公开(公告)号：US11669098B2

公开(公告)日：2023-06-06

申请号：US16270073

申请日：2019-02-07

Applicant: GM Global Technology Operations LLC

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

IPC: G05D1/02 ,  G05D1/00

CPC classification number: G05D1/0223 ,  G05D1/0088 ,  G05D1/0278 ,  G05D2201/0213

Abstract: Autonomous control of a subject vehicle including a longitudinal motion control system includes determining states of parameters associated with a trajectory for the subject vehicle and parameters associated with a control reference determined for the subject vehicle. A range control routine is executed to determine a first parameter associated with a range control command based upon the states of the plurality of parameters, and a speed control routine is executed to determine a second parameter associated with a speed control command based upon the states of the plurality of parameters. An arbitration routine is executed to evaluate the range control command and the speed control command, and operation of the subject vehicle is controlled to achieve a desired longitudinal state, wherein the desired longitudinal state is associated with a minimum of the range control command and the speed control command.

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：US10427678B2

公开(公告)日：2019-10-01

申请号：US15621242

申请日：2017-06-13

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Nikolai K. Moshchuk ,  Shih-ken Chen

IPC: B60W30/12 ,  B60W10/20 ,  G05B1/00 ,  G05B1/02 ,  G05D1/00 ,  G05D1/02 ,  B62D6/00 ,  B62D15/02

Abstract: A method for providing low speed lateral steering control for a vehicle is disclosed. The method includes receiving sensor data corresponding to a road wheel angle, determining a planned vehicle path of travel, defining a road wheel angle search range based on a maximum road wheel angle rate, determining a steering control goal using the road wheel angle that tracks and measures a difference between a current vehicle path and the planned vehicle path, determining an optimal steering control signal using the road wheel angle and the steering control goal and providing the control signal to a steering controller.

公开(公告)号：US10266202B2

公开(公告)日：2019-04-23

申请号：US15486086

申请日：2017-04-12

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Seyedalireza Kasaiezadeh Mahabadi ,  Bakhtiar B. Litkouhi ,  Nikolai K. Moshchuk ,  Shih-Ken Chen

IPC: B62D6/00 ,  B62D5/04

Abstract: Methods and system are provided for controlling a vehicle. The methods and systems read sensors and estimate pneumatic trail for a tire of the vehicle based on the sensor readings. The methods and systems determine presence or absence of a tire lateral saturation condition based on a comparison of the estimated pneumatic trail for the tire of the vehicle with a pneumatic trail threshold indicative of a tire lateral saturation condition. When the tire lateral saturation condition is present, the methods and systems determine a control value and use the control value as an input to a vehicle control module. The vehicle control module is responsive to the tire lateral saturation condition based on the control value.

公开(公告)号：US10131360B2

公开(公告)日：2018-11-20

申请号：US15236106

申请日：2016-08-12

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Yadollah Sabri ,  Simon E. Zimmerman ,  Yingmei Si ,  Steven T. Schweitzer ,  Qingrong Zhao ,  Qi Zhang ,  Nikolai K. Moshchuk

IPC: B60W40/06 ,  B60W40/068 ,  B60W40/105 ,  B60W40/114 ,  B60W50/14 ,  G05D1/00

Abstract: Methods and systems are provided for determining a road surface friction coefficient and controlling a feature of the vehicle based thereon. In one embodiment, a method includes: receiving signals from an electronic power steering system and an inertial measurement unit; estimating parameters associated with an electronic power steering system model using an iterative optimization method; calculating an electronic power steering system variable using the electronic power steering system model, the estimated parameters and one or more of the received signals; determining whether the calculated electronic power steering system variable satisfies a fitness criterion; and when the calculated electronic power steering system variable does satisfy the fitness criterion, determining a road surface friction coefficient based on at least one of the estimated parameters.

公开(公告)号：US09573515B2

公开(公告)日：2017-02-21

申请号：US14583240

申请日：2014-12-26

Applicant: GM Global Technology Operations LLC

Inventor： Chad T. Zagorski ,  Nikolai K. Moshchuk

IPC: B60Q1/34 ,  B60Q1/40 ,  B60Q1/26

CPC classification number: B60Q1/346 ,  B60Q1/26 ,  B60Q1/34 ,  B60Q1/40

Abstract: A method for automatic activation of a vehicle turn indicator is disclosed. The method may include determining whether a lane change maneuver is impending in a specified direction. The method may also include determining whether the vehicle turn indicator has been activated through a driver interface. The vehicle turn indicator may be engaged when not activated through the driver interface.

Abstract translation: 公开了一种用于自动启动车辆转向指示器的方法。 该方法可以包括确定车道改变机动是否正在指定的方向上。 该方法还可以包括确定车辆转向指示器是否已经通过驾驶员接口被激活。 车辆转向指示器可能在未通过驾驶员接口激活时接合。

公开(公告)号：US20160185279A1

公开(公告)日：2016-06-30

申请号：US14583240

申请日：2014-12-26

Applicant: GM Global Technology Operations LLC

Inventor： Chad T. Zagorski ,  Nikolai K. Moshchuk

IPC: B60Q1/26

CPC classification number: B60Q1/346 ,  B60Q1/26 ,  B60Q1/34 ,  B60Q1/40

Abstract: A method for automatic activation of a vehicle turn indicator is disclosed. The method may include determining whether a lane change maneuver is impending in a specified direction. The method may also include determining whether the vehicle turn indicator has been activated through a driver interface. The vehicle turn indicator may be engaged when not activated through the driver interface.

