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1. 发明公开

US20230150462A1 VIBRATION BASED MU DETECTION 审中-公开
公开(公告)号：US20230150462A1
公开(公告)日：2023-05-18
申请号：US17528115
申请日：2021-11-16
申请人： Steering Solutions IP Holding Corporation , Continental Automotive Systems, Inc.
发明人： Omkar Karve , Michael Wyciechowski , Jason Brian Schwegler
IPC分类号： B60T8/172 , B60T8/174 , B60T8/171 , B60T8/1763
CPC分类号： B60T8/172 , B60T8/174 , B60T8/171 , B60T8/1763 , B60T2210/12 , B60T2210/36 , B60T2250/04
摘要： A system and method of mu estimation may include the steps of collecting vehicle travel data on a road surface via a plurality of a sensors including at least one of an accelerometer or microphone; collecting external source data over a network; and aggregating the vehicle travel data and external source data to form an aggregated data set. The method may include performing feature extraction processing of the aggregated data set to transform the aggregated data set and into a processed aggregated data set; communicating the processed aggregated data set to a machine learning model; and generating at least one of an estimated mu value of the road surface or road surface classification via the machine learning model.

2. 发明授权

US09783195B2 Control apparatus for vehicle 有权
公开(公告)号：US09783195B2
公开(公告)日：2017-10-10
申请号：US15008052
申请日：2016-01-27
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： Tetsuya Ikuta , Yasutaka Matsunaga , Sho Komai , Yuma Hoshikawa
IPC分类号： B60W30/09 , B60W30/08 , B60W50/14 , G06F17/10 , B60W10/02 , G06F7/00 , B60B39/00 , B60W10/18 , B60T8/1763
CPC分类号： B60W30/09 , B60B39/00 , B60T8/1763 , B60W10/02 , B60W10/18 , B60W30/08 , B60W2050/143 , B60W2540/10 , B60W2550/10 , B60W2550/30 , B60W2550/302 , B60W2550/308 , G06F7/00 , G06F17/10
摘要： A control apparatus for a vehicle includes a controller configured to (i) calculate, based on a distance and a relative speed between a host vehicle and a forward obstacle, a collision prediction time of a collision between the forward obstacle and the host vehicle; (ii) execute a predetermined control when the collision prediction time is less than or equal to a predetermined threshold, the predetermined control reducing a probability of the collision between the forward obstacle and the host vehicle, and (iii) decrease the predetermined threshold, when an accelerator pedal releasing operation is performed under a situation where the forward obstacle exists, depending on a first distance between the host vehicle and the forward obstacle at a time at which the accelerator pedal releasing operation is performed.

3. 发明授权

US09457777B2 System and method for applying regenerative braking during high friction coefficient braking 有权
标题翻译：高摩擦系数制动时再生制动的系统及方法
公开(公告)号：US09457777B2
公开(公告)日：2016-10-04
申请号：US14332791
申请日：2014-07-16
申请人： Ford Global Technologies, LLC
发明人： Daniel A. Gabor , Dale Scott Crombez
IPC分类号： B60T8/1763 , B60L7/18 , B60T1/10 , B60T13/58
CPC分类号： B60T8/1763 , B60L3/108 , B60L7/18 , B60L7/22 , B60L15/2009 , B60L2240/423 , B60L2240/465 , B60L2250/26 , B60T1/10 , B60T8/17636 , B60T13/586 , B60T2270/602 , B60T2270/604 , Y02T10/645 , Y02T10/72 , Y02T10/7275 , Y10S903/947
摘要： A system for applying regenerative braking during high friction coefficient braking of a vehicle includes at least one controller; at least one braking sensor interfacing with the at least one controller; a vehicle powertrain interfacing with the at least one controller; a brake pedal interfacing with the at least one controller; vehicle friction brakes interfacing with the at least one controller; and the at least one controller applies anti-lock braking torque to the vehicle brakes and simultaneously applies regenerative braking torque to the vehicle powertrain responsive to input from the at least one braking sensor. A method for applying regenerative braking during high friction coefficient braking of a vehicle is also disclosed.
摘要翻译：一种用于在车辆的高摩擦系数制动期间施加再生制动的系统包括至少一个控制器; 与所述至少一个控制器接口的至少一个制动传感器; 与所述至少一个控制器接口的车辆动力系; 与所述至少一个控制器接口的制动踏板; 与所述至少一个控制器接口的车辆摩擦制动器; 并且所述至少一个控制器对所述车辆制动器施加防抱死制动转矩，并且响应于来自所述至少一个制动传感器的输入，同时将再生制动转矩施加到所述车辆动力系。还公开了一种在车辆的高摩擦系数制动期间施加再生制动的方法。

