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公开(公告)号：US20230166722A1
公开(公告)日：2023-06-01
申请号：US17539676
申请日：2021-12-01
Applicant: GM Global Technology Operations LLC
Inventor： Reza Hajiloo , SeyedAlireza Kasaiezadeh Mahabadi , Shamim Mashrouteh , Seyedeh Asal Nahidi , Ehsan Asadi , Yubiao Zhang , Bakhtiar B. Litkouhi
CPC classification number: B60W30/02 , B60W40/12 , B60W40/10 , B60W40/08 , B60W2540/10 , B60W2530/20 , B60W2520/14 , B60W2520/28 , B60W2520/20 , B60W2720/40
Abstract: A system for supervisory control for eAWD and eLSD in a motor vehicle includes a control module, and sensors and actuators disposed on the motor vehicle. The sensors measure real-time motor vehicle data, and the actuators alter behavior of the motor vehicle. The control module receives the real-time data; receives one or more driver inputs to the motor vehicle; determines a status of a body of the motor vehicle; determines a status of axles of the motor vehicle; determines a status of each wheel of the motor vehicle; and generates a control signal to the actuators from the driver inputs and the body, axle, and wheel statuses. The control module also exercises supervisory control by actively adjusting constraints on the control signal to each of the actuators where actively adjusting constraints on the control signal alters boundaries of control actions in response to the one or more driver inputs.
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12.发明授权公开(公告)号：US12271193B2
公开(公告)日：2025-04-08
申请号：US18151608
申请日：2023-01-09
Applicant: GM Global Technology Operations LLC
Inventor： Reza Hajiloo , Seyedalireza Kasaiezadeh Mahabadi , Ehsan Asadi , Gianmarc Coppola , Bakhtiar B. Litkouhi
Abstract: A method for controlling an autonomous vehicle includes receiving road data. The road data includes information about a plurality of potential events along the road ahead of the autonomous vehicle. The method further includes determining, in real time, a probability that the plurality of potential events along the road ahead of the autonomous vehicle will occur while the autonomous vehicle moves along the road and determining, in real time, an adjusted planned path using a probabilistic predictive control that takes into account the probability that the plurality of potential events along the road ahead of the autonomous vehicle will occur. Further, the method includes controlling the autonomous vehicle to cause the autonomous vehicle to autonomously follow the adjusted planned path.
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公开(公告)号：US20250019016A1
公开(公告)日：2025-01-16
申请号：US18350503
申请日：2023-07-11
Applicant: GM Global Technology Operations LLC
Inventor： Mohammad Pournazeri , Mustafa Hakan Turhan , Naser Mehrabi , SeyedAlireza Kasaiezadeh Mahabadi , Ehsan Asadi
Abstract: A method for downforce control includes receiving vehicle inputs. The method includes determining a first normal-force request at the front axle and a second normal-force request at the rear axle using the purality of vehicle inputs and a prediction model. The prediction model is a combined state space model that integrates a half-car state space model and an actuator state space model, the half-car state space model is developed using a half-car model, and the actuator state space model is developed using a neural network model. The method further includes determining a first position of the first aerodynamic body relative to the vehicle body and a second position of the second aerodynamic body relative to the vehicle body based on the first normal-force request and the second normal-force request, respectively.
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14.发明公开公开(公告)号：US20240231358A1
公开(公告)日：2024-07-11
申请号：US18151608
申请日：2023-01-09
Applicant: GM Global Technology Operations LLC
Inventor： Reza Hajiloo , SeyedAlireza Kasaiezadeh Mahabadi , Ehsan Asadi , Gianmarc Coppola , Bakhtiar B. Litkouhi
CPC classification number: G05D1/0088 , G05D1/0212 , G05D2201/0213
Abstract: A method for controlling an autonomous vehicle includes receiving road data. The road data includes information about a plurality of potential events along the road ahead of the autonomous vehicle. The method further includes determining, in real time, a probability that the plurality of potential events along the road ahead of the autonomous vehicle will occur while the autonomous vehicle moves along the road and determining, in real time, an adjusted planned path using a probabilistic predictive control that takes into account the probability that the plurality of potential events along the road ahead of the autonomous vehicle will occur. Further, the method includes controlling the autonomous vehicle to cause the autonomous vehicle to autonomously follow the adjusted planned path.
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公开(公告)号：US11878706B2
公开(公告)日：2024-01-23
申请号：US17406729
申请日：2021-08-19
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Ehsan Asadi , Seyedeh Asal Nahidi , SeyedAlireza Kasaiezadeh Mahabadi , Kausalya Singuru , Bakhtiar B. Litkouhi , Isaac Tabatschnic
CPC classification number: B60W50/10 , B60W40/06 , B60W50/0097 , B60W50/06 , G05B13/027
Abstract: A driver command predictor includes a controller, multiple sensors, and a command prediction unit. The controller is configured to command an adjustment of multiple motion vectors of a vehicle relative to a roadway in response to multiple actual driver commands and multiple future driver commands. The actual driver commands are received at a current time. The future driver commands are received at multiple update times. The update times range from the current time to a future time. The sensors are configured to generate sensor data that determines multiple actual states of the vehicle in response to the motion vectors as commanded. The command prediction unit is configured to generate the future driver commands at the update times in response to a driver model. The driver model operates on the actual driver commands and the actual states to predict the future driver commands at the update times.