Abstract translation: 公开了一种用于自动启动车辆转向指示器的方法。 该方法可以包括确定车道改变机动是否正在指定的方向上。 该方法还可以包括确定车辆转向指示器是否已经通过驾驶员接口被激活。 车辆转向指示器可能在未通过驾驶员接口激活时接合。

公开(公告)号：US09371073B1

公开(公告)日：2016-06-21

申请号：US14744144

申请日：2015-06-19

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Shih-Ken Chen ,  Valery Pylypchuk ,  Nikolai K. Moshchuk

IPC: B60W40/12

CPC classification number: B32B25/08 ,  B32B3/266 ,  B32B5/18 ,  B32B7/08 ,  B32B25/045 ,  B32B25/14 ,  B32B25/16 ,  B32B27/065 ,  B32B27/304 ,  B32B27/306 ,  B32B27/32 ,  B32B27/40 ,  B32B2250/24 ,  B32B2266/0207 ,  B32B2266/0278 ,  B32B2266/0292 ,  B32B2305/022 ,  B32B2307/4023 ,  B32B2307/4026 ,  B32B2307/412 ,  B32B2307/744 ,  B32B2307/75 ,  B32B2471/04 ,  B60G17/019 ,  B60G17/0195 ,  B60G2400/0511 ,  B60G2400/0512 ,  B60G2400/60 ,  B60G2400/64 ,  B60G2401/12 ,  B60G2401/122 ,  B60W40/12 ,  B60W2420/22 ,  B60W2510/22 ,  B60W2520/14 ,  B60W2520/16 ,  B60W2520/18 ,  B60W2530/20 ,  Y10T428/24339 ,  Y10T428/24347

Abstract: A device includes a plurality of tires and a suspension system as subcomponents. The suspension system includes at least one suspension sensor configured to provide suspension data (S). A controller is operatively connected to the suspension sensor. The controller has a processor and tangible, non-transitory memory on which is recorded instructions for executing a method for determining respective tire normal forces (Fzi(t), i=1 . . . 4) for one or more of the plurality of tires, based at least partially on the suspension data (S). The tire normal force (Fz) is the net force acting on each tire (or wheel) in the vertical direction. The tire normal force acting on each tire may be determined without using the specific model of the tire, road information, wheel or tire sensors.

Abstract translation: 装置包括多个轮胎和作为次要部件的悬架系统。 所述悬架系统包括至少一个配置成提供悬挂数据（S）的悬架传感器。 控制器可操作地连接到悬架传感器。 控制器具有处理器和有形的非暂时性存储器，其上记录有用于执行用于确定多个轮胎中的一个或多个的相应轮胎法向力（Fzi（t），i = 1 ... 4）的方法的指令， ，至少部分地基于暂停数据（S）。 轮胎法向力（Fz）是在垂直方向作用于每个轮胎（或车轮）的净力。 可以在不使用轮胎，道路信息，车轮或轮胎传感器的具体模型的情况下确定作用在每个轮胎上的轮胎法线力。

公开(公告)号：US09174672B2

公开(公告)日：2015-11-03

申请号：US14065235

申请日：2013-10-28

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Shuqing Zeng ,  Nikolai K. Moshchuk ,  Rouhollah Jafari

IPC: B62D15/02 ,  G01S13/93 ,  G05D1/02 ,  B60W10/20 ,  B60W30/09 ,  B60W30/095 ,  B60R21/0134 ,  B62D6/00

CPC classification number: B62D6/00 ,  B60R21/0134 ,  B60W10/20 ,  B60W30/09 ,  B60W30/095 ,  B60W2420/52 ,  B62D15/0265 ,  G01S13/931 ,  G01S2013/9342 ,  G01S2013/9353 ,  G05D1/02 ,  G05D1/024

Abstract: A method for calculating a virtual target path around a target object that includes providing scan points identifying detected objects and separating the scan points into target object scan points and other object scan points. The method identifies a closest scan point from the target object scan points and identifies a path point that is a predetermined safe distance from the closest scan point. The method determines a straight target line adjacent to the target object that goes through the path point, and determines a distance between the target line and each of the other objects and determines whether all of the distances are greater than a predetermined threshold distance. The method identifies curve points for each other object whose distance is less than the predetermined threshold distance, and identifies a curve path that connects the curve points to be the virtual target path using a quadratic polynomial function.

Abstract translation: 一种用于计算目标对象周围的虚拟目标路径的方法，包括提供识别检测到的对象的扫描点并将扫描点分离为目标对象扫描点和其他对象扫描点。 该方法从目标对象扫描点识别最近的扫描点，并识别距离最近的扫描点预定安全距离的路径点。 该方法确定与目标对象相邻的直线目标线，该直线目标线通过路径点，并且确定目标线与每个其它对象之间的距离，并且确定所有距离是否大于预定阈值距离。 该方法识别距离小于预定阈值距离的每个对象的曲线点，并且使用二次多项式函数来识别将曲线点连接成虚拟目标路径的曲线路径。