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.