3225results about "Steering parts" patented technology

This document describes trajectory planning in a three-dimensional (3D) search space with a space-time artificial potential field. An example system includes a processor that obtains an initial pose, a goal pose, and an obstacle map for an environment. The processor uses a parking trajectory algorithm to determine a trajectory by searching in a space-time artificial potential field. The trajectory includes a series of 3D waypoints, including two-dimensional (2D) positional coordinates and time coordinates, to navigate from the initial pose towards the goal pose. Operation of the host vehicle is then controlled to maneuver along the trajectory using an assisted-driving or autonomous-driving system. In this way, path searching is performed in the entire 3D search space rather than iterating between two 2D search planes. This allows motion planning for autonomous parking, especially with static and dynamic objects present, to determine an optimal trajectory in a single iteration.

Systems and techniques for location management are described herein. In an example, a system may include at least one processor and at least one memory with instructions stored thereon that when executed by the processor, cause the processor to obtain data originating from one or more sensors proximate to the location. A trained activity-based detection model may identify an activity at the location and perform a determination of a service to be offered at the location based on the detected activity. The system may then send a message to a user offering the service to the user, and in response to receiving an authorization accepting the service from the user, cause the service to be implemented at the location, which may include classifying the service as a service type, matching the service type to a service provider, and sending a notification to the service provider.

Techniques relating to determining regions based on intents of objects are described. In an example, a computing device onboard a first vehicle can receive sensor data associated with an environment of the first vehicle. The computing device can determine, based on the sensor data, a region associated with a second vehicle proximate the first vehicle that is to be occupied by the second vehicle while the vehicle performs a maneuver. Further, the computing device can determine an instruction for controlling the first vehicle based at least in part on the region.

The invention provides a distributed electric vehicle steering stability early warning method, device, equipment and medium, and relates to the technical field of vehicle steering stability monitoring, the method comprises the following steps: building a digital twin model, realizing comprehensive mapping of a physical entity and a virtual entity, using CarSim and MATLAB / Simulink joint simulation platform, fusing multi-source data, and realizing early warning of the steering stability of a distributed electric vehicle. And the accuracy and reliability of the model are improved. Specifically, an LSTM neural network algorithm is adopted, key operation parameters of a vehicle are monitored and analyzed in real time, the maximum side slip angle and the yaw velocity are predicted, and therefore potential steering stability faults are warned in advance. Through comparison with real-time data acquired by a vehicle sensor, the system can accurately evaluate the driving state of the vehicle, and early warning is given out in time when abnormity is detected, so that a driver is reminded to take corresponding measures.

A parking assistance device is disclosed. The parking assistance device includes processing circuitry connected to a memory. The processing circuitry registers, during learning travel, a map including multiple routes from one parking start position to multiple parking positions. The processing circuitry causes, during automatic parking, a vehicle to perform autonomous travel based on the map. The processing circuitry selects, during automatic parking, a route on which the vehicle is to travel from among the multiple routes.

In various examples, a trailer angle may be estimated using one or more machine learning models to predict one or more keypoints on the center axis of the trailer drawbar (e.g., a keypoint representing the drawbar junction around which the drawbar pivots, one or more other keypoints along the center axis), back-projecting the predicted keypoint(s) onto a three-dimensional (3D) representation of the ground, and calculating the angle between the longitudinal axis of the towing vehicle and a line or ray formed by or fitted to the projected keypoints. The trailer angle may be estimated at any frame rate. For each frame, keypoints may be predicted from that frame and / or optical flow or some other type of feature tracking may be used to propagate predicted keypoint(s) from a preceding frame in lieu of predicting keypoint(s), and the resulting keypoint(s) may be used to estimate the trailer angle for that frame.

