公开(公告)号：US20230042818A1

公开(公告)日：2023-02-09

申请号：US17383987

申请日：2021-07-23

Applicant: GM Global Technology Operations LLC

Inventor： Nikolai K. Moshchuk ,  David Perez-Chaparro ,  Kausalya Singuru ,  Hualin Tan ,  Jin-Jae Chen ,  Ping Mi

IPC: B60W40/068 ,  B60W60/00

Abstract: A vehicle and a system and method of controlling the vehicle. The system includes a sensor and a processor. The sensor obtains a first estimate of a force on a tire of the vehicle based on dynamics of the vehicle. The processor is configured to obtain a second estimate of the force on the tire using a tire model, determine an estimate of a coefficient of friction between the tire and the road from the first estimate of the force and the second estimate of the force, and control the vehicle using the estimate of the coefficient of friction.

公开(公告)号：US11046323B2

公开(公告)日：2021-06-29

申请号：US16374160

申请日：2019-04-03

Applicant: GM Global Technology Operations LLC ,  University of Waterloo

Inventor： Ehsan Hashemi ,  SeyedAlireza Kasaiezadeh Mahabadi ,  Amir Khajepour ,  Xueying Kang ,  Jin-Jae Chen ,  Hualin Tan ,  James H. Holbrook ,  Bakhtiar B. Litkouhi

IPC: B60W30/18 ,  B60W40/068 ,  B60W50/00

Abstract: A method for estimation of a vehicle tire force includes: receiving, by a controller of a vehicle, a measured vehicle acceleration of the vehicle; receiving, by the controller, a measured wheel speed and a measured yaw rate of the vehicle; forming, by the controller, inertia matrices based on an inertia of rotating components of the vehicle; calculating torques at corners of the vehicle using the inertia matrices; estimating tire forces of the vehicle based on the measured vehicle acceleration, the measured wheel speed, and the inertia matrices; and controlling, by the controller, the vehicle, based on the plurality of estimated longitudinal and lateral tire forces.

公开(公告)号：US20200339134A1

公开(公告)日：2020-10-29

申请号：US16391455

申请日：2019-04-23

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Brandon C. Pennala ,  Hualin Tan ,  Daryl A. Wilson

IPC: B60W40/114 ,  B60W40/13

Abstract: The present application generally relates to a method and apparatus for generating an action policy for controlling an autonomous vehicle. In particular, the method and apparatus include a memory operative to store a map data, a sensor operative to provide a location, a yaw rate sensor operative to measure a yaw rate, a processor for receiving the yaw rate, and a processor for determining a yaw rate calibration bias in response to the yaw rate, the location, and the map data, and a vehicle controller for controlling a vehicle in response to the yaw rate calibration bias.

公开(公告)号：US20200232842A1

公开(公告)日：2020-07-23

申请号：US16250380

申请日：2019-01-17

Applicant: GM Global Technology Operations LLC

Inventor： Xiaoyu Huang ,  Xueying Kang ,  Hualin Tan

IPC: G01G19/08 ,  B60W30/14 ,  B60W40/13

Abstract: A method for dynamically determining a mass of a vehicle including a propulsion system coupled to a drive wheel is described, and includes monitoring vehicle operating conditions, executing an event-based estimation method based upon the vehicle operating conditions to determine a first vehicle mass state, and executing a recursive estimation method based upon the vehicle operating conditions to determine a second vehicle mass state. A final vehicle mass is determined based upon the first and second vehicle mass states.

公开(公告)号：US10407034B2

公开(公告)日：2019-09-10

申请号：US15614172

申请日：2017-06-05

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Seyedalireza Kasaiezadeh Mahabadi ,  James H. Holbrook ,  Hualin Tan ,  Ehsan Hashemi ,  Bakhtiar B. Litkouhi

IPC: B60T8/175 ,  F02P5/04 ,  F02P5/14 ,  F02P5/15 ,  B60K28/16 ,  B60T8/1755 ,  B60W50/00 ,  B60W50/10

Abstract: A combined slip based driver command interpreter for a vehicle is provided which may be communicatively coupled to a steering wheel angle sensor, an acceleration pedal position sensor and a brake pedal position sensor, the combined slip based driver command interpreter including, but not limited to a memory configured to store a non-linear combined lateral slip model and a non-linear combined longitudinal slip model, and a processor, the processor configured to determine a driver's intended vehicle lateral velocity and a driver's intended vehicle yaw rate based upon the angle of the steering wheel, the position of the acceleration pedal, the position of the brake pedal, a longitudinal velocity of the vehicle, the non-linear combined lateral slip model and the non-linear combined longitudinal slip model.

