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1. 发明授权

US11897452B2 Automotive electronic lateral dynamics control system for a self-driving motor vehicle 有权
公开(公告)号：US11897452B2
公开(公告)日：2024-02-13
申请号：US17418481
申请日：2019-12-27
申请人： C.R.F. SOCIETA' CONSORTILE PER AZIONI
发明人： Enrico Raffone , Claudio Rei
IPC分类号： B60W30/045 , B60W10/18 , B60W10/20 , B60W30/12 , B60W50/00 , B60W60/00
CPC分类号： B60W30/045 , B60W10/18 , B60W10/20 , B60W30/12 , B60W50/0098 , B60W60/001 , B60W2050/0008 , B60W2520/06 , B60W2520/10 , B60W2520/125 , B60W2520/14 , B60W2552/30 , B60W2710/18 , B60W2710/202 , B60W2710/207 , B60G2200/44 , B60T2201/122
摘要： An automotive electronic lateral dynamics control system of an autonomous motor vehicle, comprising a lateral driving path planner designed to plan a lateral driving path of the autonomous motor vehicle and defined by a reference curvature of the autonomous motor vehicle; an automotive electronic driving stability control system designed to control an automotive braking system to apply to the autonomous motor vehicle a yaw torque to hinder a driving instability condition of the autonomous motor vehicle; and an automotive electronic steering control system designed to control an automotive steering system to apply to the autonomous motor vehicle a steering angle or torque to cause the autonomous motor vehicle to follow the lateral driving path planned by the lateral driving path planner. The automotive electronic lateral dynamics control system is designed to cause an intervention of the automotive electronic steering control system to take account of an intervention of the automotive electronic driving stability control system.

2. 发明公开

US20230174091A1 MOTOR-VEHICLE DRIVING ASSISTANCE IN LOW METEOROLOGICAL VISIBILITY CONDITIONS, IN PARTICULAR WITH FOG 审中-公开
公开(公告)号：US20230174091A1
公开(公告)日：2023-06-08
申请号：US17924378
申请日：2021-05-12
申请人： C.R.F. SOCIETA' CONSORTILE PER AZIONI
发明人： Marco ANDREETTO , Nereo PALLARO
IPC分类号： B60W50/14 , B60W30/14 , B60Q1/14 , H04N7/18 , G06V20/56 , G06T11/00
CPC分类号： B60W50/14 , B60Q1/143 , B60W30/146 , G06T11/00 , G06V20/56 , H04N7/181 , B60Q1/20 , B60W2050/146 , B60W2420/40 , B60W2420/42 , B60W2552/50 , B60W2552/53 , B60W2555/20
摘要： ADAS designed to assist a driver of a motor-vehicle in low meteorological visibility conditions, in particular with fog, comprising a sensory system comprising a front vision system arranged on the motor-vehicle to monitor an environment in front of the motor-vehicle and comprising one or different first front cameras designed to operate in the electromagnetic spectrum visible to the human eye, and one or different second front cameras designed to operate in the electromagnetic spectrum invisible to the human eye; and electronic processing resources communicatively coupled to the sensory system to receive and process outputs of one or more of the automotive front cameras to determine a meteorological visibility in front of the motor-vehicle and assist the driver of the motor-vehicle based on the meteorological visibility in front of the motor-vehicle. Assisting the driver of the motor-vehicle comprises differentially controlling operation(s) of one or different automotive systems comprising an external lighting system, a user interface, and a cruise control system based on the meteorological visibility in front of the motor-vehicle. Assisting the driver of the motor-vehicle further comprises visually assisting the driver of the motor-vehicle via the user interface by displaying on at least one automotive display thereof either a video streaming of an automotive front camera or a virtual depiction of an environment in front of or surrounding the motor-vehicle computed based on information from the sensory system.