This document describes motion planning with variable grid resolution for graph-search-based planning. An example system includes a processor that obtains an initial pose, a goal pose, and an obstacle map for an environment. The processor uses a motion-planning algorithm to determine a path or trajectory using two or more grid resolutions for a graph-based search. The path includes a series of waypoints, including two-dimensional positional coordinates (and time coordinates if a trajectory), to navigate from the initial pose towards the goal pose. Operation of the host vehicle is then controlled to maneuver along the path using an assisted-driving or autonomous-driving system. In this way, motion planning is performed for the entire path but uses a coarser grid resolution for the portion nearer the goal pose. This allows motion planning for autonomous parking, especially in environments that include static and dynamic objects, to be handled in a more computationally-efficient manner.

Methods and systems are disclosed for controlling a vehicle. The method comprises receiving or determining information about a current state of the vehicle, about a target state of the vehicle and about a current state of an other traffic participant. The method further comprises iteratively optimising a set of control parameters for the vehicle based on an overall cost value associated with the set of control parameter values. The optimisation comprises: determining a potential future state of the vehicle, based on the current state of the vehicle and the set of control parameter values; determining a first cost value using a first cost function, the first cost value being based on a difference between the potential future state and the target state of the vehicle; predicting a future state of the other traffic participant, based on the current state of the other traffic participant; determining a second cost value using a second cost function, the second cost value being based on a perceived risk posed by the vehicle in the potential future state of the vehicle to the other traffic participant in the future state of the other traffic participant; and determining the overall cost value associated with the set of control parameter values, based on the first cost value and the second cost value. Based on the optimised set of control parameters, control signals may be determined that configure the vehicle to adjust its speed and / or steering angle.

Techniques for determining parking spaces and / or parking trajectories for a vehicle based on multistage filtering are discussed herein. In some examples, a vehicle may navigate to a destination within an environment. The vehicle may receive a set of parking locations and perform filtering operations to determine a subset of the parking locations. For example, the vehicle may use a list of parking characteristics (e.g., conditions) to filter the set of parking spaces. Based on determining the subset of parking spaces, the vehicle may generate a set of candidate trajectories to the subset of parking spaces. The vehicle may determine a subset of the candidate trajectories based on filtering the set of candidate trajectories according to various constraints. Further, the vehicle may determine a cost for the subset of candidate trajectories. Based on the costs, the vehicle may determine a candidate trajectory for the vehicle to follow.

In one embodiment, a method includes receiving sensor data associated with an object external to a vehicle. The sensor data includes a sequence of data packets. Each data packet corresponds to a time frame in a sequence of time frames. The method includes determining a classification of the object based at least on the sensor data, determining that a particular data packet corresponding to a particular time frame in the sequence of time frames is corrupt or missing, generating a replacement data packet based on one or more data packets that correspond to one or more time frames adjacent to the particular time frame, generating a sequence of visual representations of the object corresponding to the sequence of time frames. At least one visual representation in the sequence of visual representations corresponding to the particular time frame is generated based on the replacement data packet.

The disclosure relates to validation of a driving corridor for lateral guidance of a motor vehicle by a driver assistance system. Based on environmental data, a driving corridor with corridor boundaries is determined, the corridor boundaries specifying a first track width for the lateral guidance of the motor vehicle. It is then checked whether there is more than one driving trajectory within the corridor boundaries, by determining whether there is more than one data point along a rear axle of the motor vehicle, each of which is assigned to a different driving trajectory. Based on a result of the determining, the driving corridor is validated and the first track width is used for the lateral guidance of the motor vehicle, or the driving corridor is falsified and a different, second track width is used for the lateral guidance of the motor vehicle.

Methods and apparatus are provided for performing an assisted driving trailer reversing operation including a user interface configured to generate an initiation signal in response to a user input, a processor configured to generate a control signal in response to the initiation signal indicative of an inverse steering ratio, a steering angle sensor to detect a steering direction and a steering angle from a center steering position, a steering controller configured to receive the steering angle and the steering direction from the steering angle sensor, to invert the steering angle to generate an inverted steering angle such that the inverted steering angle has a same angular magnitude as the steering angle and an opposite direction than the steering direction, and a vehicle control system for controlling a movement of a vehicle in response to the inverted steering angle.

