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:
Feb. 01, 2022
Filed:
Nov. 11, 2019
Ford Global Technologies, Llc, Dearborn, MI (US);
Zhong Ren, Troy, MI (US);
Lodewijk Wijffels, Northville, MI (US);
Joshua Guerra, Farmington Hills, MI (US);
Scott J. Lauffer, Northville, MI (US);
Ford Global Technologies, LLC, Dearborn, MI (US);
Abstract
A computer includes a processor and a memory, the memory storing instructions executable by the processor to detect an actual steering column torque and an actual steering wheel angle, predict a steering wheel torque with a state-estimation algorithm that outputs a plurality of vehicle states including the predicted steering wheel torque, adjust the plurality of vehicle states based on an algorithm noise that is based on a steering wheel angular speed to generate estimated vehicle states, output the estimated vehicle states including an estimated user-applied steering wheel torque, and transition from an autonomous mode to a manual mode when the estimated steering wheel torque exceeds a threshold. The state-estimation algorithm accepts input including the actual steering column torque and the actual steering wheel angle and outputs the plurality of vehicle states.