公开(公告)号：US20230174107A1

公开(公告)日：2023-06-08

申请号：US17542680

申请日：2021-12-06

Applicant: GM Global Technology Operations LLC

Inventor： Yubiao Zhang ,  Nikolai K. Moshchuk ,  Bakhtiar B. Litkouhi

IPC: B60W60/00 ,  B60W50/02 ,  B60W50/04 ,  B60W40/13

CPC classification number: B60W60/00186 ,  B60W50/0225 ,  B60W50/045 ,  B60W40/13 ,  B60W2510/20 ,  B60W2510/18 ,  B60W2520/12 ,  B60W2520/14 ,  B60W2040/1315

Abstract: A control allocation system for a vehicle includes an electric power steering (EPS) system, one or more redundant actuation systems for controlling a plurality of wheels of the vehicle, and one or more controllers in electronic communication with the EPS system and the one or more redundant actuation systems. The one or more controllers execute instructions to determine tracking errors and vehicle dynamics states based on a plurality of local path planning references and receive a fault signal indicating the EPS system is non-functional. In response to receiving the fault signal, the one or more controllers determine a plurality of corrective constraints in real-time. The one or more controllers solve a real-time constrained optimization problem for each sampling interval of the control allocation system to determine a plurality of control actions based on the plurality of corrective constraints and the tracking errors.

公开(公告)号：US11226620B2

公开(公告)日：2022-01-18

申请号：US16271272

申请日：2019-02-08

Applicant: GM Global Technology Operations LLC

Inventor： Qingrong Zhao ,  Bakhtiar B. Litkouhi ,  Nikolai K. Moshchuk

IPC: G05D1/00 ,  G05D1/02 ,  B60W40/068 ,  B60W40/107 ,  B60Q9/00

Abstract: Presented are automated driving systems for executing intelligent vehicle operations in mixed-mu road conditions, methods for making/using such systems, and vehicles with enhanced headway control for transitional surface friction conditions. A method for executing an automated driving operation includes a vehicle controller receiving sensor signals indicative of road surface conditions of adjoining road segments, and determining, based on these sensor signals, road friction values for the road segments. The controller determines whether the road friction value is increasing or decreasing, and if a difference between the road friction values is greater than a calibrated minimum differential. Responsive to the friction difference being greater than the calibrated minimum differential and the road friction value decreasing, the vehicle controller executes a first vehicle control action. Conversely, if the friction difference is greater than the calibrated minimum but the road friction value is increasing, the controller responsively executes a second vehicle control action.

公开(公告)号：US20210086755A1

公开(公告)日：2021-03-25

申请号：US16576110

申请日：2019-09-19

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Nikolai K. Moshchuk ,  David Andrés Pérez Chaparro ,  Kausalya Singuru

IPC: B60W30/06 ,  B60L53/12 ,  B60L15/20 ,  B60W40/02

Abstract: A method and apparatus that determine parking feasibility are provided. The method includes determining a charging pad location based on information received from sensors or the charging pad, generating a path function corresponding to a path from a vehicle position to the charging pad location, determining whether a vehicle is within a parking maneuver feasibility region by comparing values of the generated path function, a minimum turning radius of the vehicle, and a maximum steering angle rate of the vehicle, and moving the vehicle to the charging pad location if the vehicle is in the parking maneuver feasibility region.

公开(公告)号：US20210061117A1

公开(公告)日：2021-03-04

申请号：US16553326

申请日：2019-08-28

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Kausalya Singuru ,  Suresh Gopalakrishnan ,  Nikolai K. Moshchuk ,  David Andrés Pérez Chaparro

IPC: B60L53/38 ,  B60L53/36 ,  B60L53/122 ,  B60L53/30 ,  B60L53/66

Abstract: An automotive vehicle includes a vehicle-based charging unit including a receiving unit configured to receive power from a ground-based charging unit, the receiving unit including a multi-coil receiver, a first actuator operably coupled to the vehicle-based charging unit and configured to adjust a first position of the vehicle-based charging unit relative to the ground-based charging unit, and a controller configured to selectively actuate the first actuator. The controller is configured to receive first performance indicator data indicating a first alignment between the charging units, determine an alignment error between the charging units and calculate a first position adjustment of the vehicle-based charging unit, automatically control the first actuator to implement the first position adjustment of the vehicle-based charging unit, and receive second performance indicator data indicating a second alignment between the charging units, the second alignment resulting in a desired power transfer efficiency between the charging units.