Embodiments herein provide a system and methods for parking a vehicle that considers the location of adjacent vehicles and determines parking maneuvers to allow easy access to the vehicle. The parking maneuvers are determined based on the space needed for each passenger to open their door and to safely exit or enter the vehicle. The vehicle may be positioned in a parking spot next to an adjacent vehicle. The system self-drives the vehicle when executing the parking maneuvers and sensors are used to determine the position of the vehicle in relation to the adjacent vehicle. The vehicle may be positioned such that passengers can safely exit the vehicle while in the parking spot. Once the passengers exit and are safely away, the vehicle is maneuvered within the parking spot to a position that does not impede access to the adjacent vehicle.

A control unit of a server is a device that adjusts a parking position of a vehicle in a parking lot, and includes an acquisition unit that acquires the parking position of the vehicle scheduled to receive a package in the parking lot, and an adjustment information generation unit that generates adjustment information for adjusting parking of another vehicle in a parking slot adjacent to the parking position of the vehicle scheduled to receive the package in the parking lot such that a space is secured around the vehicle scheduled to receive the package.

A vehicle control device includes a processor. The processor is configured to: detect a mobile body located in a region that is not a host vehicle lane in which a host vehicle is traveling, out of regions that are adjacent to an adjacent lane that is adjacent to the host vehicle lane; detect entry operation of the mobile body to enter the adjacent lane; and when the processor detects the entry operation, perform steering control for the host vehicle such that a travel position of the host vehicle within the host vehicle lane in a width direction of the host vehicle lane is moved in a direction away from the adjacent lane before the entry operation is completed.

An impairment analysis (“IA”) computer system for detecting an impairment is provided. The IA computer system is associated with a host vehicle, and includes at least one processor in communication with at least one memory device. The at least one processor is programmed to: (i) interrogate or otherwise scan a target vehicle by using a plurality of sensors included on a host vehicle to scan the target vehicle and a target driver; (ii) receive sensor data including target driver data and target vehicle condition data; (iii) analyze the sensor data by applying a baseline model to the sensor data; (iv) detect an impairment of the target driver or target vehicle based upon the analysis; and / or (v) output an alert signal to a host vehicle controller, or direct collision preventing actions (such as automatically engage vehicle safety systems), based upon the determination that the target driver or target vehicle is impaired.

The invention relates to the technical field of vehicle steering, in particular to a vehicle auxiliary steering control method and device, a controller, a vehicle and a medium. The method comprises the steps that when a vehicle meets a preset auxiliary steering condition, the vehicle is controlled to execute auxiliary steering operation; the auxiliary steering operation comprises the steps that the braking force of an inner front wheel is adjusted; and the two rear wheels are controlled to slide. The turning radius of the vehicle can be fully reduced by executing the auxiliary steering operation, the cost is reduced, and the universality is high.

The invention discloses a stability control system and method considering time varying and time lag of a steering mechanism, and the system comprises a rotation angle generation module, a reference model module, an error fusion module, a stability control module, and an EKF side slip angle observation module. Wherein the steering angle generation module adopts a model predictive control (MPC) algorithm to track an expected trajectory and generate a front wheel steering angle, and the stability control module adopts a Smith pre-estimation compensation method to design active front wheel steering (Smith-AFS) and direct yawing moment control (DYC) so as to realize the stability control of the intelligent vehicle under the condition that an execution mechanism has time-varying and time-lag. According to the stability control system and method considering the time-varying time-lag of the steering mechanism, the tracking precision of the side slip angle and the yaw velocity is greatly improved, and the time-lag interference problem of a stability controller can be solved.

