Patent ID: 11919517
Assignee: AYRO, INC.
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. A vehicular control system comprising:
a plurality of terrain sensors;
a plurality of force sensors;
a set of vehicular controllers governing operational parameters of a vehicle, wherein the operational parameters exist a multi-dimensional operational parameter space;
at least one computer-readable memory storing software instructions; and
at least one processor coupled with the plurality of terrain sensors, the plurality of force sensors, the set of vehicular controllers, and the at least one computer-readable memory, wherein the at least one processor performs the following operations upon execution of the software instructions:
deriving a set of current forces from the plurality of force sensors;
determining at least one current vehicle contact patch state related to at least one wheel of the vehicle and based at least in part on the set of current forces;
detecting an imminent change from a first terrain to a second terrain for the vehicle based on terrain data obtained from the plurality of terrain sensors;
defining a set of target contact patch states based on attributes associated with the second terrain;
determining a set of target forces that satisfy target force criteria defined based on the set of target contact patch states;
obtaining a set of current operational parameter values from the set of vehicular controllers;
deriving a set of target operational parameter values predicted to generate the set of target forces, wherein the set of target operational parameter values imposes one or more first limits on an operation of the vehicle;
determining a path in the multi-dimensional operational parameter space from the set of current operational parameter values to the set of target operational parameter values, wherein the path comprises (i) a first section that changes from the set of current operation parameter values to a set of temporary operation parameter values before the vehicle crosses a border between the first terrain and the second terrain, wherein the set of temporary operation parameter values imposes one or more second limits on the operation of the vehicle, (ii) a second section that maintains the set of temporary operation parameter values as the vehicle crosses the border between the first terrain and the second terrain, and (iii) a third section that changes from the set of temporary operation parameter values to the set of target parameter values after the vehicle crosses the border; and

instructing the set of vehicular controllers to alter the operational parameters of the vehicle according to the path.