公开(公告)号：US10399600B2

公开(公告)日：2019-09-03

申请号：US15592756

申请日：2017-05-11

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Matthew G. Adams ,  Dean C. Degazio ,  Kelvin Chen Chih Peng

IPC: G05D1/02 ,  G05D1/00 ,  G07C5/02 ,  B62D15/02

Abstract: A method of controlling a vehicle having an automated driving system configured to control vehicle steering includes determining a commanded vehicle path. The method additionally includes calculating a steering command to satisfy the commanded vehicle path. The method also includes controlling vehicle steering, via the automated driving system, according to the steering command. The method further controls detecting a difference between an actual vehicle path and the commanded vehicle path, and, in response to the detected difference, controlling the vehicle according to a secondary mode.

公开(公告)号：US09933786B2

公开(公告)日：2018-04-03

申请号：US15240074

申请日：2016-08-18

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Padma Sundaram ,  Keun Jae Kim ,  Rami I. Debouk ,  Dean C. Degazio

IPC: G05D1/02 ,  B60W10/20 ,  B60W10/184 ,  B60W10/04 ,  B60W30/12 ,  G05D1/00 ,  B60W30/095

CPC classification number: G05D1/0234 ,  B60W10/04 ,  B60W10/06 ,  B60W10/10 ,  B60W10/184 ,  B60W10/20 ,  B60W30/095 ,  B60W30/0953 ,  B60W30/12 ,  B60W50/04 ,  B60W2600/00 ,  B60W2710/00 ,  B62D15/0265 ,  G05D1/0077 ,  G05D1/0088 ,  G05D2201/0213

Abstract: An automotive vehicle includes a vehicle steering system, an actuator configured to control the steering system, a first controller, and a second controller. The first controller is in communication with the actuator. The first controller is programmed with a primary automated driving system control algorithm and is configured to communicate an actuator control signal based on the primary automated driving system control algorithm. The second controller is in communication with the actuator and with the first controller. The second controller is configured to, in response to a first predicted vehicle path based on the actuator control signal deviating from a current lane, control the actuator to maintain a current actuator setting. The second controller is also configured to, in response to the first predicted vehicle path being within the current lane, control the actuator according to the actuator control signal.

公开(公告)号：US20200039533A1

公开(公告)日：2020-02-06

申请号：US16052803

申请日：2018-08-02

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Berlinda Q. Bai ,  Dean C. Degazio ,  Esayas Naizghi ,  Gurmitsingh M. Banvait ,  Sidharth Nakra

IPC: B60W50/04 ,  G07C5/08 ,  B60W10/04 ,  B60W10/20 ,  B60W10/18 ,  G05D1/00

Abstract: An automotive vehicle includes at least one sensor configured to detect features in a region proximate the exterior of the vehicle, at least one actuator configured to control vehicle steering, propulsion, shifting, or braking, and an automated driving system selectively operable in a nominal mode and in a degraded mode. The automated driving system is configured to generate an actuator control signal for the at least one actuator in response to sensor signals from the at least one sensor. The automated driving system includes a computational accelerator processor. The vehicle further includes a monitor processor in communication with the automated driving system. The monitor processor is configured to provide a test input for processing by the computational accelerator processor, receive a test output from the computational accelerator processor, and in response to the test output not satisfying a validation criterion, control the automated driving system in the degraded mode.

公开(公告)号：US20180329419A1

公开(公告)日：2018-11-15

申请号：US15592756

申请日：2017-05-11

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Matthew G. Adams ,  Dean C. Degazio ,  Kelvin Chen Chih Peng

IPC: G05D1/02 ,  G05D1/00 ,  B62D15/02 ,  G07C5/02

CPC classification number: B62D15/025 ,  G05D1/0088 ,  G05D1/0212 ,  G07C5/02

Abstract: A method of controlling a vehicle having an automated driving system configured to control vehicle steering includes determining a commanded vehicle path. The method additionally includes calculating a steering command to satisfy the commanded vehicle path. The method also includes controlling vehicle steering, via the automated driving system, according to the steering command. The method further controls detecting a difference between an actual vehicle path and the commanded vehicle path, and, in response to the detected difference, controlling the vehicle according to a secondary mode.

