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    UNIFIED MOTION PLANNING ALGORITHM FOR AUTONOMOUS DRIVING VEHICLE IN OBSTACLE AVOIDANCE MANEUVER
    1.
    发明申请
    UNIFIED MOTION PLANNING ALGORITHM FOR AUTONOMOUS DRIVING VEHICLE IN OBSTACLE AVOIDANCE MANEUVER 有权
    用于自行驾驶车辆的综合运动规划算法

    公开(公告)号：US20150353082A1

    公开(公告)日：2015-12-10

    申请号：US14297493

    申请日：2014-06-05

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： JIN-WOO LEE ,  UPALI PRIYANTHA MUDALIGE ,  TIANYU GU ,  JOHN M. DOLAN

    IPC: B60W30/09 ,  B60W40/06

    CPC classification number: B60W30/09 ,  B60W10/20 ,  B60W30/10 ,  B60W2550/402 ,  B60W2720/10

    Abstract: A method for automated lane centering and/or lane changing purposes for a vehicle traveling on a roadway that employs roadway points from a map database to determine a reference vehicle path and sensors on the vehicle for detecting static and moving objects to adjust the reference path. The method includes reducing the curvature of the reference path to generate a reduced curvature reference path that reduces the turning requirements of the vehicle and setting the speed of the vehicle from posted roadway speeds from the map database. The method also includes providing multiple candidate vehicle paths and vehicle speeds to avoid the static and moving objects in front of the vehicle.

    Abstract translation: 一种用于在巷道上行驶的车辆的自动车道对中和/或车道改变目的的方法，该车辆采用来自地图数据库的道路点以确定参考车辆路径，并且在车辆上用于检测静态和移动物体以调整参考路径的传感器。 该方法包括减小参考路径的曲率，以产生减小车辆的转弯要求的减小的曲率基准路径，并且从地图数据库设置车辆的速度与公路车道速度。 该方法还包括提供多个候选车辆路径和车辆速度以避免车辆前方的静态和移动物体。

    Optimal Fusion Of Electric Park Brake And Hydraulic Brake Sub-System Functions To Control Vehicle Direction
    3.
    发明申请
    Optimal Fusion Of Electric Park Brake And Hydraulic Brake Sub-System Functions To Control Vehicle Direction 有权
    电动公园制动器和液压制动器子系统的最佳融合功能来控制车辆方向

    公开(公告)号：US20130253793A1

    公开(公告)日：2013-09-26

    申请号：US13894674

    申请日：2013-05-15

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： JIN-WOO LEE ,  BAKHTIAR BRIAN LITKOUHI

    IPC: B60T8/1755 ,  B60T7/12

    CPC classification number: B60T8/17557 ,  B60T7/12 ,  B60T2201/08 ,  B60T2260/02 ,  B60T2270/402 ,  B60W30/12 ,  B60W50/029 ,  B60W2050/0025 ,  B60W2710/182 ,  B60W2720/14 ,  B62D9/005 ,  B62D15/025

    Abstract: A method, for controlling direction of a vehicle as desired in connection with operation of an autonomous driving maneuver using selectively, independently and/or in combination, multiple electrical park brakes (EPBs) and multiple hydraulic brakes (HBs). The method includes determining a total brake force needed for redirecting the vehicle in a pre-determined manner, and determining whether an applicable EPB can provide the total brake force needed. The method further includes providing, if it is determined that the applicable EPB can provide the total brake force needed, a brake command instructing the applicable EPB to apply the total brake force. The method also includes determining, if it is determined that the EPB is alone insufficient, an optimal fusion of the EPBs and the HBs, including two front and two rear HBs, two rear EPBs, and in some embodiments, also two front EPBs.

    Abstract translation: 一种用于根据自主驾驶操作的操作来控制车辆的方向的方法，其使用选择性地，独立地和/或组合地使用多个电动驻车制动器（EPB）和多个液压制动器（HB）。 该方法包括以预定的方式确定重新定向车辆所需的总制动力，以及确定适用的EPB是否可以提供所需的总制动力。 该方法还包括如果确定可应用的EPB可以提供所需的总制动力，则提供指示可应用的EPB施加总制动力的制动指令。 该方法还包括确定，如果确定EPB单独不足，则EPB和HBs的最佳融合，包括两个前部和后部HB，两个后部EPB，并且在一些实施例中也是两个前部EPB。

    ENHANCED VEHICLE LATERAL CONTROL (LANE FOLLOWING/LANE KEEPING/LANE CHANGING CONTROL) FOR TRAILERING VEHICLES
    4.
    发明申请
    ENHANCED VEHICLE LATERAL CONTROL (LANE FOLLOWING/LANE KEEPING/LANE CHANGING CONTROL) FOR TRAILERING VEHICLES 有权

    公开(公告)号：US20170247054A1

    公开(公告)日：2017-08-31

    申请号：US15054676

    申请日：2016-02-26

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： JIN-WOO LEE ,  BAKHTIAR B. LITKOUHI

    IPC: B62D15/02

    CPC classification number: B62D15/029 ,  B62D13/00 ,  B62D15/0295

    Abstract: A method for providing a warning that a trailer being towed by a vehicle will cross out of a travel lane when in a curve for the current vehicle path prior to the vehicle entering the curve. The method determines that the vehicle is approaching the curve, determines a radius of curvature of the curve, determines a lane width of the travel lane, and identifying a length of the trailer. The method also determines a predicted steering angle of the vehicle necessary to follow the radius of curvature of the curve, a turn radius of the vehicle for traveling through the curve using the predicted steering angle, and a turn radius of the trailer using the turn radius of the vehicle. The method then determines whether the trailer will cross out of the travel lane based on the curvature of the curve and the turn radius of the trailer.