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Patent Agency Ranking
公开(公告)号：US11724689B2
公开(公告)日：2023-08-15
申请号：US17447679
申请日：2021-09-14
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Ehsan Asadi , Seyedeh Asal Nahidi , SeyedAlireza Kasaiezadeh Mahabadi , Yubiao Zhang , Hualin Tan , Naser Mehrabi
IPC: B60W30/02 , B60W40/109 , B60W40/103 , B60W40/114
CPC classification number: B60W30/02 , B60W40/103 , B60W40/109 , B60W40/114
Abstract: Systems and methods for controlling a vehicle are provided. The systems and methods include a sensor system and a processor configured to execute program instructions, to cause the at least one processor to: receive yaw rate values, lateral acceleration values and longitudinal velocity values for the vehicle from the sensor system, determine side slip angle parameter values based on the yaw rate values, lateral acceleration values and longitudinal velocity values, determine phase portrait angles based on the side slip angle parameter values and the yaw rate values, wherein the phase portrait angles each represent an angle between yaw rate and side slip angle for the vehicle in a phase portrait of yaw rate and side slip angle, detect or predict vehicle instability based at least on the phase portrait angles, and when vehicle instability is detected or predicted, control motion of the vehicle to at least partly correct the vehicle instability.
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公开(公告)号：US20250018956A1
公开(公告)日：2025-01-16
申请号：US18350508
申请日：2023-07-11
Applicant: GM Global Technology Operations LLC
Inventor： Mohammad Pournazeri , Reza Hajiloo , Naser Mehrabi , Ehsan Asadi , SeyedAlireza Kasaiezadeh Mahabadi , Gianmarc Coppola
Abstract: A method for downforce control includes receiving sensor data from sensors, using a feedforward control to determine a first requested normal force at the first axle of the vehicle and a second requested normal force at the second axle of the vehicle and the sensor data, using a feedback control to determine a first requested normal force adjustment at the first axle of the vehicle and a second requested normal force adjustment at the second axle of the vehicle using the sensor data, fusing the first requested normal force at the first axle of the vehicle with the first requested normal force adjustment to determine a first-adjusted normal force request at the first axle, and fusing the second requested normal force with the second requested normal force adjustment to determine a second-adjusted normal force request at the second axle.
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18.发明授权公开(公告)号：US12115996B2
公开(公告)日：2024-10-15
申请号：US17518244
申请日：2021-11-03
Applicant: GM Global Technology Operations LLC
Inventor： Seyedeh Asal Nahidi , SeyedAlireza Kasaiezadeh Mahabadi , Ruixing Long , Yubiao Zhang , James H. Holbrook , Ehsan Asadi , Reza Hajiloo , Shamim Mashrouteh
IPC: B60W40/101 , B60W30/02 , B60W40/107 , B60W40/109 , B60W40/114
CPC classification number: B60W40/101 , B60W30/02 , B60W40/107 , B60W40/109 , B60W40/114 , B60W2520/26
Abstract: A system for managing chassis and driveline actuators of a motor vehicle includes a control module executing program code portions that: cause sensors to obtain vehicle state information, receive a driver input and generate a desired dynamic output based on the driver input and the vehicle state information, and then estimate actuator actions based on the vehicle state information, generate one or more control action constraints based on the vehicle state information and estimated actuator actions, generate a reference control action based on the vehicle state information, the estimated actions of the one or more actuators and the control action constraints, and integrate the vehicle state information, the estimated actuator actions, desired dynamic output, reference control action and the control action constraints to generate an optimal control action that falls within a range of predefined actuator capacities and ensures driver control of the vehicle.
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公开(公告)号：US20240161556A1
公开(公告)日：2024-05-16
申请号：US18055479
申请日：2022-11-15
Applicant: GM Global Technology Operations LLC
Inventor： Saurabh Kapoor , Mustafa Hakan Turhan , Nauman Sohani , Hassan Askari , Naser Mehrabi , Ehsan Asadi , Sresht Gurumoorthi Annadevara , SeyedAlireza Kasaiezadeh Mahabadi
IPC: G07C5/08
CPC classification number: G07C5/0808
Abstract: A fault remediation system for a vehicle includes one or more controllers in electronic communication with one or more consumed interfaces and one or more provided interfaces. The one or more controllers execute instructions to receive, from the one or more consumed interfaces, a consumed signal and perform fault detection upon the consumed signal to determine the presence of an active fault within the consumed signal. In response to detecting an active fault with the consumed signal, the one or more controllers select a remediation state from a group of two or more prospective remediation states based on a significance analysis of the consumed signal. The one or more controllers evaluate a relevant subfunction that corresponds to the consumed signal that the remediation state addresses for the presence of remediation tolerance and generates arbitration instructions based on the remediation tolerance.
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公开(公告)号：US11724739B2
公开(公告)日：2023-08-15
申请号：US17382879
申请日：2021-07-22
Applicant: GM Global Technology Operations LLC
Inventor： Ehsan Asadi , Seyedalireza Kasaiezadeh Mahabadi , Gill Lipton , Asal Nahidi , Isaac Tabatschnic , Bakhtiar B. Litkouhi
CPC classification number: B62D15/025 , B62D7/142
Abstract: A method of controlling a vehicle includes obtaining a linear representation of a vehicle dynamics model that includes actuator dynamics u integrated with vehicle dynamics x. The actuator dynamics u include a road wheel angle at rear wheels δr and a torque Mz. The method also includes obtaining an objective function based on a function of the vehicle dynamics x and the actuator dynamics u and formulating a cost function to minimize the objective function. The actuator dynamics u including the torque Mz are determined for a next time sample based on minimizing the objective function. The vehicle is controlled to implement the torque Mz.
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