公开(公告)号：US20240067220A1

公开(公告)日：2024-02-29

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

CPC classification number: B60W60/0025 ,  B60W40/06 ,  B60W2520/125 ,  B60W2530/203 ,  B60W2552/20

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：US11858549B2

公开(公告)日：2024-01-02

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

CPC classification number: B62D15/025

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：US20230406406A1

公开(公告)日：2023-12-21

申请号：US17807439

申请日：2022-06-17

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Reza Zarringhalam ,  Jimmy Lu ,  Brian Porto ,  Ethan Thomas Dietrich

IPC: B62D6/00 ,  B62D5/04

CPC classification number: B62D6/00 ,  B62D5/0457

Abstract: Methods, systems and a vehicle control system for a vehicle is provided. The vehicle control system includes an Electric Power Steering System (EPS), and a sensor system including a vehicle dynamics sensor configured to provide vehicle dynamics data and a temperature sensor configured to provide measured outside temperature. A processor is in operable communication with the EPS and the sensor system. The processor is configured to execute program instructions. The program instructions are configured to cause the processor to: execute an automated lateral control algorithm based on the vehicle dynamics data to generate a steering command, adapt the automated lateral control algorithm based on the measured outside temperature so that the steering command compensates for changing lateral response of the vehicle as a result of changing environmental temperature; and provide the steering command to the EPS, wherein the EPS is configured to laterally control the vehicle based on the steering command

公开(公告)号：US11814098B2

公开(公告)日：2023-11-14

申请号：US17198851

申请日：2021-03-11

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Mohammadali Shahriari ,  Amir Takhmar ,  Reza Zarringhalam ,  Klaus Trangbaek

IPC: B62D13/02 ,  B62D5/04 ,  B62D15/02 ,  B60D1/24 ,  B60W30/12 ,  B60D1/62

CPC classification number: B62D13/025 ,  B60D1/248 ,  B62D5/0463 ,  B62D15/025 ,  B60D1/62 ,  B60W30/12

Abstract: In various embodiments, methods, systems, and vehicle apparatuses are provided. A method for adaptive control of electronic power steering (EPS) including sending, a torque control to an EPS that is based on input control signals from a vehicle trajectory control unit and a steering assistive control unit when the vehicle is coupled to a trailer engaging in a trailering action; configuring the steering assistive control unit, to generate a control signal based on an algorithm using an adaptive factor that models steering dynamics impacted by the trailer while engaging in the trailering action and modeling by the steering assistive control unit, an adaptive damping factor modeled on a tongue weight of a trailer coupled to a hitch of the vehicle wherein the hitch reduces a force applied to a vehicle front axle.

公开(公告)号：US20230174086A1

公开(公告)日：2023-06-08

申请号：US17457224

申请日：2021-12-01

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Jimmy Lu ,  Reza Zarringhalam ,  Kin Man Michael Wong ,  Jackson Barry McGrory ,  Mehdi Abroshan ,  Puneet Bagga ,  Zhi Li

IPC: B60W50/10 ,  B60W60/00 ,  G01L3/10

CPC classification number: B60W50/10 ,  B60W60/0055 ,  G01L3/10 ,  B60W2540/18 ,  B60W2554/801

Abstract: In accordance with an exemplary embodiment, methods and systems are provided for controlling steering of an autonomous vehicle. The method includes: operating, by a processor, the autonomous vehicle in a semi-automated mode; receiving, by the processor, driver input including a measured driver torque; receiving, by the processor, threat data; determining, by the processor, a steering command bias based on an impedance relation, impedance parameters, the measured driver torque, and the threat data; determining, by the processor, a reference angle based on the steering command bias and a desired angle; and generating, by the processor, control data to control the steering of the autonomous vehicle based on the reference angle.

公开(公告)号：US20230150514A1

公开(公告)日：2023-05-18

申请号：US17526662

申请日：2021-11-15

Applicant: GM Global Technology Operations LLC

Inventor： Mohammadali Shahriari ,  Reza Zarringhalam ,  Haley Marie Dalzell ,  Khizar Ahmad Qureshi ,  Patrick Francis Pirrmann

IPC: B60W40/10 ,  G01C21/34

CPC classification number: B60W40/10 ,  G01C21/3461 ,  B60W2552/30 ,  B60W2552/15 ,  B60W2552/53

Abstract: A system includes a computing device. The computing device includes a processor and a memory, the memory including instructions such that the processor is configured to: transform vehicle dynamics data to corresponding roadway geometry data, calculate a rationalization value based on a difference between the roadway geometry data and map-based roadway geometry data, and determine whether to modify a vehicle state based on the rationalization value.

公开(公告)号：US11634128B2

公开(公告)日：2023-04-25

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 ,  B60W10/18 ,  B60W10/20 ,  B60W50/14 ,  G06V20/56

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：US20230091406A1

公开(公告)日：2023-03-23

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

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：US11420638B2

公开(公告)日：2022-08-23

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 ,  B60W30/12 ,  G05D1/00 ,  G05D1/02

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：US20220126851A1

公开(公告)日：2022-04-28

申请号：US17078359

申请日：2020-10-23

Applicant: GM Global Technology Operations LLC

Inventor： Jimmy Zhong Yan Lu ,  Mohammadali Shahriari ,  Reza Zarringhalam

IPC: B60W50/12 ,  G05D1/02 ,  B60W60/00

Abstract: An autonomous vehicle and a system and method of operating the autonomous vehicle. The system includes a processor. A driver-applied steering torque is received at the autonomous vehicle while the autonomous vehicle is following an initial target path via a path tracking program. The processor receives the driver-applied steering torque and allows a driver to adjust a path of the autonomous vehicle from the initial target path to a final target path determined through the driver-applied steering torque.