C.r.f. Societa Consortile Per Azioni

Cnh Industrial America LLC

Enrico Raffone

Claudio Rei

Riccardo Morselli

Massimo Fossanetti

Francesco Canuto

Patrizio Turco

Giulio Borrello

Riccardo Dessi'

Marco Rossi

Michele Basso

An automotive electronic longitudinal dynamics control system of a motor vehicle comprising a powertrain comprising a propulsor electronically controlled by an electronic engine control module and an automatic transmission electronically controlled by an electronic automatic transmission control module to transmit mechanical power generated by the propulsor to drive wheels of the motor vehicle and comprising an automatic gearbox having a plurality of gears with corresponding gear ratios. The electronic automatic transmission control module is designed to output data indicative of a currently engaged gear and a next engaged gear that will be engaged after the currently engaged gear. The electronic engine control module is designed to receive data indicative of an engine torque request and to responsively control the propulsor based on the received engine torque request to cause the propulsor to output an engine torque equal to the requested engine torque. The automotive electronic longitudinal dynamics control system is designed to:

Down-shift acceleration overshoot compensation in automotive electronic longitudinal dynamics control of autonomous motor vehicles

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: The electronic dynamics control system is further designed to implement a Model Predictive Control (MPC)-based Trajectory Planner and Controller designed to: The electronic dynamics control system is further designed to implement a Motion Controller designed to: 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: 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.

Motor-vehicle trajectory planning and control to cause automated motor-vehicles to perform low-speed manoeuvres in automated driving

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.

Automotive electronic lateral dynamics control system for a self-driving motor vehicle

An automotive electronic preventive active safety system comprising a control module configured to receive data indicative of a current position of a vehicle, of roads and characteristics thereof including road curvature, and of potential driving routes of the motor-vehicle from a current position up to an electronic horizon thereof. If a current speed of the vehicle at the current position is greater than or equal to a driving speed determined by a driving speed profile for the current position, the control module is configured to at least one of: command the motor-vehicle to decelerate to the driving speed determined by the driving speed profile for the current position; and generate a request to a driver of the motor-vehicle to decelerate the motor-vehicle to the driving speed determined by the driving speed profile for the current position.

Automotive preventive electronic stability control

A steerable, self-propelled vehicle includes a rotatable steering column that is connected to control the steering angle of one or more ground-engaging members of the vehicle. The vehicle includes between the steering column and the ground-engaging member a first steering servomechanism having at least a first steering assistance characteristic; a second steering servomechanism having a second steering assistance characteristic also being connected to act on the steering column. A controller is provided for causing the first and second steering assistance characteristics to influence the steering of the vehicle in dependence on one or more one or more control commands generated in the controller.

Steerable vehicle

Automotive electronic control unit programmed to realtime estimate either or both of vehicle mass and road slope, wherein; a. road slope, is estimated; a1. when vehicle is considered stopped based on an accelerometer signal indicative of vehicle acceleration, wherein the vehicle is considered stopped in the presence of substantially zero values of a speed signal indicative of vehicle speed, and a2. when vehicle is in rectilinear and curvilinear motion by implementing a road slope observer based on a linear Kalman filter, which is designed to: a21. operate based on signals indicative of vehicle speed and acceleration, and a22. compensate for accelerometric disturbances due to; a221. vehicle static pitch resulting from vehicle load distribution, and a222. vehicle dynamic pitch due to acceleration to which vehicle is subjected during motion, and a223. accelerometric disturbance components due to vehicle lateral dynamics; b. vehicle mass is estimated: b1. when vehicle is in motion, and b2. based on a recursive least square algorithm with forgetting factor, and b3. based on an accelerometric signal indicative of vehicle acceleration, on a vehicle speed signal, and other signals representing a vehicle propulsive/resistive torque, and b4. at different low gears, to provide a mass estimation and an associated variance for each gear, and b5. based on mass estimations and corresponding variances for each gear, and b6. compensating for accelerometer disturbances due to: b61, vehicle dynamic pitch; and b62. accelerometric disturbance components due to vehicle lateral dynamics; and b7. minimizing uncertainties on propulsive/resistive torque due to gear efficiency and rolling resistance.

Automotive control unit programmed to estimate road slope and vehicle mass, vehicle with such a control unit and corresponding program product

A steerable, self-propelled vehicle () includes a rotatable steering column that is connected to control the steering angle of one or more ground-engaging members of the vehicle. The vehicle includes between the steering column and the ground-engaging member a first steering servomechanism having at least a first steering assistance characteristic; a second steering servomechanism having a second steering assistance characteristic also being connected to act on the steering column. A controller is provided for causing the first and second steering assistance characteristics to influence the steering of the vehicle in dependence on one or more one or more control commands generated in the controller.

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Orbassano, Italy

Enrico Raffone