3. 发明授权

US11414073B2 Automotive driver assistance 有权
公开(公告)号：US11414073B2
公开(公告)日：2022-08-16
申请号：US17041537
申请日：2019-09-24
申请人： C.R.F. SOCIETA' CONSORTILE PER AZIONI
发明人： Filippo Visintainer , Andrea Steccanella , Paolo Denti , Marco Darin , Luciano Altomare , Alessandro Marchetto
IPC分类号： B60W30/09 , B60W30/095 , G01S19/42 , G01S19/53
摘要： An advanced driver assistance system configured to implement one or more automotive V2V applications designed to assist a driver in driving a Host Motor-Vehicle. The advanced driver assistance system is configured to be connectable to an automotive on-board communication network to communicate with automotive on-board systems to implement one or different automotive functionalities aimed at assisting the driver in driving the Host Motor-Vehicle, controlling the Host Motor-Vehicle, and informing the driver of the Host Motor-Vehicle of the presence of Relevant Motor-Vehicles deemed to be relevant to the driving safety of the Host Motor-Vehicle. The advanced driver assistance system comprises an automotive V2V communication system operable to communicate with automotive V2V communication systems of Remote Motor-Vehicles via V2V messages containing motor-vehicle position-related, motion-related, and state-related data. The advanced driver assistance system is further configured to receive V2V messages transmitted by V2V communications systems of Remote Motor-Vehicles; identify from among the Remote Motor-Vehicles in communication with the Host Motor-Vehicle, Nearby Motor-Vehicles that may represent potential threats to the driving safety of the Host Motor-Vehicle, based on motor-vehicle position-related, motion-related, and state-related data in received V2V messages and on motor-vehicle position-related, motion-related, and state-related data of the Host Motor-Vehicle; and process the data contained in the V2V messages received from the Nearby Motor-Vehicles to identify from among the Nearby Motor-Vehicles Relevant Motor-Vehicles that may be relevant to the automotive functionalities aimed at assisting the driver in driving the Host Motor-Vehicle, controlling the Host Motor-Vehicle, at informing the driver of the Host Motor-Vehicle of the presence of Relevant Motor-Vehicles deemed to be relevant to the driving safety, and dispatch on the automotive on-board communication network a list of virtual objects containing information on the Host Motor-Vehicle and on the Relevant Motor-Vehicles, for exploitation by one or more of the functionalities aimed at assisting the driver in driving the Host Motor-Vehicle, controlling the Host Motor-Vehicle, and informing the driver of the Host Motor-Vehicle of the presence of the Relevant Motor-Vehicles deemed to be relevant to the driving safety of the Host Motor-Vehicle, or exploit the information on the Host Motor-Vehicle and on the Relevant Motor-Vehicles in the implementation of one or more of the automotive functionalities aimed at assisting the driver in driving the Host Motor-Vehicle, controlling the Host Motor-Vehicle, and informing the driver of the Host Motor-Vehicle of the presence of the Relevant Motor-Vehicles and of relevant events deemed to be relevant to the driving safety of the Host Motor-Vehicle.

4. 发明申请

US20220169247A1 MOTOR-VEHICLE TRAJECTORY PLANNING AND CONTROL TO CAUSE AUTOMATED MOTOR-VEHICLES TO PERFORM LOW-SPEED MANOEUVRES IN AUTOMATED DRIVING 有权
公开(公告)号：US20220169247A1
公开(公告)日：2022-06-02
申请号：US17442379
申请日：2020-10-23
申请人： C.R.F. SOCIETA' CONSORTILE PER AZIONI
发明人： Giulio BORRELLO , Enrico RAFFONE , Claudio REI , Massimo FOSSANETTI
IPC分类号： B60W30/14 , B60W30/12 , B60W30/06 , B60W40/072 , B60W60/00 , B60W10/20 , B60W10/18
摘要： An automotive electronic dynamics control system for a motor-vehicle equipped with and automotive automated driving system designed to cause the motor-vehicle to perform low-speed manoeuvres in automated driving.
The automotive automated driving system comprises an automotive sensory system designed to detect motor-vehicle-related quantities, and automotive actuators comprising an Electric Power Steering, a Braking System, and a Powertrain.
The electronic dynamics control system is designed to implement a Driving Path Planner designed to: receive data representative of static obstacles in the surroundings of the motor-vehicle and representing static space constraints to the motion of the motor-vehicle, and compute, based on the received data, a planned driving path for the motor-vehicle during a low-speed manoeuvre performed in automated driving. The electronic dynamics control system is further designed to implement a Model Predictive Control (MPC)-based Trajectory Planner and Controller designed to: receive from the Driving Path Planner data representative of the planned driving path and from the automotive sensory system data representative of positions and orientations of the motor-vehicle and of dynamic obstacles in the surroundings of the motor-vehicle and representing dynamic space constraints to the motion of the motor-vehicle, and compute, based on the received data, a planned lateral trajectory and a planned longitudinal trajectory for the motor-vehicle during the low-speed manoeuvre performed in automated driving. The electronic dynamics control system is further designed to implement a Motion Controller designed to: receive from the Trajectory Planner and Controller data representative of the planned lateral and longitudinal trajectories, and compute commands for the Electric Power Steering based on the planned lateral trajectory, and for the Braking System and the Powertrain based on the planned longitudinal trajectory. The Driving Path Planner is designed to compute the planned driving path as a planned driving corridor within which the motor-vehicle 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 comprises: an MPC-based Lateral Trajectory Planner and Controller designed to compute the planned lateral trajectory as a series of steering requests referenced in a motor-vehicle reference frame; and an MPC-based Longitudinal Trajectory Planner and Controller designed to compute the planned longitudinal trajectory as a series of longitudinal acceleration requests. The Lateral Trajectory Planner and Controller is further designed to compute the planned lateral trajectory based on a linearized Lateral Trajectory Model which exhibits a singularity whenever the relative orientation of a couple of successive driving path segments of the planned driving path is equal to or higher than a given amount.
The Lateral Trajectory Planner and Controller is further designed to dynamically modify relative orientation of the motor-vehicle reference frame with respect to the inertial reference frame along the planned driving path so as to result in the relative orientations of all of the couples of successive driving path segments of the planned driving path being lower than the given amount.

