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1. 发明申请

WO2021019407A1 CUSTOMIZATION OF AUTONOMOUS-DRIVING LANE CHANGES OF MOTOR VEHICLES BASED ON DRIVERS' DRIVING BEHAVIOURS 审中-公开
公开(公告)号：WO2021019407A1
公开(公告)日：2021-02-04
申请号：PCT/IB2020/057029
申请日：2020-07-24
申请人： C.R.F. SOCIETA' CONSORTILE PER AZIONI
发明人： RAFFONE, Enrico , REI, Claudio , BASSO, Michele
IPC分类号： B60W30/18 , B60W40/09 , B60W60/00 , B62D15/02
摘要： An automotive active lane change assist (HCLA) designed to cause a motor vehicle (1) to carry out autonomous-driving lane change manoeuvres and to customize the autonomous-driving lane change manoeuvres based on manual-driving lane change habits of a driver of the motor vehicle (1) learnt during one or different manual-driving sessions of the motor vehicle (1). The automotive active lane change assist (HCLA) is further designed to customize the autonomous-driving lane change manoeuvres based on manual-driving lane change habits of a driver of the motor vehicle (1) by determining one or different autonomous-driving lane change settings for one or different drivers of the motor vehicle (1) and for one or different types or categories of roads along which the motor vehicle (1) can carry out autonomous-driving lane change manoeuvres.

2. 发明申请

WO2020201961A1 AUTOMATIC MOTOR-VEHICLE DRIVING SPEED CONTROL BASED ON DRIVER'S DRIVING BEHAVIOUR 审中-公开
公开(公告)号：WO2020201961A1
公开(公告)日：2020-10-08
申请号：PCT/IB2020/052948
申请日：2020-03-27
申请人： C.R.F. SOCIETA' CONSORTILE PER AZIONI
发明人： FEDELI, Roberto , RAFFONE, Enrico , REI, Claudio , FOSSANETTI, Massimo
IPC分类号： B60W30/14 , B60W50/00
摘要： An automotive electronic driving speed control system configured to control the driving speed of the motor-vehicle along a recurring path travelled by the motor- vehicle in assisted- or autonomous-driving based on one or more driver- specific driving speed profiles of the motor-vehicle learnt during one or more previous travels of the same path along which the motor-vehicle is manually driven by the specific driver.

3. 发明申请

WO2021053607A1 MODEL-BASED DESIGN OF TRAJECTORY PLANNING AND CONTROL FOR AUTOMATED MOTOR-VEHICLES IN A DYNAMIC ENVIRONMENT 审中-公开
公开(公告)号：WO2021053607A1
公开(公告)日：2021-03-25
申请号：PCT/IB2020/058721
申请日：2020-09-18
申请人： C.R.F. SOCIETA' CONSORTILE PER AZIONI
发明人： RAFFONE, Enrico , REI, Claudio , ROSSI, Marco
IPC分类号： B60W30/18 , B60W60/00 , G05D1/02
摘要： An automotive electronic dynamics control system for an automated motor-vehicle. The electronic dynamics control system is designed to implement two distinct Model Predictive Control (MPC)-based Trajectory Planners comprising a Longitudinal Trajectory Planner designed to compute a planned longitudinal trajectory for the automated motor-vehicle; and a Lateral Trajectory Planner designed to compute a planned lateral trajectory for the automated motor-vehicle. The electronic dynamics control system is further designed to cause the planned longitudinal trajectory to be computed before the planned lateral trajectory.

4. 发明申请

WO2023062569A1 DOWN-SHIFT ACCELERATION OVERSHOOT COMPENSATION IN AUTOMOTIVE ELECTRONIC LONGITUDINAL DYNAMICS CONTROL OF AUTONOMOUS MOTOR VEHICLES 审中-公开
公开(公告)号：WO2023062569A1
公开(公告)日：2023-04-20
申请号：PCT/IB2022/059810
申请日：2022-10-13
申请人： C.R.F. SOCIETA' CONSORTILE PER AZIONI
发明人： DESSI', Riccardo , RAFFONE, Enrico , REI, Claudio , FOSSANETTI, Massimo
IPC分类号： B60W10/06 , B60W10/11
摘要： An automotive electronic longitudinal dynamics control system (LDM) of a motor vehicle (MV) comprising a powertrain (PWT) comprising a propulsor (P) electronically controlled by an electronic engine control module (ECM) and an automatic transmission (T) electronically controlled by an electronic automatic transmission control module (ATM) to transmit mechanical power generated by the propulsor (P) to drive wheels (W) of the motor vehicle (MV) and comprising an automatic gearbox (G) having a plurality of gears (gi) with corresponding gear ratios (R(gi)) The electronic automatic transmission control module (ATM) is designed to output data indicative of a currently engaged gear (gi) and a next engaged gear (gi+1) that will be engaged after the currently engaged gear (gi). The electronic engine control module (ECM) is designed to receive data indicative of an engine torque request (ET(t, gi,)) and to responsively control the propulsor (P) based on the received engine torque request (ET(t, gi,)) to cause the propulsor (P) to output an engine torque equal to the requested engine torque (ET(t, gi,)). The automotive electronic longitudinal dynamics control system (LDM) is designed to: - receive from the electronic automatic transmission control module (ATM) data indicative of the currently engaged gear (gi) and the next engaged gear (gi+1) that will be engaged after the currently engaged gear (gi); - receive a reference longitudinal acceleration (aref(t)) to be followed and a measured longitudinal acceleration (a(t)); - compute an engine torque request (ET(t, gi)) for the electronic engine control module (ECM) based on a longitudinal acceleration error (ea(t)) indicative of a deviation of the measured longitudinal acceleration (a(t)) from the reference longitudinal acceleration (aref(t)), on a control law (f( ea(t), gi)) and on the currently engaged gear (gi) and the next engaged gear (gi+1).

