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：US12296854B2

公开(公告)日：2025-05-13

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 ,  B60W30/18 ,  B60W40/08

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：US12286124B2

公开(公告)日：2025-04-29

申请号：US18061709

申请日：2022-12-05

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Hassan Askari ,  Mohammadali Shahriari ,  Reza Zarringhalam ,  Ashraf Abualfellat ,  Daniel James Cornelius

IPC: B60W40/10 ,  B60W50/14 ,  B60W60/00

Abstract: Methods and systems are provided for determining and mitigating vehicle pull force from passing other vehicles. In an exemplary embodiment, methods and systems are provided that include: obtaining sensor data via one or more sensors of a vehicle, the sensor data including both perception sensor data and vehicle dynamics sensor data; identifying, via a processor, one or more additional vehicles to be passed by the vehicle, using the perception sensor data; and predicting and determining, via the processor, a pull force for the vehicle that is caused by the passing of the vehicle by the one or more additional vehicles along with an impact of the pull force on the vehicle, based on both the perception sensor data and the vehicle dynamics sensor data, and control the vehicle to proactively mitigate the pull force on the vehicle; and vehicle with trailer when towing.

公开(公告)号：US12122200B2

公开(公告)日：2024-10-22

申请号：US17479562

申请日：2021-09-20

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Mohammadali Shahriari ,  Reza Zarringhalam ,  Tushita A. Sikder ,  Paul A. Adam ,  Tetyana V. Mamchuk

IPC: B60D1/24 ,  B60D1/01 ,  B60W30/12

CPC classification number: B60D1/247 ,  B60D1/01 ,  B60W30/12 ,  B60W2300/14 ,  B60W2520/14 ,  B60W2552/30

Abstract: A method for lane centering control of a host vehicle that is towing a trailer includes: determining in real time, by a controller of the host vehicle, a radius of curvature of a turn, wherein the host vehicle is approaching the turn; determining, by the controller, a trailer required offset based on the radius of the curvature of the turn to maintain the host vehicle and the trailer in a lane while the host vehicle and the trailer move along the turn; and controlling the host vehicle using the trailer offset to maintain the host vehicle and the trailer in a lane while the host vehicle and the trailer move along the turn. The method also allows the host vehicle to avoid encroaching vehicles.

公开(公告)号：US12043256B2

公开(公告)日：2024-07-23

申请号：US17805762

申请日：2022-06-07

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Reza Zarringhalam ,  Mohammadali Shahriari ,  Klaus Tranbaek ,  Ashraf Abualfellat

IPC: B60W30/12 ,  B60W10/20 ,  B60W40/02 ,  B60W50/00

CPC classification number: B60W30/12 ,  B60W10/20 ,  B60W40/02 ,  B60W50/0098 ,  B60W2050/0011 ,  B60W2050/0012 ,  B60W2520/125 ,  B60W2520/14 ,  B60W2540/18 ,  B60W2555/20

Abstract: Systems and methods for controlling a vehicle are provided. The systems and methods provide a vehicle dynamics model that relates at least one input vehicle dynamics variable to at least one output vehicle dynamics variable. The systems and methods detect a crosswind impacting the vehicle by detecting a disturbance associated with the vehicle dynamics model caused by the crosswind and adapt control of the vehicle based on the detecting the crosswind impacting the vehicle.