    EFFECTIVE ROLLING RADIUS
    5.
    发明申请
    EFFECTIVE ROLLING RADIUS 审中-公开

    公开(公告)号：US20180237000A1

    公开(公告)日：2018-08-23

    申请号：US15440725

    申请日：2017-02-23

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： BAKHTIAR B. LITKOUHI ,  JIN-WOO LEE

    IPC: B60W30/02 ,  G01S19/42 ,  G01S19/52 ,  B60W10/20 ,  B60W10/04 ,  B60W10/10 ,  B60W40/12

    Abstract: Systems and method are provided for controlling a vehicle. In one embodiment, a method includes receiving, via a processor, image data of a surroundings of the vehicle. The method includes performing, via a processor, image analysis on the image data to identify road features. The method includes matching, via a processor, the identified road features to road features in a predetermined map to determine matched road features. The method includes determining, via a processor, global positioning data for the vehicle based on global positioning data in the predetermined map and the matched road features. The method also includes calibrating, via a processor, effective rolling radius of a wheel of the vehicle based at least on the global position data. The method further includes controlling, via a processor, a function of the vehicle based, in part, on the effective rolling radius.

    VEHICLES AND STEERING SYSTEMS FOR VEHICLES PROVIDING HAPTIC FEEDBACK
    6.
    发明申请
    VEHICLES AND STEERING SYSTEMS FOR VEHICLES PROVIDING HAPTIC FEEDBACK 审中-公开

    公开(公告)号：US20180362075A1

    公开(公告)日：2018-12-20

    申请号：US15627309

    申请日：2017-06-19

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： JIN-WOO LEE ,  BAKHTIAR B. LITKOUHI ,  CHANDRA S. NAMUDURI

    IPC: B62D6/00 ,  B62D3/12 ,  B62D1/16 ,  B62D5/04 ,  B62D15/02 ,  B62D5/00 ,  F16H25/22 ,  F16H25/20 ,  F16D37/02

    Abstract: Vehicles and steering systems for vehicles are provided. An exemplary steering system is provided for an automotive vehicle that includes road wheels and a rack mechanically coupled to the road wheels and laterally displaceable to change an orientation of the road wheels. The steering system includes a steering wheel mounted on a steering column and rotatable by a driver for inputting a steering command. The steering system also includes a lower column coupled to the rack. In the steering system, lateral displacement of the rack causes a rotational torque on the lower column. The steering system further includes a magneto-rheological coupling interconnected between the steering column and the lower column. The magneto-rheological coupling selectively communicates a desired portion of the rotational torque on the lower column to the steering column to provide haptic feedback to the steering column.

    ENHANCED STEERING WHEEL HOLD DETECTION BY A HYBRID METHOD
    8.
    发明申请
    ENHANCED STEERING WHEEL HOLD DETECTION BY A HYBRID METHOD 审中-公开
    增强转向轮通过混合方法保持检测

    公开(公告)号：US20170029021A1

    公开(公告)日：2017-02-02

    申请号：US15216916

    申请日：2016-07-22

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： JIN-WOO LEE ,  Bakhtiar B. Litkouhi ,  Stephen R. Pastor ,  Kenneth L. Oblizajek

    IPC: B62D6/00 ,  G05D1/00 ,  B62D15/02 ,  B62D5/04

    CPC classification number: B62D6/00 ,  B62D5/0457 ,  B62D15/025 ,  G05D1/0061 ,  G05D1/0088

    Abstract: A system and method for determining whether a driver is holding a vehicle steering wheel. The vehicle will include an electric power steering system and may further include autonomous or semi-autonomous driving features, such as Lane Centering Control or Lane Keeping Assist. The system includes a passive detection technique which monitors steering torque and steering angle, determines a resonant frequency of oscillation of the steering system from the measured data, and compares the resonant frequency to a known steering system natural frequency to make a hands-on/off determination. If the passive technique results are below a confidence threshold, then an active technique is employed which provides a steering angle perturbation and measures the frequency response, where the perturbation signal has characteristics which are prescribed based on the results of the passive technique. A steering torque greater than a threshold value is also an indication of the driver holding the steering wheel.

    Abstract translation: 一种用于确定驾驶员是否保持车辆方向盘的系统和方法。 车辆将包括电动助力转向系统，并且还可以包括自主或半自主的驾驶特征，例如车道居中控制或车道保持辅助。 该系统包括监测转向转矩和转向角的被动检测技术，根据测量数据确定转向系统的振荡谐振频率，并将谐振频率与已知的转向系统固有频率进行比较，以进行实际操作/关闭 决心。 如果无源技术结果低于置信阈值，则采用主动技术，其提供转向角扰动并测量频率响应，其中扰动信号具有基于被动技术的结果规定的特征。 大于阈值的转向扭矩也是保持方向盘的驾驶员的指示。

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