公开(公告)号：US10752242B2

公开(公告)日：2020-08-25

申请号：US16194960

申请日：2018-11-19

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Tetyana V. Mamchuk ,  Gabriel T. Choi ,  Paul A. Adam

IPC: G05D1/00 ,  B60W30/09 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W10/10

Abstract: An automotive vehicle includes at least one actuator configured to control vehicle steering, shifting, acceleration, or braking, at least one sensor configured to provide signals indicative of a location and velocity of an object external to the vehicle relative to the vehicle, and at least one controller in communication with the at least one actuator and the at least one sensor. The at least one controller is configured to, in response to a signal from the at least one sensor indicating that a relative velocity between a rearward object and the vehicle exceeds a first threshold and a distance between the rearward object and the vehicle falls below a second threshold, automatically control the at least one actuator to maneuver the vehicle from a first lateral position with respect to a current driving lane to a second lateral position with respect to the current driving lane.

公开(公告)号：US10239451B1

公开(公告)日：2019-03-26

申请号：US15695396

申请日：2017-09-05

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Paul A. Adam ,  Dmitriy Feldman ,  Benjamin T. Llewellyn

IPC: B60Q9/00 ,  G08G1/16

Abstract: A system for a vehicle operating on a road includes a vehicle placement module that references, based on a geographic position of the vehicle, a road mapping database to identify a selected lane of the road where the vehicle is located. A lane assignment module (i) receives information indicating identification of an object in the road and (ii) determines a relative lane of the object with respect to the selected lane. A curvature plotting module determines a curvature line of the selected lane. An object placement module (i) determines a first distance value representing a shortest distance between the object and the curvature line and (ii) determines whether the relative lane of the object is the selected lane based on the first distance value and a lane width value. An alert generation module selectively generates an alert signal in response to the object being in the selected lane.

公开(公告)号：US20250042393A1

公开(公告)日：2025-02-06

申请号：US18364523

申请日：2023-08-03

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Harsh K. Patel ,  Paul A. Adam ,  Xuefei Yang ,  Brian M. Porto ,  Christopher M. Churay

IPC: B60W30/09

Abstract: A system for controlling lateral positioning in a host vehicle includes a controller having a processor and tangible, non-transitory memory. The host vehicle is located on a host lane defined by a host lane center. The controller is adapted to determine if a first and second enabling condition are met. The first enabling condition is met when the host vehicle is travelling on a non-divided road having no physical barrier separating respective traffic lanes travelling in opposing directions. The second enabling condition is met when the host lane is an inner most lane adjacent to an opposing traffic lane. When the first and second enabling conditions are both met, the controller is adapted to determine a non-divided road offset relative to the host lane center in real-time. Operation of the vehicle is controlled based in part on a magnitude, and a direction of the non-divided road offset.

公开(公告)号：US20240067174A1

公开(公告)日：2024-02-29

申请号：US17822602

申请日：2022-08-26

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Paul A. Adam ,  Jeffrey S. Parks ,  Avesta Goodarzi ,  Shaun C. Bowman

IPC: B60W30/14 ,  B60W30/095 ,  B60W30/16 ,  B60W40/04 ,  B60W40/105 ,  B60W60/00

CPC classification number: B60W30/143 ,  B60W30/0956 ,  B60W30/16 ,  B60W40/04 ,  B60W40/105 ,  B60W60/0015 ,  B60W2554/402 ,  B60W2554/80

Abstract: Vehicles and related systems and methods are provided for controlling a vehicle in an autonomous operating mode. One method involves identifying an object in a potential incursion zone corresponding to a lane adjacent to a current lane of travel for the vehicle, determining an estimated time in zone associated with the object, and in response to determining the estimated time in zone is greater than a threshold, determining a longitudinal adjustment strategy to reduce the estimated time in zone associated with the object, determining an adjusted speed for the vehicle in accordance with the longitudinal adjustment strategy, determining a longitudinal trajectory for the vehicle within the current lane of travel based at least in part on the adjusted speed, and autonomously operating one or more actuators onboard the vehicle in accordance with the longitudinal trajectory.

公开(公告)号：US11891073B2

公开(公告)日：2024-02-06

申请号：US16664109

申请日：2019-10-25

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Gabriel T. Choi ,  Paul A. Adam ,  Jeffrey S. Parks ,  Lance A. Smith

IPC: B60W40/114 ,  B60W30/12 ,  B60W40/072 ,  G05D1/02 ,  G05D1/00

CPC classification number: B60W40/114 ,  B60W30/12 ,  B60W40/072 ,  G05D1/0088 ,  G05D1/0246 ,  B60W2420/42 ,  B60W2540/18 ,  B60W2552/30 ,  G05D2201/0213

Abstract: A control system for a vehicle using a forward-facing camera includes a look ahead module configured to determine a distance to a look ahead point. A lane center module determines a location of a lane center line. A vehicle center line module determines a location of a vehicle center line. A first lateral offset module determines a first lateral offset based on the look ahead point and the determined lane center line. A second lateral offset module determines a second lateral offset based on the determined lane center line and the vehicle center line. A yaw angle offset calculating module receives the first lateral offset, the second lateral offset and the distance to the look ahead point, calculates a yaw angle offset, and compensates a yaw angle error based on the yaw angle offset.

