1. A method for speech recognition comprising:
generating a speech prompt;
receiving a spoken utterance from a user in response to the speech prompt, the spoken utterance including a speech artifact; and
compensating for the speech artifact.
2. The method of claim 1, wherein the speech artifact is a stutter artifact.
3. The method of claim 1, wherein compensating for the speech artifact includes providing a recognition grammar that includes the speech artifact as a speech component.
4. The method of claim 1, wherein compensating for the speech artifact includes modifying the spoken utterance to eliminate the speech artifact.
5. The method of claim 4, wherein modifying the spoken utterance includes eliminating a portion of the spoken utterance that occurred prior to a predetermined time relative to termination of the speech prompt.
6. The method of claim 4, wherein modifying the spoken utterance includes eliminating a portion of the spoken utterance that conforms to a pattern consisting of short burst of speech followed by substantial silence.
7. The method of claim 4, wherein modifying the spoken utterance includes eliminating a portion of the spoken utterance based on a comparison of a first portion of the spoken utterance to a subsequent portion of the spoken utterance that is similar to the first portion.
8. A speech recognition system comprising:
a speech generation module configured to generate a speech prompt for a user; and
a speech understanding system configured to receive a spoken utterance from a user in response to the speech prompt, wherein the spoken utterance includes a speech artifact, and configured to compensate for the speech artifact.
9. The speech recognition system of claim 8, wherein the speech artifact is a barge-in stutter artifact.
10. The speech recognition system of claim 9, wherein the speech understanding system compensates for the speech artifact by providing a recognition grammar that includes the speech artifact as a speech component.
11. The speech recognition system of claim 8, wherein the speech understanding system compensates for the speech artifact by modifying the spoken utterance to eliminate the speech artifact.
12. The speech recognition system of claim 11, wherein modifying the spoken utterance includes eliminating a portion of the spoken utterance that occurred prior to a predetermined time relative to termination of the speech prompt.
13. The speech recognition system of claim 11, wherein modifying the spoken utterance includes eliminating a portion of the spoken utterance that conforms to a pattern consisting of short burst of speech followed by substantial silence.
14. The speech recognition system of claim 11, wherein modifying the spoken utterance includes eliminating a portion of the spoken utterance based on a comparison of a first portion of the spoken utterance to a subsequent portion of the spoken utterance that is similar to the first portion.
15. A non-transitory computer-readable medium bearing software instructions configured to cause a processor to perform the steps of:
generating a speech prompt;
receiving a spoken utterance from a user in response to the speech prompt, the spoken utterance including a speech artifact; and
compensating for the speech artifact.
16. The non-transitory computer-readable medium of claim 15, wherein compensating for the speech artifact includes providing a recognition grammar that includes the speech artifact as a speech component.
17. The non-transitory computer-readable medium of claim 15, wherein compensating for the speech artifact includes modifying the spoken utterance to eliminate the speech artifact.
18. The non-transitory computer-readable medium of claim 17, wherein modifying the spoken utterance includes eliminating a portion of the spoken utterance that occurred prior to a predetermined time relative to termination of the speech prompt.
19. The non-transitory computer-readable medium of claim 17, wherein modifying the spoken utterance includes eliminating a portion of the spoken utterance that conforms to a pattern consisting of short burst of speech followed by substantial silence.
20. The non-transitory computer-readable medium of claim 17, wherein modifying the spoken utterance includes eliminating a portion of the spoken utterance based on a comparison of a first portion of the spoken utterance to a subsequent portion of the spoken utterance that is similar to the first portion.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A vehicle motion control apparatus, comprising:
a lateral acceleration sensor configured to measure lateral acceleration;
a maximum tire lateral force calculator configured to calculate maximum tire lateral forces of front and rear axles considering a nonlinearity with respect to a front-rear load shift and an influence of a friction circle according to drivingbraking forces of the front and rear axles and road surface information;
a first frontrear drivingbraking force calculator configured to calculate the drivingbraking forces of the front and rear axles that minimize an energy loss realizing a target steering characteristic as first frontrear drivingbraking forces based on the drivingbraking forces of the front and rear axles and the maximum tire lateral forces of the front and rear axles;
a second frontrear drivingbraking force calculator configured to calculate drivingbraking forces of the front and rear axles that realize the target steering characteristic and maximize a sum of the maximum tire lateral forces of the front and rear axles as second frontrear drivingbraking forces based on the drivingbraking forces of the front and rear axles and the maximum tire lateral forces of the front and rear axles;
a grip margin calculator configured to calculate a margin of a grip of the front and rear wheels as a grip margin based on a lateral acceleration evaluated based on a travel condition of the vehicle;
a target drivingbraking force calculator configured to calculate target drivingbraking forces of the front and rear axles based on the first frontrear drivingbraking forces and the second frontrear drivingbraking forces, according to the grip margin; and
a drivingbraking force control unit that controls the drivingbraking forces of the front and rear axles.
