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公开(公告)号：US11713036B2
公开(公告)日：2023-08-01
申请号：US17511611
申请日：2021-10-27
发明人： Kevin A. O'Dea , Jacob R. Kilver , Avshalom Suissa
CPC分类号： B60W30/02 , B60W40/101 , B60W50/0097 , B60W50/06 , B62D5/0457 , B62D15/021 , B60W2510/20 , B60W2520/10 , B60W2520/12 , B60W2520/14 , B60W2556/60
摘要： A method of maintaining stability of a motor vehicle having a first axle, a second axle, and a steering actuator configured to steer the first axle includes determining localization and heading of the vehicle. The method also includes determining a current side-slip angle of the second axle and setting a maximum side-slip angle of the second axle using the friction coefficient at the vehicle and road surface interface. The method additionally includes predicting when the maximum side-slip angle would be exceeded using the localization, heading, and determined current side-slip angle as inputs to a linear computational model. The method also includes updating the model using the prediction of when the maximum side-slip angle would be exceeded to determine impending instability of the vehicle. Furthermore, the method includes correcting for the impending instability using the updated model and the maximum side-slip angle via modifying a steering angle of the first axle.
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2.发明申请公开(公告)号：US20220274602A1
公开(公告)日：2022-09-01
申请号：US17186649
申请日：2021-02-26
发明人： Reza Zarringhalam , Yongkyun Shin , Mohammadali Shahriari , Avshalom Suissa , Kevin A. O'Dea , Amir Takhmar , Mohammed Raju Hossain
IPC分类号： B60W40/076 , B60W50/00 , B60W40/072
摘要： In exemplary embodiments, methods, systems, and vehicles are provided that include: one or more sensors disposed onboard a vehicle and configured to at least facilitate obtaining sensor data for the vehicle; one or more location systems configured to at least facilitate obtaining location data pertaining to a location of the vehicle; a computer memory configured to store map data pertaining to a path corresponding to the location; and a processor disposed onboard the vehicle and configured to at least facilitate: generating an elevation profile along the path using the sensor data and the map data; and providing instructions for controlling the vehicle using the elevation profile.
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公开(公告)号：US10328935B2
公开(公告)日：2019-06-25
申请号：US15176712
申请日：2016-06-08
发明人： Kevin A. O'Dea , Akshat Rajvanshi
摘要： A system and method are provided for operating an autonomous or semi-autonomous host vehicle. The method includes receiving data measured from a plurality of sensors, wherein the measured data relates to one or more target vehicles in the host vehicle's field of view, calculating a desired speed command based on a driver-selected set-speed and the measured data, detecting initiation of a host vehicle lane change to a desired adjacent lane, and in response to initiation of the lane change, selecting an acceleration profile based on at least one set of operating conditions, calculating a modified speed command by adjusting the desired speed command according to the selected acceleration profile; and controlling a host vehicle speed based on the modified speed command.
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公开(公告)号：US09996986B2
公开(公告)日：2018-06-12
申请号：US14471222
申请日：2014-08-28
发明人： Hualin Tan , Kevin A. O'Dea
CPC分类号： G07C5/00 , G01C25/00 , G01R31/006 , G01R35/005
摘要： Systems, processes, and techniques for calibrating an onboard sensor of a vehicle are presented here. The vehicle has a control system that is capable of performing at least some of the tasks related to the calibration procedure. An exemplary methodology collects vehicle status data and obtains navigation map data during operation of the vehicle. A current calibration factor is calculated for the onboard sensor, based on the collected vehicle status data and the obtained navigation map data. More specifically, the vehicle status and navigation map data can be used to determine when the current conditions are suitable for performing calibration. When the current conditions are satisfactory, the calibration factor is calculated. Thereafter, the onboard sensor can be calibrated in response to the current calibration factor.
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5.发明授权公开(公告)号：US11794751B2
公开(公告)日：2023-10-24
申请号：US17186649
申请日：2021-02-26
发明人： Reza Zarringhalam , Yongkyun Shin , Mohammadali Shahriari , Avshalom Suissa , Kevin A. O'Dea , Amir Takhmar , Mohammed Raju Hossain
IPC分类号： B60W40/076 , B60W50/00 , B60W40/072
CPC分类号： B60W40/076 , B60W40/072 , B60W50/0097 , B60W2420/42 , B60W2552/15 , B60W2556/40
摘要： In exemplary embodiments, methods, systems, and vehicles are provided that include: one or more sensors disposed onboard a vehicle and configured to at least facilitate obtaining sensor data for the vehicle; one or more location systems configured to at least facilitate obtaining location data pertaining to a location of the vehicle; a computer memory configured to store map data pertaining to a path corresponding to the location; and a processor disposed onboard the vehicle and configured to at least facilitate: generating an elevation profile along the path using the sensor data and the map data; and providing instructions for controlling the vehicle using the elevation profile.
