公开(公告)号：US12221182B2

公开(公告)日：2025-02-11

申请号：US18065894

申请日：2022-12-14

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Tushita Arun Sikder ,  Jackson Barry McGrory ,  Jimmy Lu ,  Mohammadali Shahriari

IPC: B62D6/00 ,  B62D15/02

Abstract: Methods and systems are provided for controlling a vehicle comprising an Electric Power Steering System (EPS). In an embodiment, a method includes determining, by the processor, a lateral acceleration reference based on reference path data and vehicle dynamics data; determining, by the processor, coefficient data based on at least one of measured lateral acceleration data and measured steering angle data, and measured torque data; determining, by the processor, a torque command based on the coefficient and the reference lateral acceleration data; and generating, by the processor, a steering command to the EPS based on the torque command.

公开(公告)号：US20230035637A1

公开(公告)日：2023-02-02

申请号：US17444005

申请日：2021-07-29

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Nikolai K Moshchuk ,  David Perez-Chaparro ,  Kausalya Singuru ,  Hualin Tan ,  Jin-Jae Chen ,  Mohammadali Shahriari ,  Ping Mi ,  Jimmy Lu

IPC: B60W60/00

Abstract: Methods and systems are provided for controlling an autonomous vehicle. In one embodiment, a method includes: A method of controlling an autonomous vehicle, comprising: receiving, by a processor, a first set of data obtained from an inertial measurement unit of the vehicle; receiving, by the processor, a second set of data obtained from a global positioning system of the vehicle; receiving, by the processor, a third set of data obtained from a camera of the vehicle; determining, by the processor, at least two vehicle states relative to markings of a lane by processing the first set of data, the second set of data, and the third set of data as measurement with an extended Kalman filter; and controlling, by the processor, the vehicle based on the at least two vehicle states.

公开(公告)号：US20250018940A1

公开(公告)日：2025-01-16

申请号：US18353051

申请日：2023-07-14

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Reza Zarringhalam ,  Jimmy Lu ,  Jackson Barry McGrory ,  Mohammed Raju Hossain ,  Kin Man Michael Wong ,  Amirreza Mirbeygi Moghaddam

IPC: B60W30/12 ,  B60W10/20 ,  B60W50/00 ,  B60W60/00

Abstract: Vehicles and related systems and methods are provided for mitigating lane departures, alternatively referred to as lane keeping assistance. One method of assisting vehicle operation involves determining a control trajectory for the vehicle over a prediction horizon that satisfies one or more steering angle constraints for operating a steering system of the vehicle based at least in part on a current steering angle, a first difference between the control trajectory and a reference lateral trajectory for the vehicle and a second difference between the control trajectory and a lane boundary, for example, by minimizing a weighted sum of the differences. The method continues by determining a steering angle command for the vehicle based at least in part on the control trajectory and autonomously operating one or more actuators onboard the vehicle in accordance with the steering angle command prior to the vehicle crossing the lane boundary.

公开(公告)号：US12084075B2

公开(公告)日：2024-09-10

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：US20240199113A1

公开(公告)日：2024-06-20

申请号：US18065894

申请日：2022-12-14

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Tushita Arun Sikder ,  Jackson Barry McGrory ,  Jimmy Lu ,  Mohammadali Shahriari

IPC: B62D6/00 ,  B62D15/02

CPC classification number: B62D6/00 ,  B62D15/021

Abstract: Methods and systems are provided for controlling a vehicle comprising an Electric Power Steering System (EPS). In an embodiment, a method includes determining, by the processor, a lateral acceleration reference based on reference path data and vehicle dynamics data; determining, by the processor, coefficient data based on at least one of measured lateral acceleration data and measured steering angle data, and measured torque data; determining, by the processor, a torque command based on the coefficient and the reference lateral acceleration data; and generating, by the processor, a steering command to the EPS based on the torque command.

公开(公告)号：US12005933B2

公开(公告)日：2024-06-11

申请号：US17456988

申请日：2021-11-30

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Kin Man Michael Wong ,  Matthew P Kempeinen ,  Jimmy Lu ,  Brian Porto ,  Reza Zarringhalam

IPC: B60W60/00 ,  B60W30/09 ,  B60W30/12 ,  B60W50/10

CPC classification number: B60W60/0055 ,  B60W30/09 ,  B60W30/12 ,  B60W50/10 ,  B60W60/007 ,  B60W2510/202 ,  B60W2520/10 ,  B60W2520/12 ,  B60W2530/10 ,  B60W2540/18 ,  B60W2552/30 ,  B60W2552/40 ,  B60W2552/50 ,  B60W2554/803 ,  B60W2554/804 ,  B60W2555/20

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 path-based automated driving assist mode; receiving, by the processor, driver input including a driver torque; classifying, by the processor, an operation mode based on a type of the path-based automated driving assist mode; determining, by the processor, an override threshold for overriding the path-based automated driving assist mode on a first lateral side of the autonomous vehicle based on the operation mode; determining, by the processor, a driver override status based on the override torque threshold; and generating, by the processor, control signals to control the steering of the autonomous vehicle based on the driver override status and the driver torque.

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：US11794777B1

公开(公告)日：2023-10-24

申请号：US17812622

申请日：2022-07-14

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Avshalom Suissa ,  Jimmy Lu

IPC: B60W40/00 ,  B60W60/00 ,  B60W40/114

CPC classification number: B60W60/001 ,  B60W40/114 ,  B60W2510/222 ,  B60W2520/06 ,  B60W2520/10 ,  B60W2520/14 ,  B60W2530/10 ,  B60W2530/201 ,  B60W2552/15

Abstract: Motion control systems and methods are provided in a vehicle. In one embodiment, a motion control system includes a controller. The controller is configured to: receive target trajectory data associated with an upcoming trajectory of the autonomous vehicle; determine a yaw rate reference and a relative heading reference associated with the upcoming target trajectory based on a numerical integration of the target trajectory data; and control a trajectory of the autonomous vehicle based on the yaw rate reference and the relative heading reference.

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：US20220097689A1

公开(公告)日：2022-03-31

申请号：US17033251

申请日：2020-09-25

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Gurmeet S. Sidhu ,  Jimmy Lu ,  Tooba A. Sheikh ,  Jaeeun Choi ,  Zahra Haeri ,  David G. Biancaniello

IPC: B60W30/09 ,  G08G1/16 ,  B60W30/095 ,  G01S19/52 ,  B60W50/14 ,  B60K35/00 ,  B60R1/12 ,  B60W10/18 ,  B60W10/30 ,  B60Q9/00

Abstract: The present application relates to a system for providing alert notifications of possible vehicle contact events including a vehicle controller for determining a first velocity of a host vehicle, a sensor for determining a second velocity of a proximate vehicle, a processor configured for predicting a time of intersection of the first velocity and the second velocity generating a control signal in response to the time of intersection being less than a first threshold time, and a controller configured for providing a vehicle contact warning and performing a contact preparation action in response to the control signal.