4. 发明授权

US09428161B2 Brake control initiation using tire runway friction map data 有权
标题翻译：使用轮胎跑道摩擦图数据制动控制启动
公开(公告)号：US09428161B2
公开(公告)日：2016-08-30
申请号：US14084277
申请日：2013-11-19
申请人： Goodrich Corporation
发明人： Richard Paul Metzger, Jr.
IPC分类号： B60T8/17 , B64C25/42 , B60T8/172 , B60T8/1763
CPC分类号： B60T8/1703 , B60T8/172 , B60T8/1763 , B60T8/17636 , B60T2210/12 , B64C25/42
摘要： In various embodiments, a method for utilizing a determined coefficient of friction along a portion of a runway is disclosed. The method may include receiving, by a brake control unit, friction estimation map data for a specific runway. The method may include setting, by the brake control unit, a condition of the braking control algorithm based on the received friction estimation map data. The method may include initiating, by the brake control unit, a brake control system to slow a wheel of an aircraft based on the braking control algorithm.
摘要翻译：在各种实施例中，公开了沿着跑道的一部分利用确定的摩擦系数的方法。该方法可以包括通过制动控制单元接收用于特定跑道的摩擦估计图数据。该方法可以包括通过制动控制单元基于接收到的摩擦估计图数据来设定制动控制算法的条件。该方法可以包括通过制动控制单元基于制动控制算法启动制动控制系统以减慢飞行器的车轮。

5. 发明申请

US20150019103A1 MOBILE ROBOT HAVING FRICTION COEFFICIENT ESTIMATION FUNCTION AND FRICTION COEFFICIENT ESTIMATION METHOD 有权
标题翻译：具有摩擦系数估计函数和摩擦系数估计方法的移动机器人
公开(公告)号：US20150019103A1
公开(公告)日：2015-01-15
申请号：US14187924
申请日：2014-02-24
申请人： Samsung Electronics Co., Ltd.
发明人： Hyun Do CHOI , Suk June YOON
IPC分类号： B60W40/068 , B60T8/1763
CPC分类号： B60W40/068 , B60T8/172 , B60T8/1763 , B60T2210/12 , B60W2550/148 , Y10S901/01
摘要： A mobile robot configured to move on a ground. The mobile robot including a contact angle estimation unit estimating contact angles between wheels of the mobile robot and the ground and uncertainties associated with the contact angles, a traction force estimation unit estimating traction forces applied to the wheels and traction force uncertainties, a normal force estimation unit estimating normal forces applied to the wheels and normal force uncertainties, a friction coefficient estimation unit estimating friction coefficients between the wheels and the ground, a friction coefficient uncertainty estimation unit estimating friction coefficient uncertainties, and a controller determining the maximum friction coefficient from among the friction coefficients such that the maximum friction coefficient has an uncertainty less than a threshold and at a point of time when the torque applied to each of the wheels changes from an increasing state to a decreasing state, among the estimated friction coefficients.
摘要翻译：配置为在地面上移动的移动机器人。移动机器人包括估计移动机器人的车轮与地面之间的接触角的接触角估计单元以及与接触角相关的不确定性，牵引力估计单元估计施加到车轮的牵引力和牵引力不确定性，法向力估计估计施加到车轮的法向力和法向力不确定度的摩擦系数估计单元，估计车轮与地面之间的摩擦系数的摩擦系数估计单元，估计摩擦系数不确定性的摩擦系数不确定度估计单元，以及从摩擦系数估计单元摩擦系数使得最大摩擦系数具有小于阈值的不确定度，并且在施加到每个车轮的转矩从估计摩擦系数中的增加状态改变到减小状态的时间点。