One or more example embodiments relate to a vehicle and a method for performing autonomous valet parking. A vehicle may include at least one sensor configured to obtain image data indicating a surrounding environment of the vehicle; a controller configured to control at least one operation of the vehicle; a communication interface; and at least one processor. The at least one processor may be configured to: identify, based on the image data, a unique marker installed in a parking lot; set, based on the unique marker, position information of the vehicle; identify, based on the image data, an anonymous marker installed in the parking lot; adjust, based on the anonymous marker, the position information of the vehicle; and control, based on the adjusted position information of the vehicle, an autonomous parking operation of the vehicle.

Systems, methods, and apparatuses are provided for animated representation of at least one object perception and of a driving intention of an assistance system for at least partially automated maneuvering of a vehicle. An object is perceived within an environment of the vehicle using the assistance system. The perceived object influences a control strategy of the at least partially automated maneuvering of the assistance system. The perceived object is represented. The vehicle is represented by an avatar. A first animation is displayed of an interaction between the avatar and the perceived object. The avatar is animated to mimic a first action based on the perceived object. A second animation is displayed representing the driving intention of the assistance system. The avatar is animated to mimic a second action based on a plan of the control strategy influenced by the perceived object.

“THREE-DIMENSIONAL MONITORING SYSTEM FOR KINGPIN ON FIFTH WHEEL” describes an invention patent, for a monitoring system of Kingpin / Fifth Wheel articulation presented on trucks, with a great applicability for autonomous steering systems and vehicle dynamics control. This system allows the precise monitoring of translational, rotational movements and the relative accelerations of the king pin (5) in relation to the fifth wheel (3) on the X, Y and Z axes, totaling measurements in six degrees of freedom. The present patent presents two ways to make this monitoring of the three-dimensional position of the kingpin (5): The first through a set of sensors (6) accelerometers and gyroscope integrated to an electromagnet (4) that when electrified, is coupled to the king pin (5) by magnetic attraction. The second mode through a reference device (20) that is magnetic, identifiable, independent and easy to apply to the kingpin (4).

A method for calculating an optimum route for a first vehicle to travel from a current location to a selected parking space includes receiving map data of a parking zone, the map data including local map data and global map data of the parking zone, sensor data, parking space data indicating availability of parking spaces within the parking zone, and vehicle dynamics and location data, selecting, as the selected parking space, at least one available parking space based on the parking space data, determining a plurality of target positions between the current location and the selected parking space, calculating, in response to the selecting of the selected parking space and based on the plurality of target positions, the optimum route, including calculating trajectories of the first vehicle along an entire route between the current location and the selected parking space, and controlling the first vehicle to travel from the current location to the selected parking space.

The invention discloses a recirculating ball type electric power steering system fault self-checking method and system and a readable medium, and relates to the technical field of vehicles, and the method comprises the steps: storing a signal transmission path and each function node, determining the type of an influence factor which influences the instruction execution accuracy of the function node, and determining the instruction execution accuracy of the function node; analyzing and acquiring the relationship between the fluctuation amplitude of the data signal at each function node and the numerical value of the influence factor, storing the relationship as a correction model, and storing a first relationship model for reflecting the data association relationship among the function nodes on the same signal transmission path; acquiring real-time data and source data of various impact factors, and generating theoretical response data according to the first relation model, the real-time impact factor data and the correction model; the actual response data is collected, the deviation amplitude between the actual response data and the theoretical response data is calculated, whether the function node breaks down or has a potential fault is judged according to the deviation amplitude, early warning is output, and the fault detection accuracy and the potential fault pre-judgment capability are greatly improved through the technical scheme.

