Ford Global Technologies, LLC

Mrdjan J Jankovic

Stephen William Magner

Mario Anthony Santillo

Julia Helen Buckland

Steve William Magner

Thomas George Leone

Michael James Uhrich

Michael Hafner

Stephen Lee Cooper

Abhishek Sharma

Diana Yanakiev

Davor Hrovat

Amey Y Karnik

John Eric Rollinger

Michael John Cullen

Ralph Wayne Cunningham

Ilya V Kolmanovsky

Yousaf Rahman

David G Hagner

Aakar Mehra

Mohit Srinivasan

Alexander Jaeckel

Hongtei Eric Tseng

Eric Hongtei Tseng

Erol Dogan Sumer

Jeffrey Allen Doering

Imad Hassan Makki

Brad Alan Boyer

Michael Howard Shelby

Baitao Xiao

Hamid-Reza Ossareh

Xiaoying Zhang

Giuseppe Domenico Suffredini

Dave Hagner

Ross Dykstra Pursifull

Gopichandra Surnilla

Michiel Jacques Van Nieuwstadt

John David Russell

James Michael Kerns

Daniel Joseph Styles

John Ottavio Michelini

Alexander O'Connor Gibson

Timothy Joseph Clark

Anna G Stefanopoulou

Paul A Pietrzyk

John Erik Mikael Hellstrom

Marcus William Fried

Gang Song

Larry Allen Hardy

Paul Eduard Moraal

Julia Voutyras

Douglas Raymond Martin

Donald James Lewis

David Karl Bidner

Hong Jiang

Davorin David Hrovat

Zhengyu Dai

Christopher Paul Glugla

Tobias John Pallett

Adam J Richards

Andrew Paul Bagnasco

Daniel Lawrence Meyer

Tyler Kelly

David Bell

Matthew John Gerhart

Alan Robert Dona

James M Dosdall

Miroslava Jankovic

Guopeng Hu

Phillip Bonkoski

Naginder Gogna

Timothy Stolzenfeld

Pravin Sashidharan

Suzanne Kay Wait

Jeffrey Raymond Mohr

Jack Adams

De-Shiou Chen

Sue Kay Wagers

Julie Helen Buckland

Dogan Sumer

Aaron Schweizerhof

Yanying Wang

Charlie Teng

A computer includes a processor and a memory, and the memory stores instructions executable by the processor to receive sensor data indicating an obstacle, formulate a control barrier function for a vehicle and the obstacle based on the sensor data, determine a control input based on the control barrier function and a combination function, and actuate a component of the vehicle according to the control input. The combination function is a sum of a first function weighted by a first weight and a second function weighted by a second weight, and the first weight and the second weight are based on a kinematic state of the obstacle.

Obstacle avoidance for vehicle

A system includes a processor and a memory. The memory stores instructions executable by the processor to determine a virtual barrier around a vehicle based on receiving a first user input and data indicating a vehicle sprung mass, upon receiving a second user input selecting the virtual barrier, to determine an updated virtual barrier based on the received second user input, upon determining the virtual barrier, to verify that the virtual barrier satisfies one or more vehicle parameters; and to provide output based on the virtual barrier.

Vehicle path adjustment

A system for detecting a road surface includes a computer programmed to determine a virtual boundary for a vehicle body based on a shape of the vehicle body, upon identifying an object, to identify a plurality of points on the object based on received sensor data, to determine a barrier function based on each of the identified plurality of points, wherein the barrier function includes a barrier distance from a reference point of the virtual boundary of the vehicle to a respective one of the points on the object, based on (i) the determined barrier functions, (ii) the determined virtual boundary of the vehicle, and (iii) an input to at least one of propulsion, steering, or braking, to determine at least one of a braking override or a steering override, and based on the determination, to adjust at least one of a vehicle steering or a vehicle speed.

Vehicle path adjustment with control barrier function

A computer includes a processor and a memory, the memory storing instructions executable by the processor to receive sensor data indicating an obstacle, formulate a control barrier function for a vehicle based on the sensor data, determine a control input based on the control barrier function, and actuate a component of the vehicle according to the control input. The control barrier function is defined with respect to a reference point that is spaced from a centroid of the vehicle.

A system for detecting a road surface includes a processor and a memory. The memory stores instructions executable by the processor to determine a virtual boundary for a vehicle body based on a shape of the vehicle body, to identify one or more objects based on vehicle sensor data, based on the identified one or more objects, the determined virtual boundary, and an input to at least one of propulsion, steering, or braking, to determine at least one of a braking override or a steering override, and based on the determination, to perform at least one of adjusting a vehicle steering and a vehicle speed.

