公开(公告)号：US20220306199A1

公开(公告)日：2022-09-29

申请号：US17215524

申请日：2021-03-29

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Reza Zarringhalam ,  Mohammadali Shahriari ,  Amir Takhmar ,  Paul A. Adam ,  Namal P. Kumara

IPC: B62D15/02

Abstract: Systems and methods for smoothing automated lane change (ALC) operations. A mission planner, upon receipt of an ALC request, sends a ALC heads up signal to a lateral control. The mission planner then begins confidence building operations, for a preprogrammed duration of time, and awaits an ALC ready signal from the lateral control. The lateral control, upon receipt of the ALC heads up, calculates an index of readiness, RALC, as a function of the requested ALC, a current trajectory, and a lane centering control path. When RALC is less than or equal to a readiness threshold, Rt, the lateral control sends the ALC ready signal. When RALC is greater than Rt, the lateral control generates a steering correction and applies the steering correction to reduce the RALC and thereby stabilize the vehicle and send the ALC ready signal. Upon receiving the ALC ready signal, the ALC operation is executed.

公开(公告)号：US20220281448A1

公开(公告)日：2022-09-08

申请号：US17195347

申请日：2021-03-08

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Reza Zarringhalam ,  Amir Takhmar ,  Carlos E. Arreaza ,  Shiv G. Patel ,  Mohammed Raju Hossain ,  Dorothy Lui ,  Kibrom Yohannes

IPC: B60W30/12 ,  B60W50/14 ,  B60W10/20 ,  B60W10/18 ,  G06K9/00

Abstract: Methods and systems are provided for a vehicle towing a trailer within a lane of a roadway that include: reconstructing, via a processor onboard the vehicle, lane markings for the trailer using lane markers as sensed via camera data; transforming the reconstructed lane markings, using additional sensor data, to a perspective of the trailer; localizing the trailer within the transformed lane markers using historical camera lane marking information, articulated vehicle dynamics, hitch angle, and trailer dimensions, without needing to add additional trailer lane sensing cameras to the trailer; calculating a time to lane crossing (T-TTLC) value for the trailer and vehicle; generating candidate blended paths of the trailer and the vehicle with a centerline of the lane of the roadway; and controlling operation of the vehicle, the trailer, or both, via instructions provided by the processor to keep the vehicle, the trailer, or both within a lane of travel.

公开(公告)号：US20220274602A1

公开(公告)日：2022-09-01

申请号：US17186649

申请日：2021-02-26

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Reza Zarringhalam ,  Yongkyun Shin ,  Mohammadali Shahriari ,  Avshalom Suissa ,  Kevin A. O'Dea ,  Amir Takhmar ,  Mohammed Raju Hossain

IPC: B60W40/076 ,  B60W50/00 ,  B60W40/072

Abstract: In exemplary embodiments, methods, systems, and vehicles are provided that include: one or more sensors disposed onboard a vehicle and configured to at least facilitate obtaining sensor data for the vehicle; one or more location systems configured to at least facilitate obtaining location data pertaining to a location of the vehicle; a computer memory configured to store map data pertaining to a path corresponding to the location; and a processor disposed onboard the vehicle and configured to at least facilitate: generating an elevation profile along the path using the sensor data and the map data; and providing instructions for controlling the vehicle using the elevation profile.

公开(公告)号：US20220144341A1

公开(公告)日：2022-05-12

申请号：US17093023

申请日：2020-11-09

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Amir Takhmar ,  Joshua M. Levin ,  Jimmy Zhong Yan Lu ,  Jayant Sachdev ,  Reza Zarringhalam

IPC: B62D15/02

Abstract: A method for generating a steering command for controlling a vehicle is provided. The method includes: generating a first vehicle steering control torque command by a steering controller in the vehicle while the vehicle is driven in a semi-autonomous mode; generating an impedance-adjusted vehicle steering angle command based on a first vehicle steering angle command that was generated to compensate for a trajectory error, and a measured driver steering torque command generated in response to navigation of the vehicle using a steering wheel; generating an impedance-adjusted vehicle steering control torque command by the steering controller in the vehicle based on a difference between the impedance-adjusted vehicle steering angle command and a measured vehicle steering angle command; generating a steering command by a power steering system in the vehicle based on the measured driver steering torque command and the impedance-adjusted vehicle steering control torque command; and operating the vehicle in accordance with the steering command.

公开(公告)号：US11299179B2

公开(公告)日：2022-04-12

申请号：US16814146

申请日：2020-03-10

Applicant: GM Global Technology Operations LLC

Inventor： Reza Zarringhalam ,  Mohammadali Shahriari ,  Amir Takhmar ,  Zhi Li

IPC: B60W60/00

Abstract: A system to enable an automobile vehicle automated driving control includes a quality index of an automated driving control system prior to enablement of an automated driving control function of an automobile vehicle. An adaptive forward propagation horizon and a prediction horizon for assessment of the quality index are computed. Vehicle states and road geometry are propagated over the adaptive forward propagation horizon, and the quality index is assessed based on forward propagated states over the prediction horizon. A first signal permits actuation of the automated driving control function of the automobile vehicle and a second signal precludes actuation of the automated driving control function. One of the first signal or the second signal is elected based on the results of assessing a quality control index trajectory over the adaptive forward propagation horizon.

