the steering angle offset coefficient (D), and weights these calculated values in accordance with the degrees of their reliabilities to thereby calculate an estimated yaw rate (Ψ) for calculating the estimated yaw angle (Ψ). 1. A calculation apparatus comprising:a correction unit configured to correct, on a basis of a first yaw rate and information associated with a moving body, calculation information to be used for calculation of a second yaw rate, the first yaw rate being acquired from information associated with surroundings of the moving body; and correct the calculation information while determining the first yaw rate as the second yaw rate in a case that the first yaw rate is obtainable and', 'calculate the second yaw rate based on the information associated with the moving body and the corrected calculation information in a case that the first yaw rate is not obtainable., 'a control unit configured to'}2. The calculation apparatus according to claim 1 , further comprising:a first calculation unit configured to calculate a third yaw rate of the moving body based on output of an angular speed sensor mounted on the moving body and the calculation information;a second ...

LANE DEPARTURE PREVENTING DEVICE

A lane departure preventing device includes at least one electronic control unit. The at least one electronic control unit is configured to: when there is a likelihood that a vehicle will depart from a traveling lane, calculate a prevention yaw moment, and control a brake actuator such that the prevention yaw moment is applied to the vehicle; acquire a lateral acceleration; determine whether the lateral acceleration is greater than an ideal value by a predetermined value; control the brake actuator such that the braking force matches a target braking force required to apply the prevention yaw moment to the vehicle, when the lateral acceleration is not greater than the ideal value by the predetermined value; and control the brake actuator such that the braking force is less than the target braking force, when the lateral acceleration is greater than the ideal value by the predetermined value. 1. A lane departure preventing device comprisingat least one electronic control unit configured to:when there is a likelihood that a vehicle will depart from a traveling lane in which the vehicle travels, calculate a prevention yaw moment, the prevention yaw moment for preventing departure of the vehicle from the traveling lane, and control a brake actuator configured to apply a braking force to a vehicle wheel such that the prevention yaw moment is applied to the vehicle;acquire a first lateral acceleration and a longitudinal acceleration, the first lateral acceleration and the longitudinal acceleration being generated in the vehicle when the prevention yaw moment is applied;determine whether the first lateral acceleration is greater than an ideal value of the first lateral acceleration by a first predetermined value, the ideal value of the first lateral acceleration being estimated, from motion characteristics of the vehicle, to be generated in the vehicle due to application of the prevention yaw moment when the longitudinal acceleration is generated in the vehicle due to ...

DRIVING FORCE CONTROL DEVICE FOR A VEHICLE

A vibration suppression torque calculation means calculates a vibration suppression torque for suppressing a sprung vibration. An upper/lower limit value setting means is configured to set, based on a gear ratio of a transmission, upper and lower limit values whose absolute values are increased as the gear ratio is increased. An upper/lower limit restriction means calculates a final vibration suppression torque acquired by using the upper and lower limit values to impose upper/lower limit restriction on the vibration suppression torque. An addition unit sets a value acquired by adding the final vibration suppression torque to a driver required torque to a target torque. 1. A driving force control device for a vehicle , comprising:a drive device comprising a travel driving source and a transmission and being configured to transmit a driving torque of the travel driving source to a wheel via the transmission, to thereby drive the wheel;vibration suppression torque calculation means for calculating a vibration suppression torque for suppressing a sprung vibration to be generated on a vehicle body;upper/lower limit restriction means for imposing an upper/lower limit restriction on the calculated vibration suppression torque such that the vibration suppression torque falls within a range limited by upper and lower limit values;target torque calculation means for calculating a target torque by adding the vibration suppression torque subjected to the upper/lower limit restriction to a driver required torque, which is set based on an accelerator operation performed by a driver;driving torque control means for controlling a driving torque of the drive device based on the target torque;gear ratio acquisition means for acquiring a gear ratio of the transmission at a current time; andupper/lower limit value setting means for setting, based on the acquired gear ratio, absolute values of the upper and lower limit values so as to be increased as the gear ratio is increased.2. A ...

CONTROL DEVICE FOR VEHICULAR LAMP AND VEHICLE LIGHTING SYSTEM

To provide a technique capable of accurately obtaining the attitude of a vehicle in the pitch direction. A control device for a vehicular lamp which controls the optical axis of a vehicular lamp in accordance with an attitude change in pitch direction of the vehicle is disclosed. The device includes an angle calculation part which obtains a first and a second acceleration by eliminating the gravitational acceleration component from each acceleration in the vertical and the longitudinal direction of the vehicle, calculates a vehicle traveling direction acceleration based on the accelerations, and obtains a vehicle attitude angle based on the correlation between the vehicle traveling direction acceleration and the first and the second accelerations. The angle calculation part obtains the attitude angle of the vehicle when it determines that the vehicle is accelerating or decelerating based on the determination on the basis of each acceleration difference at the predetermined time. 1. A control device for a vehicular lamp which variably controls optical axis of the vehicular lamp in accordance with an attitude change in the pitch direction of a vehicle comprising:an angle calculation part,wherein the angle calculation part obtains acceleration values each associated with the vertical direction and the horizontal direction of the vehicle at a predetermined time interval, and obtains a first acceleration value related to the vertical direction of the vehicle and a second acceleration value related to the horizontal direction of the vehicle by eliminating gravitational acceleration component from each of the acceleration values,wherein the angle calculation part calculates a vehicle traveling direction acceleration based on the first acceleration value and the second acceleration value, and further obtains an attitude angle of the vehicle based on a correlation between either one of the first acceleration value or the second acceleration value and the vehicle traveling ...