公开(公告)号：US10981578B2

公开(公告)日：2021-04-20

申请号：US16052803

申请日：2018-08-02

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Berlinda Q. Bai ,  Dean C. Degazio ,  Esayas Naizghi ,  Gurmitsingh M. Banvait ,  Sidharth Nakra

IPC: B60W50/04 ,  G07C5/08 ,  B60W10/04 ,  B60W10/20 ,  B60W10/18 ,  G05D1/00 ,  B60W50/00

Abstract: An automotive vehicle includes at least one sensor configured to detect features in a region proximate the exterior of the vehicle, at least one actuator configured to control vehicle steering, propulsion, shifting, or braking, and an automated driving system selectively operable in a nominal mode and in a degraded mode. The automated driving system is configured to generate an actuator control signal for the at least one actuator in response to sensor signals from the at least one sensor. The automated driving system includes a computational accelerator processor. The vehicle further includes a monitor processor in communication with the automated driving system. The monitor processor is configured to provide a test input for processing by the computational accelerator processor, receive a test output from the computational accelerator processor, and in response to the test output not satisfying a validation criterion, control the automated driving system in the degraded mode.

公开(公告)号：US20180052469A1

公开(公告)日：2018-02-22

申请号：US15240074

申请日：2016-08-18

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Padma Sundaram ,  Keun Jae Kim ,  Rami I. Debouk ,  Dean C. Degazio

IPC: G05D1/02 ,  B60W10/20 ,  B60W10/184 ,  B60W10/04 ,  B60W30/12 ,  G05D1/00 ,  B60W30/095

CPC classification number: G05D1/0234 ,  B60W10/04 ,  B60W10/06 ,  B60W10/10 ,  B60W10/184 ,  B60W10/20 ,  B60W30/095 ,  B60W30/0953 ,  B60W30/12 ,  B60W50/04 ,  B60W2600/00 ,  B60W2710/00 ,  B62D15/0265 ,  G05D1/0077 ,  G05D1/0088 ,  G05D2201/0213

Abstract: An automotive vehicle includes a vehicle steering system, an actuator configured to control the steering system, a first controller, and a second controller. The first controller is in communication with the actuator. The first controller is programmed with a primary automated driving system control algorithm and is configured to communicate an actuator control signal based on the primary automated driving system control algorithm. The second controller is in communication with the actuator and with the first controller. The second controller is configured to, in response to a first predicted vehicle path based on the actuator control signal deviating from a current lane, control the actuator to maintain a current actuator setting. The second controller is also configured to, in response to the first predicted vehicle path being within the current lane, control the actuator according to the actuator control signal.

公开(公告)号：US20180050692A1

公开(公告)日：2018-02-22

申请号：US15240092

申请日：2016-08-18

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Keun Jae Kim ,  Padma Sundaram ,  Rami I. Debouk ,  Dean C. Degazio ,  Brian N. Siskoy

IPC: B60W30/09 ,  G05D1/00 ,  B60W10/04 ,  B60W10/10 ,  B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  G05D1/02 ,  G01C21/34

CPC classification number: B60W30/09 ,  B60W10/04 ,  B60W10/06 ,  B60W10/10 ,  B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  B60W50/0098 ,  B60W2050/0062 ,  B60W2420/52 ,  B60W2420/54 ,  B60W2710/0605 ,  B60W2710/10 ,  B60W2710/18 ,  B60W2710/20 ,  B62D15/025 ,  G01C21/34 ,  G01S19/13 ,  G01S19/48 ,  G05D1/0077 ,  G05D1/0088 ,  G05D1/0212 ,  G05D2201/0213

Abstract: An automotive vehicle a vehicle steering system, an actuator configured to control the steering system, a first controller, and a second controller. The first controller is in communication with the actuator, and the second controller is in communication with the actuator and with the first controller. The first controller is configured to communicate an actuator control signal based on a primary automated driving system control algorithm. The actuator control signal includes a commanded actuator setting. The second controller is configured to, in response to a first condition being satisfied, control the actuator according to the actuator control signal. The second controller is also configured to, in response to a second condition being satisfied, control the actuator according to a modified actuator control signal. The modified actuator control signal corresponds to an intermediate actuator setting between the commanded actuator setting and a current actuator setting.