A driving/braking force manipulation control input of a k-th wheel, which denotes one or more specific wheels among a plurality of wheels of a vehicle, is determined such that a required condition concerning a relationship among a road surface reaction force that may act from a road surface on the k-th wheel on the basis of the detected values or estimated values of a side slip angle and a friction characteristic of the k-th wheel, a feedback control input related to the driving/braking force of the k-th wheel for bringing a difference between a state amount of the vehicle and a reference state amount close to zero, a driving/braking force feedforward control input based on a drive manipulated variable supplied by a driver of the vehicle, and a k-th wheel driving/braking force manipulation control input is satisfied. This arrangement makes it possible to properly control a motion of an actual vehicle to a desired motion while properly considering the characteristics of a road surface reaction force acting from a road surface on a wheel.

Vehicle Control Device

A vehicle and vehicle system are provided with a controller that is configured to generate output indicative of a vehicle mass estimation. The vehicle mass estimation is based on a longitudinal acceleration and a wheel torque when at least one of the longitudinal acceleration, a vehicle speed and a yaw rate indicate an occurrence of a qualified event. The controller is further configured to generate output indicative of a dynamic road gradient estimation based on the vehicle speed, the wheel torque and the vehicle mass estimation.

Dynamic road gradient estimation

A vehicle and a vehicle system are provided with a controller that is configured to generate output indicative of a kinematic road gradient estimation using an extended Kalman filter. The extended Kalman filter includes a system input based on a longitudinal acceleration and an acceleration offset, and a system output based on a predicted vehicle speed. The acceleration offset is based on at least one of a lateral velocity, a lateral offset, and a vehicle pitch angle. The controller is further configured to generate output indicative of a kinematic quality factor corresponding to an availability of the kinematic road gradient estimation.

Kinematic road gradient estimation

Systems and methods to determine cell capacities of a vehicle battery pack. Cell capacities may be determined using state of charge (SOC) estimates for the cells and a charge count for the battery pack. The SOC estimates may be determined when the SOC of the battery pack is below a lower threshold and above an upper threshold. Error values may also be generated for the cell capacity values.

Systems and methods for determining cell capacity values in a multi-cell battery

A system for longitudinal and lateral control of a vehicle. The system includes a camera generating a plurality of images representative of a field of view in front of the vehicle, and a controller receiving the plurality of images. The controller detects an object in the plurality of images, extracts a plurality of features from the plurality of images, generates a reference feature depiction based on the plurality of features from one or more of the plurality of images, generates a comparison feature depiction based on the plurality of features from one of the plurality of images, compares the reference feature depiction and the comparison feature depiction, and determines a longitudinal position of the vehicle relative to the object based on differences between the reference feature depiction and the comparison feature depiction.

Video based intelligent vehicle control system

The invention relates to a state estimating method for an automobile start illumination type lead-acid storage battery. The method comprises the following steps: 1) connecting the storage battery and a current/voltage/temperature detection device, and connecting the detection device and a storage battery state estimating device; 2) transmitting detected current/voltage/temperature data of the storage battery to a storage battery state estimating device by the detection device, and judging the working conditions of the storage battery according to the detected data and adopting different estimating methods by the state estimating device, 3) synthesizing charge states of the working conditions of the storage battery acquired in the step 2); 4) updating parameters in the storage battery charge state estimating method in the step 1) by using the deviation of the storage battery state synthesized in the step 3) and the storage battery state before synthesis and the error of each method, and calculating the healthy state of the storage battery; and 5) storing the parameters updated in the step 4) into the storage battery state estimating device for an iteration estimating process of the next period.

State estimating method for automobile start illumination type lead-acid storage battery

The invention relates to an early warning method for preventing rear-end collision with a rearward vehicle and an early warning system thereof, wherein the method comprises the following steps: 1) arranging an early warning system for preventing rear-end collision with the rearward vehicle, which comprises an information acquisition unit, a system control unit comprising a singlechip as well as an early warning execution unit; wherein, an early warning module for preventing rear-end collision with the rearward vehicle is prearranged inside the singlechip, a collision warning range and a formula calculating the collision time of the vehicles are prearranged inside the early warning module for preventing rear-end collision with the rearward vehicle; 2) acquiring the distance between the rearward vehicle and own vehicle and relative speed information and acquiring own speed information; 3) calculating time of collision TTC and a warning time threshold of collision TTC_W of the rearward vehicle and own vehicle; 4) generating a control instruction in accordance with the difference value between the calculated time threshold of collision TTC and the warning time threshold of collision TTC_W of the rearward vehicle and own vehicle as well as the prearranged collision warning range; 5) sending corresponding warning information according to the control instruction The invention can real-timely and accurately monitor the relative motion state between own vehicle and the rear vehicle that travels in the same traffic lane, thus effectually preventing the rear-end collision of the vehicles that traveling at high speed

Pre-alarm method for preventing rear-end collision by following car

The invention relates to a rollover prevention dynamic detection method for a wagon on a curved conduit and a warning device. The method comprises the following steps: 1, installing a rollover prevention dynamic detection method for a wagon on a curved conduit which comprises a steering wheel rotation angle measuring device, a yaw angle velocity measuring device, an inclination angle measuring device and an electronic control unit which comprises a single chip microcomputer, wherein a solidification program of the single chip microcomputer is equipped with a centroid height dynamic detection algorithm module and a rollover prevention warning algorithm module, and a rollover alarming range is arranged in the rollover prevention warning algorithm module. 2, collecting steering wheel rotation angle singles, vertical yaw angle velocity measuring singles of the wagon, side-tipping angle singles of a carriage of the wagon, the side-tipping angle singles of a rear shaft of the wagon and vertical speed singles of the wagon. 3, counting a lateral acceleration and a centroid height of the wagon through the centroid height dynamic detection algorithm module. 4, counting a rollover acceleration threshold value through the rollover prevention warning algorithm module according to the centroid height. 5, sending a corresponding alarm command according to a difference value of the lateral acceleration and the rollover acceleration threshold value of the wagon and the reset rollover alarm range.

Dynamic detection method for preventing wagon from turning towards one side on bending road and pre-warning apparatus

Longitudinal speed evaluation method of full-wheel electrically-driven vehicle

A method for quickly identifying lanes-change condition of object vehicle includes utilizing machine vision and radar to collect horizontal and longitudinal distances, relative speed and the same lane possibility between object vehicle and local vehicle, making comparison and quantization on said data collected each time, making compensation and tracking prediction on relevant data, calculating confidence of each vehicle by using two layers of neural network training to obtain object vehicle weight and setting object vehicle to be dangerous object once calculated confidence coefficient is over confidence threshold.

Keqiang Li

Papers

State estimating method for automobile start illumination type lead-acid storage battery

Pre-alarm method for preventing rear-end collision by following car

Dynamic detection method for preventing wagon from turning towards one side on bending road and pre-warning apparatus

Longitudinal speed evaluation method of full-wheel electrically-driven vehicle

Quick identification method for object vehicle lane changing