公开(公告)号：US12122382B2

公开(公告)日：2024-10-22

申请号：US17729387

申请日：2022-04-26

Applicant: GM Global Technology Operations LLC

Inventor： Curtis L. Hay ,  Donald K. Grimm ,  Chuan Li ,  David Allen Craig

IPC: B60W30/18 ,  B60W30/095 ,  B60W30/16 ,  B60W40/06 ,  B60W50/14 ,  B60W60/00 ,  B60W50/00

CPC classification number: B60W30/18163 ,  B60W30/0956 ,  B60W30/16 ,  B60W40/06 ,  B60W50/14 ,  B60W60/0015 ,  B60W60/0053 ,  B60W2050/0083 ,  B60W2050/146 ,  B60W2554/80 ,  B60W2556/10 ,  B60W2556/50

Abstract: A first closed lane segment file including a first lane change histogram and a lane closure start point associated with a closed lane segment of a first lane of a road is received from a lane change data aggregation system at a lane change management system. The first lane change histogram includes a distribution of a plurality of lane change points received from vehicles that previously engaged in a lane change from the first lane to a second lane of the road in response to the closed lane segment. A lane change control point is determined based on the first lane change histogram at the lane change management system. A command is issued from the lane change management system to an ADS of the autonomous vehicle to initiate a lane change from the first lane to the second lane at the lane change control point.

公开(公告)号：US20230168088A1

公开(公告)日：2023-06-01

申请号：US17539700

申请日：2021-12-01

Applicant: GM Global Technology Operations LLC

Inventor： Brent Navin Roger Bacchus ,  Rakesh Kumar ,  Curtis L. Hay

IPC: G01C19/00 ,  G01S13/931

CPC classification number: G01C19/00 ,  G01S13/931

Abstract: A system of a motor vehicle includes a radar unit for generating a radar signal associated with a target positioned about the vehicle. The system further includes a tracker generating a tracker signal associated with a radar heading and a doppler based on the radar signal. The system further includes a wheel speed sensor for generating a wheel speed signal associated with a velocity of the vehicle. The system further includes a gyroscope for generating a gyro signal associated with a measured yaw rate. The system further includes a computer having a processor and a computer readable medium. The processor is programmed to determine a gyro drift and a corrected yaw rate while the vehicle is in motion, with the gyro drift and the corrected yaw rate being based on at least the radar heading, the doppler effect, and the velocity of the vehicle, and the measured yaw rate.

公开(公告)号：US11332152B2

公开(公告)日：2022-05-17

申请号：US16886976

申请日：2020-05-29

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Nikolai K. Moshchuk ,  David Andres Pérez Chaparro ,  Kausalya Singuru ,  Hualin Tan ,  James H. Holbrook ,  Curtis L. Hay

IPC: B60W40/105 ,  B60W40/11 ,  B60W40/112 ,  B60W30/02 ,  B60W40/101 ,  B60W40/13

Abstract: A vehicle including a Global Positioning System (GPS) sensor, an Inertial Measurement Unit (IMU), and an Advanced Driver Assistance System (ADAS) is described. Operating the vehicle includes determining, via the GPS sensor, first parameters associated with a velocity, a position, and a course, and determining, via the IMU, second parameters associated with acceleration and angular velocity. Roll and pitch parameters are determined based upon the first and second parameters. A first vehicle velocity vector is determined based upon the roll and pitch parameters, the first parameters, and the second parameters; and a second vehicle velocity vector is determined based upon the roll and pitch parameters, road surface friction coefficient, angular velocity, road wheel angles and the first vehicle velocity vector. A final vehicle velocity vector is determined based upon fusion of the first and second vehicle velocity vectors. The vehicle is controlled based upon the final vehicle velocity vector.

公开(公告)号：US20210370958A1

公开(公告)日：2021-12-02

申请号：US16886976

申请日：2020-05-29

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Nikolai K. Moshchuk ,  David Andrés Pérez Chaparro ,  Kausalya Singuru ,  Hualin Tan ,  James H. Holbrook ,  Curtis L. Hay

IPC: B60W40/105 ,  B60W40/11 ,  B60W40/112 ,  B60W40/101 ,  B60W30/02

Abstract: A vehicle including a Global Positioning System (GPS) sensor, an Inertial Measurement Unit (IMU), and an Advanced Driver Assistance System (ADAS) is described. Operating the vehicle includes determining, via the GPS sensor, first parameters associated with a velocity, a position, and a course, and determining, via the IMU, second parameters associated with acceleration and angular velocity. Roll and pitch parameters are determined based upon the first and second parameters. A first vehicle velocity vector is determined based upon the roll and pitch parameters, the first parameters, and the second parameters; and a second vehicle velocity vector is determined based upon the roll and pitch parameters, road surface friction coefficient, angular velocity, road wheel angles and the first vehicle velocity vector. A final vehicle velocity vector is determined based upon fusion of the first and second vehicle velocity vectors. The vehicle is controlled based upon the final vehicle velocity vector.

公开(公告)号：US20190277640A1

公开(公告)日：2019-09-12

申请号：US15913295

申请日：2018-03-06

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Praneeth Nelapati ,  Curtis L. Hay ,  Douglas A. Donaldson ,  Steven R. Croyle

IPC: G01C21/32

Abstract: A system and method of providing elevation information to a vehicle, the method including: maintaining a map matching software system at a remote server facility, wherein the remote software system includes a geographical map database storing geographical maps; receiving an elevation correction request from the vehicle, wherein the elevation correction request includes current vehicle location information; in response to receiving the elevation correction request from the vehicle, extracting elevation information from the geographical maps based at least in part on the current vehicle location information; and after extracting the elevation information from the geographical maps, sending the extracted elevation information to the vehicle, wherein the extracted elevation information includes elevation information concerning an area at or near the vehicle or along a pathway of the vehicle.