Vehicle path adjustment using a virtual boundary that is based on a shape of a vehicle body

A speed of a target vehicle in a target lane of operation is determined relative to a host vehicle in a host lane of operation. A virtual boundary is determined around the target vehicle based on the speed of the target vehicle. A position in the target lane and outside the virtual boundary is selected based on a) a first cost function for a deviation of a speed of the host vehicle from a requested speed, and b) a second cost function for a frequency of lane changes. Upon determining to move the host vehicle from the host lane to the target lane, the host vehicle is operated to the position in the target lane.

Vehicle lane-change operations

A lateral virtual boundary for a host vehicle is identified based on a lateral distance between the host vehicle and a target vehicle, a longitudinal distance between the host vehicle and the target vehicle, and a speed of the target vehicle relative to the host vehicle. A forward virtual boundary for the host vehicle is identified based on the longitudinal distance between the host vehicle and the target vehicle. A lateral constraint value of the lateral virtual boundary and a forward constraint value of the forward virtual boundary are determined. A longitudinal acceleration and a steering angle are determined based on the lateral and forward virtual boundaries and the lateral and forward constraint values. One or both of a steering component or a brake are actuated based on the longitudinal acceleration and the steering angle.

Target vehicle detection

A computer is programmed to identify first and second virtual boundaries of a roadway lane based on a predicted boundary between the roadway lane and an adjacent roadway lane, determine a first constraint value based on a first virtual boundary approach acceleration, determine a second constraint value based on a second virtual boundary approach acceleration, output a prescribed steering angle, brake input, and propulsion input when one of the constraint values violates a respective threshold, and actuate components to attain the prescribed steering angle, brake input, and propulsion input. The first virtual boundary approach acceleration is based on a steering wheel angle of a vehicle and input to one of a brake or a propulsion of the vehicle. The second virtual boundary approach acceleration is based on a steering wheel angle of the vehicle and input to one of a brake or a propulsion of the vehicle.

Vehicle detection and response

Systems and methods for determining fuel delay in a fuel injected engine with cylinders that may be deactivated are presented. In one example, the fuel injection delay is determined via a cylinder firing schedule array when the cylinder firing schedule array is available. The fuel injection delay is determined via weighted average of a fuel injection delay of a present engine cycle and a fuel injection delay of a past engine cycle when the cylinder firing schedule array is not available.

System and method for controlling fuel supplied to an engine

A computer includes a processor and a memory storing instructions executable by the processor to identify a virtual boundary between a host roadway lane of a host vehicle and a target roadway lane of a target vehicle, the virtual boundary based on a predicted path of the target vehicle, determine a first constraint value based on a boundary approach velocity of the target vehicle, determine a second constraint value based on (1) a boundary approach velocity of the host vehicle and (2) a boundary approach acceleration of the host vehicle and perform a threat assessment of a collision between the host vehicle and the target vehicle upon determining that the first constraint value violates a first threshold or the second constraint value violates a second threshold.

A computer includes a processor and a memory, the memory storing instructions executable by the processor to generate an ellipse around a target vehicle, identify an intersection point between the ellipse and a line extending from a host vehicle to the target vehicle, identify a line tangent to the ellipse at the intersection point, and actuate one or more components of the host vehicle to avoid locations represented by the line tangent to the ellipse.

Enhanced vehicle operation

A planned acceleration of a vehicle and a predicted optimal acceleration of a target is determined. Upon determining that an actual acceleration of the target differs from the predicted optimal acceleration, the planned acceleration of the vehicle is revised based on the actual acceleration of the target. The foregoing steps can be implemented by a vehicle computer according to program instructions stored in a memory of the vehicle computer. The vehicle can include sensors, actuators, and/or controllers in communication with the computer via a vehicle communication network.

Vehicle path identification

A computer is programmed to identify a target vehicle to be monitored and to identify first and second virtual boundaries on a roadway based on a position of the target vehicle. The computer is further programmed to determine a first constraint value based on (1) a first boundary approach velocity and (2) a first boundary approach acceleration and a second constraint value based on (1) a second boundary approach velocity and (2) a second boundary approach acceleration. The computer is further programmed to identify a maneuver of the target vehicle based on whether the first and second constraint values violate respective thresholds or a position of the target vehicle relative to the first and second virtual boundaries violates a threshold and to adjust a path of a host vehicle according to the identified maneuver.

Methods and systems are provided for diagnosing the presence or absence of a catalyst substrate within a catalyst can or housing. The methods and systems described a persistence of excitation metric that is a basis for judging whether or not the catalyst can is empty. If it is determined that the catalyst can or housing is empty, mitigating control actions may be performed via a controller.

Method and system for improving detecting an empty catalyst housing

Methods and systems are provided for catalyst control. In one example, a method may modulate a downstream catalyst by applying a square waveform to an outer feedback control loop. A fuel adjustment is performed in accordance with the square waveform to create an air-fuel ratio oscillation at an upstream catalyst brick and at a downstream catalyst brick.

Method and system for catalyst feedback control

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Birmingham, MI, United States of America

Mrdjan J Jankovic