公开(公告)号：US20210213959A1

公开(公告)日：2021-07-15

申请号：US16738453

申请日：2020-01-09

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Mohammadali Shahriari ,  Amir Takhmar ,  Reza Zarringhalam

IPC: B60W40/09 ,  G05D1/02 ,  G05D1/00 ,  B60W30/12

Abstract: A vehicle and a system and method of operating a vehicle. The system includes a processor. The processor learns a driver's behavior of a driver of the vehicle as the driver navigates a road segment, creates a behavior policy based on the driver's behavior and a threshold associated with the road segment, and controls the vehicle to navigate the road segment using the behavior policy.

公开(公告)号：US09873425B2

公开(公告)日：2018-01-23

申请号：US15097542

申请日：2016-04-13

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Shih-Ken Chen ,  Bakhtiar B. Litkouhi ,  Amir Khajepour ,  William Melek ,  Reza Zarringhalam

IPC: B60W30/02 ,  B60T8/1755 ,  B62D5/04

CPC classification number: B60W30/02 ,  B60T8/17551 ,  B60T8/885 ,  B60T2210/22 ,  B60T2250/06 ,  B60T2270/406 ,  B60T2270/413 ,  B60W50/0205 ,  B60W50/029 ,  B60W2050/0215 ,  B60W2050/0292 ,  B60W2420/00 ,  B60W2520/10 ,  B60W2520/125 ,  B60W2520/18 ,  B60W2530/10 ,  B62D5/0457

Abstract: A method of reconstructing a detected faulty signal. A roll sensor fault is detected by a processor. A signal of the detected faulty roll sensor is reconstructed using indirect sensor data. The reconstructed signal is output to a controller to maintain stability.

公开(公告)号：US12275436B2

公开(公告)日：2025-04-15

申请号：US17821829

申请日：2022-08-24

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Mohammadali Shahriari ,  Ashraf Abualfellat ,  Reza Zarringhalam ,  Mehdi Abroshan ,  Michael B. Peppard

IPC: B60W60/00 ,  B60W40/06

Abstract: Automated driver assistance systems and methods for towing predict vehicle/trailer instabilities and adapt automated driving control to avoid them. A tow-vehicle includes a controller that, through an actuator system, controls speed and/or steering. A map system and/or a sensor system monitor a roadway on which the vehicle is travelling to identify a road profile located ahead of the vehicle over a prediction horizon. A projected trajectory for navigating the vehicle through the road profile over the prediction horizon and considering environmental conditions is determined. Before travel over the road profile, whether the projected trajectory through the road profile will result in exceeding a vehicle dynamic threshold is determined. When the projected trajectory will result in exceeding the vehicle dynamic threshold through the road profile, a control action is determined to prevent instability and optimize driver experience. The vehicle is operated through the road profile using the control action.

公开(公告)号：US20240308501A1

公开(公告)日：2024-09-19

申请号：US18183386

申请日：2023-03-14

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Khizar Ahmad Qureshi ,  Mehdi Abroshan ,  Reza Zarringhalam ,  Mohammadali Shahriari ,  Apral Singh Hara

IPC: B60W30/09 ,  B60Q9/00 ,  B60W10/18 ,  B60W10/20

CPC classification number: B60W30/09 ,  B60Q9/00 ,  B60W10/18 ,  B60W10/20 ,  B60W2540/26 ,  B60W2710/18 ,  B60W2710/20

Abstract: Methods and systems are provided that include one or more sensors configured to obtain sensor data pertaining to both a driver of a vehicle and an environment surrounding the vehicle; and a processor that is coupled to the one or more sensors and that is configured to at least facilitate determining, using the sensor data, when the driver is incapacitated; determining, using the sensor data, when a threat is detected for the vehicle; and taking action to avoid the threat when the driver is incapacitated and the threat is detected, via instructions provided by the processor.

公开(公告)号：US20240199111A1

公开(公告)日：2024-06-20

申请号：US18065902

申请日：2022-12-14

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Mohammadali Shahriari ,  Tushita Arun Sikder ,  Reza Zarringhalam ,  Ashraf Abualfellat ,  Emily Frances Wolfangel ,  Brian Porto

IPC: B62D5/04 ,  B62D6/00

CPC classification number: B62D5/0481 ,  B62D5/0463 ,  B62D6/00

Abstract: Methods and systems are provided for controlling a vehicle comprising an Electric Power Steering System (EPS). In an embodiment, a method includes learning, by a processor, a non-linearity of a boost factor associated with the EPS; determining, by the processor, a deboost factor based on an inverse relationship of the learned non-linearity of the boost factor associated with the EPS; and generating, by the processor, a steering command to the EPS based on the deboost factor.