5. 发明申请

US20220161819A1 AUTOMATIC MOTOR-VEHICLE DRIVING SPEED CONTROL BASED ON DRIVER'S DRIVING BEHAVIOUR 有权
公开(公告)号：US20220161819A1
公开(公告)日：2022-05-26
申请号：US17441957
申请日：2020-03-27
申请人： C.R.F. SOCIETA' CONSORTILE PER AZIONI
发明人： Roberto FEDELI , Enrico RAFFONE , Claudio REI , Massimo FOSSANETTI
IPC分类号： B60W60/00 , B60W30/14
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.

6. 发明申请

US20210284183A1 AUTOMOTIVE AUTONOMOUS DRIVING TO PERFORM COMPLEX RECURRENT LOW SPEED MANOEUVRES 有权
公开(公告)号：US20210284183A1
公开(公告)日：2021-09-16
申请号：US16498624
申请日：2019-03-06
申请人： C.R.F. SOCIETA' CONSORTILE PER AZIONI
发明人： Silvano MARENCO , Stefano MANGOSIO , Massimo FOSSANETTI , Andrea SAROLDI
IPC分类号： B60W50/06 , B60W10/04 , B60W10/18 , B60W10/20 , B60W50/14 , B60R16/023 , B60W60/00 , G01C21/34 , B60W30/18
摘要： An automotive autonomous driving system comprising automotive on-board systems comprising a propulsion system, a braking system, a steering system, and a sensor), system, an automotive user interface, and an automotive electronic control unit connected to, via an automotive on-board communications network, and configured to cooperate with, the automotive on-board systems and the automotive user interface to provide an automotive autonomous driving system. The automotive electronic control unit is further configured to store and populate a database of recurrent low speed manoeuvres and cause recurrent low speed manoeuvres stored in the database of recurrent low speed manoeuvres to be repeated in autonomous driving mode.

7. 发明申请

US20210221370A1 WARNING AND ADJUSTING THE LONGITUDINAL SPEED OF A MOTOR VEHICLE BASED ON THE RECOGNIZED ROAD TRAFFIC LIGHTS 有权
公开(公告)号：US20210221370A1
公开(公告)日：2021-07-22
申请号：US16760823
申请日：2018-11-09
申请人： C.R.F. SOCIETA' CONSORTILE PER AZIONI
发明人： Claudio LANFRANCO
IPC分类号： B60W30/16 , B60W30/18 , G06K9/00 , B60W40/08 , B60W30/14 , B60W50/16 , G06F17/11 , B60W50/14
摘要： An automotive adaptive cruise control system for a host motor vehicle configured to operate in at least two different operating modes comprising a first operating mode, in which a current speed of the host vehicle is controlled to maintain a cruise speed, and a second operating mode, in which the current speed of the host vehicle is controlled to maintain a cruise distance to a leading vehicle, wherein the system is configured to: detect approaching to a traffic light and determine a light signal emitted thereby, signal to the driver the presence of the detected traffic light and the determined light signal, if the traffic light emits a red or amber light signal, estimating a driver reaction time, determining a higher threshold distance and a lower threshold distance from the traffic light, and warning the driver of the host vehicle of the need to slow it down if, after the driver reaction time has elapsed: i) the host motor vehicle has not decreased its speed by more than a calibratable threshold, ii) the current speed of the host vehicle is higher than a minimum speed, iii) either the distance of the host vehicle from the traffic light is lower than the higher threshold distance and the light signal emitted by the traffic light is red, or the distance of the host vehicle from the traffic light is between the higher and lower threshold distances and the light signal emitted by the traffic light is amber, and iv) a service brake of the host vehicle is unoperated.