6. 发明申请

US20030218379A1 Method of controlling anti-Lock brake system for vehicles and method of finding control point in ABS 失效
标题翻译：车辆防抱死制动系统控制方法及ABS控制点查询方法
公开(公告)号：US20030218379A1
公开(公告)日：2003-11-27
申请号：US10463917
申请日：2003-06-18
申请人： Japan Electronics Industry, Limited
发明人： Nagao Miyazaki
IPC分类号： B60T008/60
CPC分类号： B60T8/1763 , B60T8/172 , B60T8/17636 , B60T2210/12 , B60T2220/04
摘要： In an anti-lock brake system mounted on a vehicle wherein when the vehicle is braked in an emergency during running, an increase in the road surface friction force or road surface friction coefficient owing to an increase in the brake pressure is detected by a road surface friction force detecting device or road surface friction coefficient detecting device. The optimum control start point associated with an increase in the signal value of the road surface friction force F or road surface friction coefficient null provided by the road surface friction force detecting device or road surface friction coefficient detecting device is decided by using a decrease in the wheel speed, i.e., by using the wheel speed null or dnull/dt. Thereafter, from the point where the specified value of control based on F or null, or dF/dt or dnull/dt, the brake pressure is moved from the pressure increasing mode to the pressure retaining or decreasing mode.
摘要翻译：在安装在车辆上的防抱死制动系统中，当车辆在行驶中在紧急情况下制动时，由于制动压力的增加，路面摩擦力或路面摩擦系数的增加被路面摩擦力检测装置或路面摩擦系数检测装置。由路面摩擦力检测装置或路面摩擦系数检测装置提供的路面摩擦力F或路面摩擦系数mu的信号值的增加所涉及的最佳控制开始点是通过使用轮速，即通过使用车轮速度ω或domega / dt。此后，从基于F或mu的指定控制值或dF / dt或dmu / dt的点开始，制动压力从增压模式移动到压力保持或减小模式。

7. 发明授权

US06241324B1 Method of controlling anti-lock brake system for vehicles and method of finding control point in ABS 失效
标题翻译：车辆防抱死制动系统控制方法及ABS控制点查询方法
公开(公告)号：US06241324B1
公开(公告)日：2001-06-05
申请号：US08231600
申请日：1994-04-21
申请人： Nagao Miyazaki
发明人： Nagao Miyazaki
IPC分类号： B60T878
CPC分类号： B60T8/1763 , B60T8/172 , B60T8/17636 , B60T2210/12 , B60T2220/04
摘要： In an anti-lock brake system mounted on a vehicle wherein when the vehicle is braked in an emergency during running, an increase in the road surface friction force or road surface friction coefficient owing to an increase in the brake pressure is detected by a road surface friction force detecting device or road surface friction coefficient detecting device. The optimum control start point associated with an increase in the signal value of the road surface friction force F or road surface friction coefficient &mgr; provided by the road surface friction force detecting device or road surface friction coefficient detecting device is decided by using a decrease in the wheel speed, i.e., by using the wheel speed &ohgr; or d&ohgr;/dt. Thereafter, from the point where the specified value of control based on F or &mgr;, or dF/dt or d&mgr;/dt, the brake pressure is moved from the pressure increasing mode to the pressure retaining or decreasing mode.
摘要翻译：在安装在车辆上的防抱死制动系统中，当车辆在行驶中在紧急情况下制动时，由于制动压力的增加，路面摩擦力或路面摩擦系数的增加被路面摩擦力检测装置或路面摩擦系数检测装置。由路面摩擦力检测装置或路面摩擦系数检测装置提供的路面摩擦力F或路面摩擦系数mu的信号值的增加所涉及的最佳控制开始点是通过使用轮速，即通过使用车轮速度ω或domega / dt。此后，从基于F或mu的指定控制值或dF / dt或dmu / dt的点开始，制动压力从增压模式移动到压力保持或减小模式。