The present invention refers to a method for performing pre-boost acceleration prior to overtaking a preceding third party vehicle (34) driving on a road (26) with multiple driving lanes (28, 30, 32) for driving in a forward driving direction (34) with an ego vehicle (10), wherein the ego vehicle (10) is following the preceding third party vehicle (36) on an ego lane (28) with an initial distance (d) to the ego vehicle (10), comprising the steps of detecting third party vehicles (38) on the neighboring driving lane (30), determining an acceleration profile with an acceleration phase for accelerating the ego vehicle (10) compared to the preceding third party vehicle (36) on the ego lane (28) while following the preceding third party vehicle (36), wherein an acceleration of the acceleration phase is determined based on the detection of third party vehicles (38) on the neighboring driving lane (30), a maximum acceleration value and a maximum change of acceleration, receiving a trigger for performing the pre-boost acceleration prior to overtaking the preceding third party vehicle (36) driving on the ego lane (28) using the neighboring driving lane (30), and performing the pre-boost acceleration according to the determined acceleration profile. The present invention also refers to a driving support system (12) for use in an ego vehicle (10) for following a preceding third party vehicle (36), in particular for performing adaptive cruise control, when driving on a road (26) with multiple driving lanes (28, 30, 32) for driving in a forward driving direction (34) of the ego vehicle (10), wherein the driving support system (12) is adapted to perform the method for pre-boost acceleration prior to overtaking a preceding third party vehicle (34) according to the above method.

This application is directed to a centralized system for predicting vehicle trajectory. A computer system associated with a fixed installation having one or more first sensors obtains, from the first sensors, information of a plurality of vehicles that are traveling within a zone of interest of a road. The computer system generates a first travel trajectory for a first vehicle of the plurality of vehicles based on the information obtained from the one or more first sensors. The computer system sends, to the first vehicle, the first travel trajectory such that the first vehicle is configured to at least partially autonomously drive the first vehicle based on the first travel trajectory of the first vehicle.

The invention relates to a vehicle steering wheel alignment method and device, a vehicle, a storage medium and a program product, and relates to the technical field of vehicles. The method comprises the steps that when a vehicle is in a to-be-aligned state, the alignment intention of a driver of the vehicle is determined based on a target scene where the vehicle is located; the to-be-aligned state is used for indicating that a steering wheel and a steering mechanism of the vehicle are to be aligned; the steering wheel is controlled to align with the steering mechanism based on the alignment intention. Therefore, the steering wheel can be controlled to be aligned with the steering mechanism, and the driving safety of a driver caused by deviation between the steering wheel and the wheel steering angle is avoided.

A vehicle control apparatus comprises: a first control system that executes a first operation for reducing a possibility of collision between a host vehicle and an obstacle; and a second control system that execute a second control for automatically stopping the host vehicle when a driver of the host vehicle has fallen into an anomaly state where the driver cannot drive the host vehicle properly is obtained. In the apparatus, a second control in-execution period first operation start condition necessary to be satisfied in order for the first system to start executing the first operation while the second control system is not being executed the second control and a second control execution period first operation start condition necessary to be satisfied in order for the first system to start executing the first operation while the second control system is being executing the second control are different from each other.

A control system for controlling generation of a steering overlay signal to control a trajectory of a host vehicle can include one or more controllers and is configured to identify a lateral boundary of the host-vehicle lane of travel. The control system monitors a position of the host vehicle in relation to the lateral boundary of the host-vehicle lane of travel. A lateral velocity of the host vehicle is determined by the control system. The steering overlay signal is generated based on a determination that the host vehicle is approaching or traversing the lateral boundary of the host-vehicle lane of travel and that the determined lateral velocity is greater than or equal to a first lateral velocity threshold. The control system can determine a lateral separation between the host vehicle and an object.

The present disclosure relates to a motor vehicle, including a projection system having at least one first and at least one second projection device. The at least one first projection device has at least one first light source and the at least second projection device has at least one second light source, where at least one first light projection can be projected into surroundings of the motor vehicle by the at least first projection device. The at least first light projection defines an actual position of the stationary motor vehicle, and at least one second light projection can be projected into surroundings of the motor vehicle by the at least second projection device. The at least second light projection defines a target position defining a parking position of the motor vehicle. The at least second projection device can be set by the user to change the target position. A deviation between the actual position and the target position can be determined via a detection device. Depending on the determined deviation, control parameters for performing an autonomous driving maneuver, in the context of which the motor vehicle can be maneuvered autonomously into the parking position, can be determined via a control device.