5. 发明申请

WO2021079338A1 MOTOR-VEHICLE TRAJECTORY PLANNING AND CONTROL TO CAUSE AUTOMATED MOTOR-VEHICLES TO PERFORM LOW-SPEED MANOEUVRES IN AUTOMATED DRIVING 审中-公开
公开(公告)号：WO2021079338A1
公开(公告)日：2021-04-29
申请号：PCT/IB2020/059987
申请日：2020-10-23
申请人： C.R.F. SOCIETA' CONSORTILE PER AZIONI
发明人： BORRELLO, Giulio , RAFFONE, Enrico , REI, Claudio , FOSSANETTI, Massimo
IPC分类号： B60W30/06 , B62D15/02 , G05D1/02 , B60W50/00
摘要： An automotive electronic dynamics control system (10) for a motor-vehicle (2) equipped with and automotive automated driving system (1) designed to cause the motor- vehicle (2) to perform low-speed manoeuvres in automated driving. The automotive automated driving system (1) comprises an automotive sensory system (3) designed to detect motor-vehicle-related quantities, and automotive actuators (4) comprising an Electric Power Steering (5), a Braking System (6), and a Powertrain (7). The electronic dynamics control system (10) is designed to implement a Driving Path Planner (11) designed to: - receive data representative of static obstacles in the surroundings of the motor-vehicle (2) and representing static space constraints to the motion of the motor-vehicle (2), and - compute, based on the received data, a planned driving path for the motor- vehicle (2) during a low-speed manoeuvre performed in automated driving. The electronic dynamics control system (10) is further designed to implement a Model Predictive Control (MPC)-based Trajectory Planner and Controller (12) designed to: - receive from the Driving Path Planner (11) data representative of the planned driving path and from the automotive sensory system (3) data representative of positions and orientations of the motor-vehicle (2) and of dynamic obstacles in the surroundings of the motor-vehicle (2) and representing dynamic space constraints to the motion of the motor- vehicle (2), and - compute, based on the received data, a planned lateral trajectory and a planned longitudinal trajectory for the motor-vehicle (2) during the low-speed manoeuvre performed in automated driving. The electronic dynamics control system (10) is further designed to implement a Motion Controller (13) designed to: - receive from the Trajectory Planner and Controller (12) data representative of the planned lateral and longitudinal trajectories, and - compute commands for the Electric Power Steering (5) based on the planned lateral trajectory, and for the Braking System (6) and the Powertrain (7) based on the planned longitudinal trajectory. The Driving Path Planner (11) is designed to compute the planned driving path as a planned driving corridor within which the motor-vehicle (2) may be driven and made up of a series of driving path segments each with a length and an orientation referenced in an inertial reference frame. The MPC-based Trajectory Planner and Controller (12) comprises: - an MPC-based Lateral Trajectory Planner and Controller (12a) designed to compute the planned lateral trajectory as a series of steering requests (

6. 发明申请

WO2020136619A1 AUTOMOTIVE ELECTRONIC LATERAL DYNAMICS CONTROL SYSTEM FOR A SELF-DRIVING MOTOR VEHICLE 审中-公开
公开(公告)号：WO2020136619A1
公开(公告)日：2020-07-02
申请号：PCT/IB2019/061405
申请日：2019-12-27
申请人： C.R.F. SOCIETA' CONSORTILE PER AZIONI
发明人： RAFFONE, Enrico , REI, Claudio
IPC分类号： B62D15/02 , B60W30/10 , B60W10/184 , B60W10/20 , B60T8/1755 , B62D6/00 , B60T2201/083 , B60T2201/16 , B60T8/17557 , B60W2050/0008 , B60W2050/0013 , B60W2520/105 , B60W2520/125 , B60W2520/14 , B60W2540/18 , B60W2552/30 , B60W2710/202 , B60W2710/207 , B60W2720/14 , B60W30/02 , B62D15/025 , B62D6/003
摘要： An automotive electronic lateral dynamics control system (1) of an autonomous motor vehicle, comprising a lateral driving path planner (4) designed to plan a lateral driving path of the autonomous motor vehicle and defined by a reference curvature (ρref ) of the autonomous motor vehicle; an automotive electronic driving stability control system (2) designed to control an automotive braking system to apply to the autonomous motor vehicle a yaw torque ( Tyawref) to hinder a driving instability condition of the autonomous motor vehicle; and an automotive electronic steering control system (3) designed to control an automotive steering system to apply to the autonomous motor vehicle a steering angle or torque (δSWref, TSWref ) to cause the autonomous motor vehicle to follow the lateral driving path planned by the lateral driving path planner (4). The automotive electronic lateral dynamics control system (1) is designed to cause an intervention of the automotive electronic steering control system (3) to take account of an intervention of the automotive electronic driving stability control system (2).

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