2. The vehicle motion control apparatus according to claim 1, wherein the first frontrear drivingbraking force calculator is configured to calculate a square sum of the drivingbraking forces of the front and rear axles and a steering characteristic with respect to the maximum tire lateral forces of the front and rear axles and to calculate the first frontrear drivingbraking forces such that the drivingbraking force control unit corrects the drivingbraking forces of the front and rear axles based on a calculation result.
3. The vehicle motion control apparatus according to claim 1, wherein the second frontrear drivingbraking force calculator is configured to calculate a sum of the maximum tire lateral forces of the front and rear axles and a steering characteristic with respect to the maximum tire lateral forces of the front and rear axles and calculate the second frontrear drivingbraking forces such that the drivingbraking force control unit corrects the drivingbraking forces of the front and rear axles based on the calculation result.
4. The vehicle motion control apparatus according to claim 1, wherein the grip margin calculator is configured to set the grip margin based on the tire lateral forces of the front and rear axles that are calculated based on the road surface information and the lateral acceleration.
5. The vehicle motion control apparatus according to claim 1, wherein the target drivingbraking force calculator is configured to increase a ratio of the second frontrear drivingbraking forces as the margin of grip of front and rear wheels reduces.
6. The vehicle motion control apparatus according to claim 1, wherein the target drivingbraking force calculator is configured to increase a ratio of the first frontrear drivingbraking forces as the margin of grip of front and rear wheels increases.
7. The vehicle motion control apparatus according to claim 1, wherein the target drivingbraking force calculator is configured to set the target drivingbraking forces of the front and rear axles smaller as the margin of grip of front and rear wheels increases.
8. The vehicle motion control apparatus according to claim 1, wherein the target drivingbraking force calculator receives the lateral acceleration independent of the first frontrear drivingbraking force calculator and the second frontrear drivingbraking force calculator.
9. The vehicle motion control apparatus according to claim 1, wherein the grip margin calculator evaluates the grip margin independent of the first frontrear drivingbraking forces and the second frontrear drivingbraking forces.
10. The vehicle motion control apparatus according to claim 1, wherein the grip margin calculator evaluates the grip margin independent of the first frontrear drivingbraking force calculator and the second frontrear drivingbraking force calculator.
11. The vehicle motion control apparatus according to claim 1, further comprising:
a road surface friction coefficient estimation unit for estimating a road surface friction coefficient,
wherein the first frontrear drivingbraking force calculator calculates the first frontrear drivingbraking forces based on the road surface friction coefficient.
12. The vehicle motion control apparatus according to claim 11, wherein the second frontrear drivingbraking force calculator calculates the second frontrear drivingbraking forces based on the road surface friction coefficient.
13. The vehicle motion control apparatus according to claim 11, wherein the second frontrear drivingbraking force calculator calculates the second frontrear drivingbraking forces based on the road surface friction coefficient independent of the first frontrear drivingbraking force calculator.
14. The vehicle motion control apparatus according to claim 13, wherein the
lateral acceleration sensor for detecting the lateral acceleration independent of the road surface friction coefficient estimation unit.
15. The vehicle motion control apparatus according to claim 14, wherein the first frontrear drivingbraking force calculator and the second frontrear drivingbraking force calculator calculate the first frontrear drivingbraking forces and the second frontrear drivingbraking forces, respectively, independent of the lateral acceleration detected by the lateral acceleration sensor.
16. The vehicle motion control apparatus according to claim 1, wherein the drivingbraking force control unit compares a current drivingbraking forces of the front and rear axles with the target drivingbraking forces for controlling the drivingbraking forces of the front and rear axles to be equal to the target drivingbraking forces.