公开(公告)号：US20190129040A1

公开(公告)日：2019-05-02

申请号：US15795347

申请日：2017-10-27

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Eric He ,  Fan Bai ,  Curtis L. Hay ,  Vijayakumar Bhagavatula

IPC: G01S19/21 ,  G01S19/47

Abstract: The present application generally relates to methods and apparatus for inferring map data from GPS measurements. More specifically, the method and apparatus to receive a plurality of measurement data from vehicular GPS measurements and, optionally, additional sensor data. The system is then operative to generate latitude and longitude errors from the covariance matrix and apply this information to a plurality of measurement data in order to determine an actual location in response to the plurality of measurement data.

公开(公告)号：US20180365500A1

公开(公告)日：2018-12-20

申请号：US15624186

申请日：2017-06-15

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Praneeth Nelapati ,  Douglas A. Donaldson ,  Curtis L. Hay

IPC: G06K9/00 ,  G01S19/23 ,  G01C21/32

CPC classification number: G06K9/00791 ,  G01C21/28 ,  G01C21/30 ,  G01C21/32 ,  G01S19/14 ,  G01S19/23 ,  G01S19/48 ,  G06K9/46

Abstract: A method and apparatus for determining an error in global navigation information are provided. The apparatus includes at least one memory including computer executable instructions and at least one processor configured to read and execute the computer executable instructions. The computer executable instructions causing the at least one processor to detect a position based on a global navigation information, determine at least one from among a lateral error and longitudinal error at the detected position based on high resolution mapping data, determine an adjustment value based on determined at least one from among the lateral error and the longitudinal error, and transmit or store the adjustment value and the detected position corresponding to the adjustment value.

公开(公告)号：US20180108254A1

公开(公告)日：2018-04-19

申请号：US15292724

申请日：2016-10-13

Applicant: GENERAL MOTORS LLC ,  GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Esteban Camacho ,  Alexander X. Cermak ,  Ryan Olejniczak ,  Curtis L. Hay ,  Praneeth Nelapati

IPC: G08G1/0968 ,  G08G1/0967 ,  G05D1/00 ,  G08G1/16 ,  G05D1/02 ,  G01C21/34 ,  G01C21/36 ,  B60W50/08 ,  B60W50/14 ,  B60W50/12 ,  B60W30/14

CPC classification number: G08G1/096805 ,  B60W30/12 ,  B60W30/143 ,  B60W30/16 ,  B60W50/082 ,  B60W50/12 ,  B60W50/14 ,  B60W2050/0089 ,  B60W2050/146 ,  B60W2420/42 ,  B60W2550/141 ,  B60W2550/402 ,  B60W2550/408 ,  G01C21/3415 ,  G01C21/3602 ,  G01C21/3691 ,  G05D1/0088 ,  G05D1/0278 ,  G05D1/0287 ,  G08G1/0112 ,  G08G1/0129 ,  G08G1/0133 ,  G08G1/0141 ,  G08G1/096708 ,  G08G1/096716 ,  G08G1/096741 ,  G08G1/096775 ,  G08G1/096844 ,  G08G1/163

Abstract: A system and method for communicating with a plurality of vehicles. The method includes receiving route information from a plurality of telematics units installed into each of the vehicles. The information may be collected as the vehicles are traveling along a vehicle route. The method further includes determining an eligibility of the vehicle route for use with a semi-autonomous driving system of the vehicles from at least the received route information. The method may also include communicating the eligibility of the vehicle route to the vehicles. The system includes a plurality of telematics units configured to collect route information as the vehicles are traveling along a vehicle route. The system further includes a database in communication with the plurality of telematics units. The database includes an eligibility of the vehicle route for use with a super cruise system of the vehicles.

公开(公告)号：US20230382424A1

公开(公告)日：2023-11-30

申请号：US17826241

申请日：2022-05-27

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Curtis L. Hay ,  Iqbal M. Surti ,  Pei Xu

IPC: B60W60/00 ,  G01S19/40

CPC classification number: B60W60/0016 ,  G01S19/40 ,  B60W2420/52 ,  B60W2554/4041 ,  B60W2554/4049

Abstract: A system for detection and reporting of data signal interference includes a plurality of vehicles. Each vehicle includes a global navigation satellite system (GNSS) receiver receiving a GNSS signal, a cellular modem configured for sending and receiving data over a wireless communication network, and a computerized detection and reporting controller. The controller includes programming to monitor the GNSS signal, analyze the GNSS signal to identify a presence of radio frequency (RF) interference, and generate a report of an RF interference event to a remote server device based upon the presence of the interference. The system further includes the server device including programming to monitor the report of the interference event from each of the vehicles, identify a threshold RF interference event based upon the report of the RF interference event from each of the plurality of vehicles, and command a remedial action based upon the threshold RF interference event.

公开(公告)号：US20200225363A1

公开(公告)日：2020-07-16

申请号：US16249268

申请日：2019-01-16

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Soheil Samii ,  Michael E. Potts ,  David A. Bodenmiller ,  Curtis L. Hay ,  Steven R. Croyle

IPC: G01S19/41 ,  G05D1/02 ,  G01S19/42

Abstract: Embodiments include methods, systems and computer readable storage medium for a method for making temporal corrections to position data received a plurality of components. The method includes receiving, by a processor, vehicle location data and a time stamp associated with the vehicle location data from one or more components. The method further includes calculating, by the processor, a time difference between the time stamp and a current time received from the one or more components. The method further includes determining, by the processor, a time offset using the time difference and a distance travelled between the time stamp and an occurrence of the determination for each of the one or more components. The method further includes providing, by the processor, a corrected vehicle location using the time offset for each of the one or more component.