公开(公告)号：US10124828B2

公开(公告)日：2018-11-13

申请号：US15183566

申请日：2016-06-15

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Pinaki Gupta ,  Nikhil L. Hoskeri

IPC: B62D15/02 ,  B62D1/02 ,  B62D7/15

Abstract: Methods, apparatus and systems are provided for steering a vehicle, for example, during autonomous operation. One exemplary method involves operating a locking system associated with a first set of one or more wheels of the vehicle to lock an angle of the wheel(s) and detecting a steering adjustment condition based on the angle during subsequent operation of the vehicle. In response to the steering adjustment condition, the locking system is operated in an intermediate mode, and then thereafter operated to relock the angle of the wheel(s) based on monitoring the angle of the wheel(s) during operation in the intermediate mode.

公开(公告)号：US09796421B1

公开(公告)日：2017-10-24

申请号：US15093052

申请日：2016-04-07

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Pinaki Gupta

IPC: G05D1/00 ,  B62D15/02 ,  G05D1/02 ,  B60W40/103

CPC classification number: B62D15/025 ,  B60W40/103 ,  B62D6/003 ,  G05D1/021

Abstract: Methods, systems, and vehicles are provided for facilitating control of steering in autonomous vehicles. In accordance with one embodiment, an autonomous vehicle includes one or more wheel sensors and a processor. The one or more sensors are configured to obtain sensor data pertaining to a side slip of the autonomous vehicle. A dual mandate of desired path tracking & stability is achieved by using a combination of two linear controllers. The first controlled facilitates tracking whereas the second controller facilitates vehicle stability. When the stability event occurs a gradual shift towards the second controller occurs and with recovery from stability event gradual shift towards the first controller. Mimicking of driver behavior by changing the desired trajectory and dynamic control gain adaptation are also added.

公开(公告)号：US11460843B2

公开(公告)日：2022-10-04

申请号：US16582513

申请日：2019-09-25

Applicant: GM Global Technology Operations LLC

Inventor： Syed B. Mehdi ,  Sayyed Rouhollah Jafari Tafti ,  Pinaki Gupta

IPC: G01C22/00 ,  G05D1/00 ,  G05D1/02 ,  G01C21/34 ,  G06V20/56

Abstract: A system or method implemented by an autonomous vehicle involves determining a path plan to reach a destination from an origin. The path plan includes two or more path steps indicating tasks to be completed to reach the destination. The method includes, during traversal of the path plan by the autonomous vehicle, evaluating one or more of the two or more path steps of a planning horizon to determine a behavior plan for the planning horizon. The planning horizon is based on a current position of the autonomous vehicle, the behavior plan includes a speed and a trajectory, and the evaluating includes performing a cost analysis using a parallelized tree-based decision scheme at each of two or more simulation intervals within the planning horizon. The evaluating and the determining the behavior plan is repeated at two or more positions of the autonomous vehicle from the origin to the destination.

公开(公告)号：US11242060B2

公开(公告)日：2022-02-08

申请号：US16551218

申请日：2019-08-26

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Sayyed Rouhollah Jafari Tafti ,  Pinaki Gupta

IPC: B60W30/18 ,  G05D1/00

Abstract: In various embodiments, methods, systems, and vehicles are provided for executing a lane change for a host vehicle. In various embodiments, one or more sensors obtain sensor data pertaining to target vehicles in proximity to the host vehicle; and a processor at least facilitates: obtaining, using the sensor data, predictions as to future positions and movement of the target vehicle; identifying a plurality of gaps through which the host vehicle may accomplish the lane change, based on the predictions; calculating a cost for each of the plurality of gaps; selecting, a selected gap of the plurality of gaps, having a minimized cost; and executing the lane change for the host vehicle via the selected gap.

公开(公告)号：US11052914B2

公开(公告)日：2021-07-06

申请号：US16352918

申请日：2019-03-14

Applicant: GM Global Technology Operations LLC

Inventor： Syed B. Mehdi ,  Pinaki Gupta ,  Upali P. Mudalige

IPC: B60W30/18 ,  G05D1/02 ,  B60W40/06 ,  B60W40/04

Abstract: Automated driving systems, control logic, and methods execute maneuver criticality analysis to provide intelligent vehicle operation in transient driving conditions. A method for controlling an automated driving operation includes a vehicle controller receiving path plan data with location, destination, and predicted path data for a vehicle. From the received path plan data, the controller predicts an upcoming maneuver for driving the vehicle between start and goal lane segments. The vehicle controller determines a predicted route with lane segments connecting the start and goal lane segments, and segment maneuvers for moving the vehicle between the start, goal, and route lane segments. A cost value is calculated for each segment maneuver; the controller determines if a cost values exceeds a corresponding criticality value. If so, the controller commands a resident vehicle subsystem to execute a control operation associated with taking the predicted route.

公开(公告)号：US20210074162A1

公开(公告)日：2021-03-11

申请号：US16564550

申请日：2019-09-09

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Sayyed Rouhollah Jafari Tafti ,  Pinaki Gupta ,  Syed B. Mehdi ,  Praveen Palanisamy

IPC: G08G1/16 ,  B60W30/12 ,  B60W30/09 ,  B60W40/04 ,  B60W30/02 ,  B62D15/02 ,  B60W30/095 ,  B60W30/18 ,  B60W10/20 ,  G05D1/02

Abstract: Systems and methods are provided for controlling a vehicle. In one embodiment, a method includes: determining, by a processor, that a lane change is desired; determining, by the processor, a lane change action based on a reinforcement learning method and a rule-based method, wherein each of the methods evaluates lane data, vehicle data, map data, and actor data; and controlling, by the processor, the vehicle to perform the lane change based on the lane action.

公开(公告)号：US08706371B1

公开(公告)日：2014-04-22

申请号：US13772667

申请日：2013-02-21

Applicant: GM Global Technology Operations LLC

Inventor： Krunal P. Patel ,  Sean W. McGrogan ,  Lawrence A. Kaminsky ,  Pinaki Gupta ,  Ali K. Naqvi ,  Anthony H. Heap

IPC: F16D13/75 ,  G06F17/00

CPC classification number: F16D48/06 ,  F16D2500/1026 ,  F16D2500/10412 ,  F16D2500/3065 ,  F16D2500/3066 ,  F16D2500/70406

Abstract: A method for adjusting hydraulic line pressure applied to one or more clutch devices in an electro-mechanical transmission mechanically-operatively coupled to an internal combustion engine and at least one electric machine includes predicting a first plurality of powertrain parameters for an upcoming event. For each of a plurality of engine torques, a predicted output torque and a predicted clutch load are determined that minimize a total powertrain operating cost based on an operator torque request and the predicted first plurality of powertrain parameters. Hydraulic line pressure is adjusted based on the engine torque having a lowest powertrain operating cost among the plurality of available engine torques.

Abstract translation: 一种用于调节施加到机械操作地耦合到内燃机和至少一个电机的机电变速器中的一个或多个离合器装置的液压管路压力的方法包括预测用于即将到来的事件的第一多个动力系参数。 对于多个发动机转矩中的每一个，确定预测输出转矩和预测的离合器负载，其基于操作者转矩请求和预测的第一多个动力系参数使总动力传动系运行成本最小化。 基于在多个可用发动机扭矩中具有最低动力传动系运行成本的发动机扭矩来调节液压管路压力。