8. 发明授权

US11866052B2 Distributed computing system for determining road surface traction capacity 有权
公开(公告)号：US11866052B2
公开(公告)日：2024-01-09
申请号：US17528367
申请日：2021-11-17
申请人： GM Global Technology Operations LLC
发明人： Halit Zengin , Joseph K. Moore , Carlos Eduardo Arreaza , Amin Abdossalami , Swee Meng Yong , Yassir E. Elrayah , Donald K. Grimm , Fan Bai , Jinzhu Chen
IPC分类号： B60W40/068 , B60W40/13 , B60W10/18 , B60T8/1763 , H04W4/46
CPC分类号： B60W40/068 , B60T8/1763 , B60W10/18 , B60W40/13 , H04W4/46 , B60W2552/40 , B60W2555/20 , B60W2556/10 , B60W2556/65
摘要： A distributed computing system for determining road surface traction capacity for roadways located in a common spatio-temporal zone includes a plurality of vehicles that each include a plurality of sensors and systems that collect and analyze a plurality of parameters related to road surface conditions in the common spatio-temporal zone. The distributed computing system also includes one or more central computers in wireless communication with each of the plurality of vehicles. The one or more central computers execute instructions to determine a road surface traction capacity value for the common spatio-temporal zone.

9. 发明申请

US20190193568A1 SYSTEM AND METHOD FOR APPLYING COAST REGENERATION TORQUE OF VEHICLE 审中-公开
公开(公告)号：US20190193568A1
公开(公告)日：2019-06-27
申请号：US16131707
申请日：2018-09-14
申请人： Hyundai Motor Company , Kia Motors Corporation
发明人： Woo Cheol Cho , Soo Lim Han
IPC分类号： B60L7/18 , B60L3/10 , B60L15/20 , B60T8/1761 , B60T8/1763
CPC分类号： B60L7/18 , B60L3/102 , B60L3/108 , B60L15/2009 , B60L2240/423 , B60L2240/461 , B60L2240/465 , B60L2260/24 , B60T8/1761 , B60T8/1763
摘要： A system and method of applying a coast regeneration torque of a vehicle are provided. The method corrects a magnitude of slip (or a slip ratio) which is considered when a coast regeneration torque is to be variably controlled while the vehicle is coasting.

10. 发明授权

US09925873B2 Vehicle warning control apparatus 有权
公开(公告)号：US09925873B2
公开(公告)日：2018-03-27
申请号：US15647307
申请日：2017-07-12
申请人： Toyota Jidosha Kabushiki Kaisha
发明人： Masaki Takano
IPC分类号： B60Q1/26 , B60K28/06 , B60K31/00 , B60T17/18 , B60T8/172 , B60T8/1763 , G08G1/16 , B60Q1/00 , B60R21/00 , B60W50/14
CPC分类号： B60K28/066 , B60K31/00 , B60K31/0008 , B60Q1/00 , B60Q5/005 , B60R21/00 , B60T7/042 , B60T7/14 , B60T7/22 , B60T8/172 , B60T8/1763 , B60T13/662 , B60T13/74 , B60T17/18 , B60T17/22 , B60W2050/143 , B60W2550/148 , G08G1/16
摘要： When a driving support electronic control unit (DSECU) determines that a driver of a vehicle is in an abnormal state where the driver loses an ability to drive the vehicle, the DSECU starts driving control under the abnormal state to decelerate the vehicle until the vehicle stops and to sound a horn. In this case, the DSECU measures an elapsed time since the horn starts sounding with a horn timer th, and sets a sounding pattern corresponding to the elapsed time measured. This sounding pattern is set in such a manner that a ratio of a sounding time of the horn per unit time decreases as the elapsed time since the horn starts sounding become longer. Thereby, it becomes possible to properly notify that the driver is in the abnormal state using the horn.

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