公开(公告)号：US10597028B2

公开(公告)日：2020-03-24

申请号：US15622599

申请日：2017-06-14

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Seyedalireza Kasaiezadeh Mahabadi ,  Shih-Ken Chen ,  Bakhtiar B. Litkouhi ,  Nikolai K. Moshchuk ,  Patrick J. Monsere ,  Edward T. Heil

IPC: B60W30/045 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W30/08 ,  B60W40/101 ,  B60W40/105 ,  B60W40/114 ,  B60W50/029

Abstract: A method and system for controlling a vehicle to improve vehicle dynamics are provided. The method includes receiving data from a plurality of sensors which monitor vehicle dynamics by monitoring at least wheel and steering movements associated with a vehicle system used in controlling vehicle dynamics by control outputs from a holistic vehicle control system. Then, estimating states of the vehicle from computations of longitudinal and latitudinal velocities, tire slip ratios, clutch torque, axle torque, brake torque, and slip angles derived from the data sensed by the sensors from the wheel and steering movements. Finally, formulating a model of vehicle dynamics by using estimations of vehicle states with a target function to provide analytical data to enable the model of vehicle dynamics to be optimized and for using the data associated with the model which has been optimized to change control outputs to improve in real-time the vehicle dynamics.

公开(公告)号：US09616900B2

公开(公告)日：2017-04-11

申请号：US14888630

申请日：2014-05-02

Applicant: GM Global Technology Operations llc

Inventor： Shih-ken Chen ,  David M. Sidlosky ,  Jin-Jae Chen ,  Nikolai K. Moshchuk

IPC: G01M17/00 ,  B60W40/112 ,  B60W40/06 ,  B60W30/04

CPC classification number: B60W40/112 ,  B60W30/04 ,  B60W40/06 ,  B60W2400/00 ,  B60W2420/905 ,  B60W2520/18

Abstract: A system, for use at a vehicle to estimate vehicle roll angle and road bank angle, in real time and generally simultaneously. The system includes a sensor configured to measure vehicle roll rate, a processor; and a computer-readable medium. The medium includes instructions that, when executed by the processor, cause the processor to perform operations comprising estimating, using an observer and the vehicle roll rate measured by the sensor, a vehicle roll rate. The operations also include estimating, using an observer and a measured vehicle roll rate, the vehicle roll angle, and estimating, based on the vehicle roll rate estimated and the vehicle roll angle estimated, the road bank angle.

公开(公告)号：US20160200360A1

公开(公告)日：2016-07-14

申请号：US14592432

申请日：2015-01-08

Applicant: GM Global Technology Operations LLC

Inventor： Nikolai K. Moshchuk ,  Shih-Ken Chen ,  Chad T. Zagorski

IPC: B62D15/02 ,  B62D6/00 ,  B62D7/15

CPC classification number: B62D15/0265 ,  B62D6/002 ,  B62D7/159

Abstract: A method of providing automatic collision avoidance in a vehicle with a front wheel electric power steering (EPS) system and rear wheel active rear steering (ARS) system and an automatic collision avoidance system are described. The method includes generating a vehicle math model including the control variables, designing a steering control goal as a criterion to determine the control variables, and implementing a model predictive control to solve the steering control goal and determine the control variables. The method also includes providing the control variables to the EPS system and the ARS system to respectively control a front actuator associated with front wheels and a rear actuator associated with rear wheels.