8. 发明申请

US20210046941A1 AUTOMOTIVE DRIVER ASSISTANCE 有权
公开(公告)号：US20210046941A1
公开(公告)日：2021-02-18
申请号：US17041508
申请日：2019-09-24
申请人： C.R.F. SOCIETA' CONSORTILE PER AZIONI
发明人： Filippo VISINTAINER , Andrea STECCANELLA , Paolo DENTI , Marco DARIN , Luciano ALTOMARE , Alessandro MARCHETTO
IPC分类号： B60W50/00 , G08G1/0967 , H04W4/46 , G08G1/16 , B60R16/023 , B60W30/095 , B60W50/14 , B60W40/04
摘要： An advanced driver assistance system configured to implement one or more automotive V2V applications designed to assist a driver in driving a Host Motor-Vehicle. The advanced driver assistance system is configured to be connectable to an automotive on-board communication network to communicate with automotive on-board systems to implement one or different automotive functionalities aimed at assisting the driver in driving the Host Motor-Vehicle, controlling the Host Motor-Vehicle, and informing the driver of the Host Motor-Vehicle of the presence of Relevant Motor-Vehicles deemed to be relevant to the driving safety of the Host Motor-Vehicle. The advanced driver assistance system comprises an automotive V2V communication system operable to communicate with automotive V2V communication systems of Remote Motor-Vehicles via V2V messages containing motor-vehicle position-related, motion-related, and state-related data. The advanced driver assistance system is further configured to receive V2V messages transmitted by V2V communications systems of Remote Motor-Vehicles; identify from among the Remote Motor-Vehicles in communication with the Host Motor-Vehicle, Nearby Motor-Vehicles that may represent potential threats to the driving safety of the Host Motor-Vehicle, based on motor-vehicle position-related, motion-related, and state-related data in received V2V messages and on motor-vehicle position-related, motion-related, and state-related data of the Host Motor-Vehicle; and process the data contained in the V2V messages received from the Nearby Motor-Vehicles to identify from among the Nearby Motor-Vehicles Relevant Motor-Vehicles that may be relevant to the automotive functionalities aimed at assisting the driver in driving the Host Motor-Vehicle, controlling the Host Motor-Vehicle, at informing the driver of the Host Motor-Vehicle of the presence of Relevant Motor-Vehicles deemed to be relevant to the driving safety, and dispatch on the automotive on-board communication network a list of virtual objects containing information on the Host Motor-Vehicle and on the Relevant Motor-Vehicles, for exploitation by one or more of the functionalities aimed at assisting the driver in driving the Host Motor-Vehicle, controlling the Host Motor-Vehicle, and informing the driver of the Host Motor-Vehicle of the presence of the Relevant Motor-Vehicles deemed to be relevant to the driving safety of the Host Motor-Vehicle, or exploit the information on the Host Motor-Vehicle and on the Relevant Motor-Vehicles in the implementation of one or more of the automotive functionalities aimed at assisting the driver in driving the Host Motor-Vehicle, controlling the Host Motor-Vehicle, and informing the driver of the Host Motor-Vehicle of the presence of the Relevant Motor-Vehicles and of relevant events deemed to be relevant to the driving safety of the Host Motor-Vehicle.

9. 发明申请

US20200156638A1 Automotive Preventive Electronic Stability Control 审中-公开
公开(公告)号：US20200156638A1
公开(公告)日：2020-05-21
申请号：US16688414
申请日：2019-11-19
申请人： C.R.F. SOCIETA' CONSORTILE PER AZIONI
发明人： Claudio REI , Enrico RAFFONE , Massimo FOSSANETTI
IPC分类号： B60W30/14 , B60W40/072
摘要： An automotive electronic preventive active safety system designed to improve driving stability of a motor-vehicle and to: receive data indicative of a current position of the motor-vehicle, and of roads and their characteristics comprising a road curvature, and of potential driving routes of the motor-vehicle from a current position up to an electronic horizon thereof; identify the most driving-safety-critical road bend along the driving route of the motor-vehicle; backwards compute, from the most driving-safety-critical road bend and up to the current position of the motor-vehicle, a driving speed profile that the motor-vehicle should follow from its current position up to the identified most driving-safety-critical road bend to result in the latter being driven through at a driving speed that satisfies a driving safety criterion; compare the current and backwards-computed speeds of the motor-vehicle in the current position thereof; and, if the current speed of the motor-vehicle in its current position is greater than or equal to the backwards computed speed of the motor-vehicle in its current position, cause the motor-vehicle to decelerate to such an extent as to result in the most driving-safety-critical road bend being driven through at a driving speed that satisfies the driving safety criterion.

10. 发明申请

US20190184861A1 MOTOR VEHICLE SEAT 审中-公开
公开(公告)号：US20190184861A1
公开(公告)日：2019-06-20
申请号：US16227164
申请日：2018-12-20
申请人： C.R.F. SOCIETA' CONSORTILE PER AZIONI
发明人： Tiziana VIRDIS
IPC分类号： B60N2/26 , B60N2/32
摘要： A motor vehicle seat is provided with a backrest and a seat portion having a fixed element and at least one body which can be moved between a lowered configuration, in which it forms with the backrest a place for an adult passenger, and a raised configuration, in which it forms a booster seat suitable for supporting a child; the body is releasably fixed in the raised configuration by means of a fastening device and carries a side support element, which is arranged next to the body and is movable between an operating configuration, in which it protrudes upwards with respect to an upper surface of the body, and a rest configuration, in which it is arranged lower or flush with respect to said upper surface.

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