公开(公告)号：US20240025450A1

公开(公告)日：2024-01-25

申请号：US17813721

申请日：2022-07-20

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Christopher Michael Churay ,  Paul A. Adam ,  Reza Zarringhalam ,  Milad Jalaliyazdi

IPC: B60W60/00 ,  B60W40/08 ,  B60W30/18

CPC classification number: B60W60/0025 ,  B60W40/08 ,  B60W30/18163 ,  B60W2540/225 ,  B60W2420/42

Abstract: Vehicles and related systems and methods are provided for controlling a vehicle in an autonomous operating mode. One method involves a controller associated with a vehicle identifying a visual attention state associated with a driver of the vehicle based at least in part on output of an imaging device onboard the vehicle, determining, based at least in part on the visual attention state, a driver lane preference corresponding to an adjacent lane in a visual attention direction relative to a current lane of travel for the vehicle, adjusting a priority associated with the adjacent lane corresponding to the driver lane preference and autonomously operating one or more actuators onboard the vehicle to initiate maneuvering the vehicle from the current lane in a manner that is influenced by the adjusted priority associated with the adjacent lane.

公开(公告)号：US20230339506A1

公开(公告)日：2023-10-26

申请号：US17659916

申请日：2022-04-20

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Tetyana V Mamchuk ,  Paul A. Adam ,  Christopher Michael Churay

IPC: B60W60/00 ,  B60W50/00

CPC classification number: B60W60/0015 ,  B60W50/0098 ,  B60W2050/0026 ,  B60W2520/10

Abstract: Vehicles and related systems and methods are provided for controlling a vehicle in an autonomous operating mode. One method involves identifying one or more avoidance zones in a vicinity of the vehicle, determining a deadline for completing a lateral maneuver to avoid a priority avoidance zone of the one or more avoidance zones, obtaining an initial reference lateral trajectory for the lateral maneuver based at least in part on the deadline, autonomously operating one or more actuators onboard the vehicle in accordance with the initial reference lateral trajectory, and thereafter obtaining one or more updated reference lateral trajectories for the vehicle, wherein the one or more actuators onboard the vehicle are autonomously operated in accordance with the one or more updated reference lateral trajectories in lieu of the initial reference lateral trajectory.

公开(公告)号：US20220410901A1

公开(公告)日：2022-12-29

申请号：US17360470

申请日：2021-06-28

Applicant: GM Global Technology Operations LLC

Inventor： Namal P. Kumara ,  Paul A. Adam ,  Gabriel Tayoung Choi

IPC: B60W30/18 ,  B60W30/09 ,  B60W30/095 ,  B60W60/00 ,  B60W40/04 ,  G06K9/00

Abstract: A method of initializing an automatic lane change in a moving primary automobile, including categorizing, via a controller within the primary automobile, a moving automobile that is in front of the primary automobile as a target automobile, categorizing, via the controller within the primary automobile, an object in front of both the primary automobile and the target automobile as one of a low confidence object and a high confidence object, initializing, via the controller within the primary automobile, the automatic lane change for the primary automobile when the object is categorized as a high confidence object, and initializing, via the controller within the primary automobile, the automatic lane change for the primary automobile when the object is categorized as a low confidence object and a lane change of the target automobile is detected by at least one of a plurality of sensors within the automobile.

公开(公告)号：US20210269025A1

公开(公告)日：2021-09-02

申请号：US16806378

申请日：2020-03-02

Applicant: GM Global Technology Operations LLC

Inventor： Reza Zarringhalam ,  Mohammadali Shahriari ,  Wenhao Wu ,  Paul A. Adam

IPC: B60W30/12 ,  B60W30/16 ,  B60W50/16

Abstract: An operator offset request for automatic lane following system of an automobile vehicle includes an operator offset request defining a lateral offset distance away from a first travel-line of an automobile vehicle in a displacement path moved until a second travel-line of the automobile is achieved. An operator input setting system when actuated generates an initiation signal forwarded to a controller to input the operator offset request. An achievement signal is generated to signify a selected offset position selected by a vehicle operator for the offset distance is achieved. A vehicle return travel path is elected by the vehicle operator to return the automobile vehicle to the first travel-line from the second travel-line by a return displacement path which is opposite to the displacement path.

公开(公告)号：US20210061270A1

公开(公告)日：2021-03-04

申请号：US16551122

申请日：2019-08-26

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Jeffrey S. Parks ,  Paul A. Adam ,  Gabriel T. Choi ,  Braden J. Swantick ,  Michael J. Godfrey

IPC: B60W30/12 ,  B60W10/04 ,  B60W10/20 ,  B60W10/18

Abstract: The present application relates to a method and apparatus for real time lateral control and steering actuation assessment for a motor vehicle by determining a desired host vehicle path, establishing a control point along the host vehicle path, generating a motion path between a host vehicle location and the control point, estimating a theoretical acceleration of the host vehicle along the motion path, controlling the host vehicle along the motion path, receiving a measured acceleration from an inertial measurement unit within the host vehicle, generating an error term in response to a comparison of the motion path and the measured lateral travel, and adjusting the performance limits of the sub-features in response to the error term.