The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Aug. 20, 2019
Filed:
May. 11, 2017
Diomidis Katzourakis, Chania, GR;
Huibert Mees, Pleasanton, CA (US);
Christopher D. Gadda, Sunnyvale, CA (US);
Stefan Solyom, Sunnyvale, CA (US);
Johannes A. Huennekens, San Jose, CA (US);
Diomidis Katzourakis, Chania, GR;
Huibert Mees, Pleasanton, CA (US);
Christopher D. Gadda, Sunnyvale, CA (US);
Stefan Solyom, Sunnyvale, CA (US);
Johannes A. Huennekens, San Jose, CA (US);
Apple Inc., Cupertino, CA (US);
Abstract
A control system for a vehicle includes an internal vehicle reference model that determines reference states for the vehicle that represent an expected vehicle response, sensors that determine measured states for the vehicle, and a vehicle motion control system that determines desired states for the vehicle. A stability determining module identifies a reference deviation between the reference states and the measured states, identifies a desired deviation between the desired states and measured states, and outputs a command for reducing the reference deviation and the desired deviation. Actuators are operable to reduce the reference deviation and the desired deviation in response to the command.