Back to results
US 12,662,111 B2Granted
Controlling vehicles based on current motion characteristics
AssigneeTextron Innovations Inc.
InventorsGregory August Theodosakis, Russell William King, Jonathan Daniel Bowen
Life of this patent
Estimating the term…
Abstract
A technique is directed to controlling a vehicle. The technique involves setting a set of motion control parameters which controls motion of the vehicle to a set of initial values. The technique further involves receiving a set of motion signals from a set of sensors, the set of motion signals indicating a set of current motion characteristics of the vehicle. The technique further involves, based on the set of motion signals, changing at least one motion control parameter of the set of motion control parameters which controls motion of the vehicle from an initial value to an updated value which is different from the initial value.
Claims20
A method of controlling a utility vehicle, the method comprising:
- setting a set of motion control parameters which controls motion of the utility vehicle to a set of initial values;
- receiving a set of motion signals from a set of sensors, the set of motion signals indicating a set of current motion characteristics of the utility vehicle;
- and
- based on the set of motion signals, changing at least one motion control parameter of the set of motion control parameters which controls motion of the utility vehicle from an initial value to an updated value which is different from the initial value;
- wherein the set of current motion characteristics indicated by the set of motion signals includes an angular speed metric for utility vehicle angular speed about a longitudinal axis of the utility vehicle, the angular speed metric being a roll rate metric for a roll rate of the utility vehicle;
- and
- wherein changing the at least one motion control parameter includes:
- modifying the roll rate metric from an initial roll rate to a zero roll rate in response to the initial roll rate being lower than a predefined roll rate threshold.
5 more elements
Electronic circuitry to control a utility vehicle, the electronic circuitry comprising:
- a set of sensors;
- motor control circuitry constructed and arranged to operate an electric motor for vehicle propulsion;
- and
- a controller coupled with the set of sensors and the motor control circuitry, the controller being constructed and arranged to perform a method of:
- setting a set of motion control parameters which the motor control circuitry uses to control motion of the utility vehicle to a set of initial values,
- receiving a set of motion signals from the set of sensors, the set of motion signals indicating a set of current motion characteristics of the utility vehicle, and
- based on the set of motion signals, changing at least one motion control parameter of the set of motion control parameters which the motor control circuitry uses to control motion of the utility vehicle from an initial value to an updated value which is different from the initial value;
- wherein the set of current motion characteristics indicated by the set of motion signals includes an angular speed metric for utility vehicle angular speed about a longitudinal axis of the utility vehicle, the angular speed metric being a roll rate metric for a roll rate of the utility vehicle;
- and
- wherein changing the at least one motion control parameter includes:
- modifying the roll rate metric from the initial roll rate to a zero roll rate in response to the initial roll rate being lower than a predefined roll rate threshold.
8 more elements
A utility vehicle, comprising:
- a battery management system (BMS) having a lithium battery;
- a utility vehicle propulsion system constructed and arranged to provide utility vehicle propulsion using electric power from the lithium battery;
- and
- electronic circuitry coupled with the BMS and the utility vehicle propulsion system, the electronic circuitry being constructed and arranged to perform a method of:
- setting a set of motion control parameters which is used to control motion of the utility vehicle to a set of initial values,
- receiving a set of motion signals from a set of sensors, the set of motion signals indicating a set of current motion characteristics of the utility vehicle, and
- based on the set of motion signals, changing at least one motion control parameter of the set of motion control parameters which is used to control motion of the utility vehicle from an initial value to an updated value which is different from the initial value;
- wherein the set of current motion characteristics indicated by the set of motion signals includes a first angular speed metric for utility vehicle angular speed about a vertical axis of the utility vehicle and a second angular speed metric for utility vehicle angular speed about a longitudinal axis of the utility vehicle;
- wherein the first angular speed metric is a turning rate metric for a turning rate of the utility vehicle;
- wherein the second angular speed metric is a roll rate metric for a roll rate of the utility vehicle;
- and
- wherein changing the at least one motion control parameter includes:
- summing an unscaled turning rate of the turning rate metric with a scaled roll rate of the roll rate metric to form an angular intensity result.
10 more elements
Dependencies are inferred from the claim text.