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:
Oct. 31, 2023
Filed:
Jan. 03, 2020
Toyota Research Institute, Inc., Los Altos, CA (US);
Carrie Bobier-Tiu, Sunnyvale, CA (US);
TOYOTA RESEARCH INSTITUTE, INC., Los Altos, CA (US);
Abstract
Systems and methods for controlling a vehicle using operational constraints, including friction estimates are disclosed. Friction estimation include estimating a tire-road coefficient of friction using bins and envelopes. Bounding envelopes are configured to ensure that stability of the vehicle is maintained. The friction estimate is used to define the bounding envelopes. Further, the bounding envelopes are received as feedback into the friction estimation, itself. Based on the bounding envelope, the friction estimation can be adjusted. Then, the adjusted friction estimation can be fed back to reshape the bounding envelopes. Multiple bins can be used to evaluate an operating range of friction. Each bin can be used to compare actual vehicle dynamics with expected dynamics based on the estimation using the range assigned to that bin. Multiple bins and multiple controllers can run in parallel to re-estimate friction considering the vehicle dynamics over time.