Abstract translation: 描述了一种在具有前轮电动助力转向（EPS）系统和后轮主动后转向（ARS）系统和自动碰撞避免系统的车辆中提供自动碰撞避免的方法。 该方法包括生成包含控制变量的车辆数学模型，设计转向控制目标作为判断控制变量的标准，实现模型预测控制，解决转向控制目标，确定控制变量。 该方法还包括向EPS系统和ARS系统提供控制变量，以分别控制与前轮相关联的前致动器和与后轮相关联的后致动器。

公开(公告)号：US20150158528A1

公开(公告)日：2015-06-11

申请号：US14103073

申请日：2013-12-11

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Nikolai K. Moshchuk ,  Shih-Ken Chen ,  Chad T. Zagorski

IPC: B62D15/02 ,  B62D5/04

CPC classification number: B62D15/0265

Abstract: A system and method for generating an overlay torque command for an electric motor in an EPS system for use in a collision avoidance system. The method uses model predictive control that employs a six-dimensional vehicle motion model including a combination of a one-track linear bicycle model and a one-degree of freedom steering column model to model the vehicle steering. The method determines a steering control goal that defines a path tracking error between the current vehicle path and the desired vehicle path through a cost function that includes an optimal total steering torque command. The MPC determines the optimal total steering torque command to minimize the path error, and then uses driver input torque, EPS assist torque and the total column torque command to determine the torque overlay command.

Abstract translation: 一种用于在用于防撞系统的EPS系统中为电动机产生覆盖转矩指令的系统和方法。 该方法使用模型预测控制，其采用包括单轨线性自行车模型和一个自由度转向柱模型的组合的六维车辆运动模型来对车辆转向进行建模。 该方法确定通过包括最佳总转向转矩指令的成本函数定义当前车辆路径和期望车辆路径之间的路径跟踪误差的转向控制目标。 MPC确定最佳总转向转矩指令以最小化路径误差，然后使用驱动器输入转矩，EPS辅助转矩和总列转矩指令来确定转矩叠加命令。

公开(公告)号：US20240051548A1

公开(公告)日：2024-02-15

申请号：US17818992

申请日：2022-08-11

Applicant: GM Global Technology Operations LLC

Inventor： Yubiao Zhang ,  SeyedAlireza Kasaiezadeh Mahabadi ,  Nikolai K. Moshchuk ,  Saurabh Kapoor ,  Ruixing Long ,  Bharath Pattipati ,  David Perez-Chaparro

IPC: B60W40/105 ,  B60W40/114

CPC classification number: B60W40/105 ,  B60W40/114 ,  B60W2552/30 ,  B60W2510/20 ,  B60W2554/4041

Abstract: A system comprises a computer including a processor and a memory. The memory includes instructions such that the processor is programmed to generate vehicle-level commands based on received vehicle operation commands. The received vehicle operation commands can comprise input commands corresponding to at least one of an autonomous vehicle (AV) mode of operation or a manual mode of operation. The processor is also programmed to generate target actuator commands based on the vehicle-level commands and transmit the target actuator commands to at least one actuator.

公开(公告)号：US11807268B2

公开(公告)日：2023-11-07

申请号：US17149461

申请日：2021-01-14

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Sami Ahmed ,  Kevin A. O'Dea ,  Audrey D. Porter ,  Bakhtiar B. Litkouhi ,  Nikolai K. Moshchuk ,  Kausalya Singuru

IPC: B60W60/00 ,  B60W40/072

CPC classification number: B60W60/0011 ,  B60W40/072 ,  B60W60/0053 ,  B60W2520/105 ,  B60W2520/125

Abstract: Systems and methods for controlling an autonomous vehicle are described. A trajectory planner module provides a first trajectory to a trajectory control module. The trajectory control module determines parameters of the first trajectory. The trajectory control module compares the parameters to a respective threshold value. The trajectory control module obtains one or more alternative trajectories, determines parameters of each alternative trajectory, and compares the parameters of the alternative trajectory to a respective threshold value. The trajectory control module selects a trajectory for controlling the autonomous vehicle that has parameters which are within a range defined by the threshold values and controls the autonomous vehicle based on the selected trajectory. Thus, before handing back control to a driver, the trajectory control module selects from alternate trajectories for controlling the autonomous vehicle.