公开(公告)号：US09827957B2

公开(公告)日：2017-11-28

申请号：US15216230

申请日：2016-07-21

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Jason D. Fahland ,  Edward T. Heil ,  Joshua R. Auden ,  Hualin Tan ,  David Dominguez

IPC: B60T8/17 ,  B62D35/00 ,  B62D37/02 ,  B60T8/1755 ,  B60T8/175 ,  B60T8/1761 ,  B60T8/1766 ,  B60T8/26 ,  B60T1/16

CPC classification number: B60T8/17551 ,  B60T1/16 ,  B60T8/175 ,  B60T8/17554 ,  B60T8/17616 ,  B60T8/1766 ,  B60T8/26 ,  B60T2201/16 ,  B62D35/005 ,  B62D35/007 ,  B62D37/02 ,  Y02T10/88

Abstract: A vehicle employing an active aerodynamic control system is described. A method for controlling the active aerodynamic control system includes determining a target acceleration downforce associated with an acceleration request and vehicle speed, determining a target braking downforce associated with a braking request and vehicle speed, and determining a target cornering downforce associated with a cornering request and vehicle speed. A maximum downforce request and a second greatest downforce request of the target acceleration downforce, the target braking downforce, and the target cornering downforce are determined. A preferred front/rear distribution of downforce is determined based upon the maximum downforce request and the second greatest downforce request. The active aerodynamic control system is controlled based upon the preferred front/rear distribution of downforce and the maximum downforce request.

公开(公告)号：US11872989B2

公开(公告)日：2024-01-16

申请号：US17126784

申请日：2020-12-18

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Paul G. Otanez ,  Yiran Hu ,  Hualin Tan ,  Daniel L Baibak ,  Ruixing Long

IPC: B60W30/182 ,  B60W10/04 ,  B60W50/08 ,  B60W40/114 ,  B60W40/109 ,  B60W40/08 ,  B60W10/18 ,  B60W40/105 ,  B60W10/20 ,  B60W30/14 ,  B60W30/12

CPC classification number: B60W30/182 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  B60W30/14 ,  B60W40/08 ,  B60W40/105 ,  B60W40/109 ,  B60W40/114 ,  B60W50/082 ,  B60W2520/10 ,  B60W2540/10 ,  B60W2540/12 ,  B60W2540/18

Abstract: The concepts described herein relate to a calculation of desired future longitudinal horizons related to torque or acceleration, and desired future lateral horizons related to yaw rate and lateral velocity, and their use in response to driver-selectable modes. In the longitudinal direction, driver inputs of pedal and brake position as well as drivability metrics are used to calculate the desired future torque trajectory. In the lateral direction, the front and rear steering angles may be used with a bicycle model to derive the trajectories. The trajectories are used in a vehicle motion controller that uses weighting to tradeoff competing requests and deliver performance that is consistent with a selected driver mode, such as a tour mode, a sport mode, an off-road mode, a trailering mode, etc.

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.

公开(公告)号：US11707952B2

公开(公告)日：2023-07-25

申请号：US16952799

申请日：2020-11-19

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Kausalya Singuru ,  Bakhtiar B. Litkouhi ,  Hualin Tan

IPC: B60C23/06 ,  B60T8/172 ,  B60C23/04

CPC classification number: B60C23/061 ,  B60C23/0488 ,  B60T8/172 ,  B60G2400/204 ,  B60G2400/208 ,  B60T2250/042

Abstract: A tire radius monitoring system for dynamically determining a tire effective radius for each of the wheels on a vehicle is described. The system includes a GPS sensor, a plurality of wheel speed sensors, and a controller. The controller determines, via the GPS sensor, a velocity vector related to longitudinal velocity of the vehicle. The controller determines wheel speeds for the plurality of vehicle wheels, and detects a no-wheel-slip state for the vehicle wheels and the velocity vector from the GPS sensor. The controller determines tire effective radii for the plurality of vehicle wheels based upon the velocity vector for the vehicle and the wheel speeds for the plurality of vehicle wheels during the no-wheel-slip state, and controls vehicle operation based upon the tire effective radii.

公开(公告)号：US20230079933A1

公开(公告)日：2023-03-16

申请号：US17447192

申请日：2021-09-08

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Naser Mehrabi ,  Saurabh Kapoor ,  Seyedeh Asal Nahidi ,  SeyedAlireza Kasaiezadeh Mahabadi ,  James H. Holbrook ,  Hualin Tan ,  Bakhtiar B. Litkouhi

IPC: B60W40/101 ,  B62D15/02

Abstract: Systems and methods for determining whether a vehicle is in an understeer or oversteer situation. The system includes a controller circuit coupled to an IMU and an EPS, and programmed to: calculate, for a steered first axle, an axle-based pneumatic trail for using IMU measurements and EPS signals and estimate a saturation level as a function of a distance between the axle-based pneumatic trail and zero. The system estimates, for an unsteered second axle, an axle lateral force curve with respect to a slip angle of the second axle, and a saturation level as a function of when the axle lateral force curve with respect to the slip angle transitions from positive values to negative values. The saturation level of the first axle and the second axle are integrated. The system determines that the vehicle is in an understeer or oversteer situation as a function of the integrated saturation levels.