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    AUTOMATED DRIVING SYSTEMS AND CONTROL LOGIC WITH ENHANCED LONGITUDINAL CONTROL FOR TRANSITIONAL SURFACE FRICTION CONDITIONS
    43.
    发明申请
    AUTOMATED DRIVING SYSTEMS AND CONTROL LOGIC WITH ENHANCED LONGITUDINAL CONTROL FOR TRANSITIONAL SURFACE FRICTION CONDITIONS 审中-公开

    公开(公告)号：US20200257292A1

    公开(公告)日：2020-08-13

    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 ,  B60Q9/00 ,  B60W40/068 ,  B60W40/107

    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.

    Reactive path planning for autonomous driving
    45.
    发明授权
    Reactive path planning for autonomous driving 有权

    公开(公告)号：US09868443B2

    公开(公告)日：2018-01-16

    申请号：US14696877

    申请日：2015-04-27

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Shuqing Zeng ,  Rouhollah Jafari ,  Nikolai K. Moshchuk ,  Bakhtiar B. Litkouhi

    IPC: B60W30/18 ,  B62D15/02 ,  G08G1/16

    CPC classification number: B60W30/18163 ,  B62D15/0255 ,  B62D15/0265 ,  G08G1/163 ,  G08G1/167

    Abstract: A method of adaptively re-generating a planned path for an autonomous driving maneuver. An object map is generated based on the sensed objects in a road of travel. A timer re-set and actuated. A planned path is generated for autonomously maneuvering the vehicle around the sensed objects. The vehicle is autonomously maneuvered along the planned path. The object map is updated based on sensed data from the vehicle-based devices. A safety check is performed for determining whether the planned path is feasible based on the updated object map. The planned path is re-generated in response to a determination that the existing path is infeasible, otherwise a determination is made as to whether the timer has expired. If the timer has not expired, then a safety check is re-performed; otherwise, a return is made to re-plan the path.

    Reduced-order fail-safe IMU system for active safety application
    46.
    发明授权
    Reduced-order fail-safe IMU system for active safety application 有权

    公开(公告)号：US09797726B2

    公开(公告)日：2017-10-24

    申请号：US14822231

    申请日：2015-08-10

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Shih-Ken Chen ,  Nikolai K. Moshchuk ,  Bakhtiar B. Litkouhi ,  Jin-Jae Chen ,  David M. Sidlosky

    IPC: G01C21/16 ,  G01P15/00

    CPC classification number: G01C21/16 ,  G01P15/00 ,  G01P21/00

    Abstract: A reduced-order fail-safe inertial measurement unit system. A first inertial measurement unit device includes a plurality of accelerometers measuring linear accelerations and gyroscopes measuring angular velocities. A second inertial measurement unit device includes a reduced number of accelerometers and gyroscopes relative to the first inertial measurement unit device measuring at least two linear accelerations and at least one angular velocity. A processor receives acceleration data from the first and second inertial measurement units. The processor detects faulty data measurements from the first inertial measurement unit. The processor supplements the faulty data measurements of the first inertial measurement unit with transformed data generated as a function of the measurement data from the second inertial measurement unit. The processor applies predetermined transformation solutions to transform the measurement data from the second inertial measurement unit into the transformed data. The processing unit provides the transformed data to the safety applications of the vehicle.

    INTEGRATED BANK AND ROLL ESTIMATION USING A THREE-AXIS INERTIAL-MEASURING DEVICE
    48.
    发明申请
    INTEGRATED BANK AND ROLL ESTIMATION USING A THREE-AXIS INERTIAL-MEASURING DEVICE 有权
    使用三轴惯性测量装置的集成银行和滚动估算

    公开(公告)号：US20160068166A1

    公开(公告)日：2016-03-10

    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: B60W40/112

    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.

    Abstract translation: 用于车辆的系统实时地和大体上同时地估计车辆侧倾角和道路行驶角度。 该系统包括被配置为测量车辆滚动速率的传感器，处理器; 和计算机可读介质。 介质包括指令，当由处理器执行时，使得处理器执行包括使用观测器估计和由传感器测量的车辆滚动速率的车辆滚动速率的操作。 这些操作还包括估计，使用观察者和测量的车辆滚动率，车辆侧倾角度，以及基于估计的车辆滚动速度和所估计的车辆侧倾角来估计道路行驶角度。

    Collision avoidance control integrated with EPS controller
    49.
    发明授权
    Collision avoidance control integrated with EPS controller 有权
    与EPS控制器集成的防碰撞控制

    公开(公告)号：US09278713B2

    公开(公告)日：2016-03-08

    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。

    Path planning for evasive steering maneuver employing a virtual potential field technique
    50.
    发明授权
    Path planning for evasive steering maneuver employing a virtual potential field technique 有权
    使用虚拟电场技术进行回避式转向机动的路径规划

    公开(公告)号：US09199668B2

    公开(公告)日：2015-12-01

    申请号：US14065279

    申请日：2013-10-28

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

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

    IPC: A01B69/00 ,  B62D15/02 ,  G01S17/93 ,  G01S15/93 ,  G01S7/48 ,  G01S13/93

    CPC classification number: B62D15/0265 ,  G01S7/4808 ,  G01S13/931 ,  G01S15/931 ,  G01S17/936 ,  G01S2013/9342 ,  G01S2013/9346 ,  G01S2013/9353 ,  G01S2013/9357 ,  G01S2013/9364 ,  G01S2013/9367 ,  G01S2013/9375

    Abstract: A system and method for calculating a virtual target path that is used to calculate an evasive steering path around a target object, such as a target vehicle, stopped in front of a subject vehicle. The method includes determining a potential field using a plurality of scan points that is a summation of two-dimensional Gaussian functions, where each Gaussian function has center defined by target object scan points and other object scan points. The method identifies a mesh grid in an X-Y plane where the mesh grid includes mesh grid points at locations where X and Y plane lines cross. The method identifies a local minimum point of the potential field for each X-plane line at each mesh grid point along the Y-plane crossing that X-plane line, where the local minimum point is a curve point. The method then connects the curve points to define the target path.

    Abstract translation: 一种用于计算虚拟目标路径的系统和方法，用于计算停在目标车辆前面的诸如目标车辆的目标物体周围的回避转向路径。 该方法包括使用作为二维高斯函数的和的多个扫描点来确定电场，其中每个高斯函数具有由目标对象扫描点和其他对象扫描点定义的中心。 该方法识别X-Y平面中的网格，其中网格在X和Y平面线交叉的位置处包括网格网格点。 该方法识别沿着Y平面交叉的每个网格点处的每个X平面线的势场的局部最小点，X平面线，其中局部最小点是曲线点。 然后，该方法连接曲线点以定义目标路径。

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