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公开(公告)号：US20230126666A1
公开(公告)日：2023-04-27
申请号：US17511611
申请日：2021-10-27
发明人： Kevin A. O'Dea , Jacob R. Kilver , Avshalom Suissa
摘要： A method of maintaining stability of a motor vehicle having a first axle, a second axle, and a steering actuator configured to steer the first axle includes determining localization and heading of the vehicle. The method also includes determining a current side-slip angle of the second axle and setting a maximum side-slip angle of the second axle using the friction coefficient at the vehicle and road surface interface. The method additionally includes predicting when the maximum side-slip angle would be exceeded using the localization, heading, and determined current side-slip angle as inputs to a linear computational model. The method also includes updating the model using the prediction of when the maximum side-slip angle would be exceeded to determine impending instability of the vehicle. Furthermore, the method includes correcting for the impending instability using the updated model and the maximum side-slip angle via modifying a steering angle of the first axle.
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公开(公告)号：US11498619B2
公开(公告)日：2022-11-15
申请号：US16743407
申请日：2020-01-15
摘要： A method for controlling an autonomous vehicle includes: determining whether an autonomous control mode of the autonomous vehicle is active; determining a steering wheel angle bias in response to determining that the autonomous control mode of the autonomous vehicle is active; and controlling, via a steering controller of the autonomous vehicle, an electronic power steering system of the autonomous vehicle using the steering wheel angle bias.
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公开(公告)号：US20220219728A1
公开(公告)日：2022-07-14
申请号：US17149461
申请日：2021-01-14
发明人： Sami Ahmed , Kevin A. O'Dea , Audrey D. Porter , Bakhtiar B. Litkouhi , Nikolai K. Moshchuk , Kausalya Singuru
IPC分类号： B60W60/00 , B60W40/072
摘要： Systems and methods for controlling an autonomous vehicle are described. A trajectory planner module provides a first trajectory to a trajectory control module. The trajectory control module determines parameters of the first trajectory. The trajectory control module compares the parameters to a respective threshold value. The trajectory control module obtains one or more alternative trajectories, determines parameters of each alternative trajectory, and compares the parameters of the alternative trajectory to a respective threshold value. The trajectory control module selects a trajectory for controlling the autonomous vehicle that has parameters which are within a range defined by the threshold values and controls the autonomous vehicle based on the selected trajectory. Thus, before handing back control to a driver, the trajectory control module selects from alternate trajectories for controlling the autonomous vehicle.
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公开(公告)号：US09255988B2
公开(公告)日：2016-02-09
申请号：US14156681
申请日：2014-01-16
发明人： Shuqing Zeng , Jeremy A. Salinger , Bakhtiar B. Litkouhi , Kevin A. O'Dea , Joel Pazhayampallil , Mohannad Murad , James N. Nickolaou
CPC分类号： G01S13/66 , G01S13/726 , G01S13/878 , G01S13/9029 , G01S13/931 , G01S2013/9375 , G01S2013/9378
摘要： A method of detecting and tracking objects using multiple radar sensors. Objects relative to a host vehicle are detected from radar data generated by a sensing device. The radar data includes Doppler measurement data. Clusters are formed, by a processor, as a function of the radar data. Each cluster represents a respective object. Each respective object is classified, by the processor, as stationary or non-stationary based on the Doppler measurement data of each object and a vehicle speed of the host vehicle. Target tracking is applied, by the processor, on an object using Doppler measurement data over time in response to the object classified as a non-stationary object; otherwise, updating an occupancy grid in response to classifying the object as a stationary object.
摘要翻译： 使用多个雷达传感器检测和跟踪物体的方法。 从感测装置生成的雷达数据中检测相对于主车辆的物体。 雷达数据包括多普勒测量数据。 作为雷达数据的函数，由处理器形成群集。 每个集群表示相应的对象。 基于每个物体的多普勒测量数据和主车辆的车速，每个对象被处理器分类为静止或非静止。 目标跟踪由处理器应用于随着时间的多普勒测量数据响应被分类为非静止对象的对象而应用于对象; 否则，响应于将对象分类为静止对象来更新占用网格。
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公开(公告)号：US20150081211A1
公开(公告)日：2015-03-19
申请号：US14028709
申请日：2013-09-17
发明人： Shuqing Zeng , Jeremy A. Salinger , Bakhtiar B. Litkouhi , Joel Pazhayampallil , Kevin A. O'Dea , James N. Nickolaou , Mark E. Shields
IPC分类号： G01C21/30 , B60W30/095 , B60W30/12 , G05D1/02 , G01S13/93
CPC分类号： G01C21/30 , B60W30/0956 , B60W30/12 , G01C21/3602 , G01S5/16 , G01S13/06 , G01S13/931 , G01S19/42 , G01S19/48 , G01S2013/9357 , G05D1/0212
摘要： A method and system for localizing a vehicle in a digital map includes generating GPS coordinates of the vehicle on the traveled road and retrieving from a database a digital map of a region traveled by the vehicle based on the location of the GPS coordinates. The digital map includes a geographic mapping of a traveled road and registered roadside objects. The registered roadside objects are positionally identified in the digital map by longitudinal and lateral coordinates. Roadside objects in the region traveled are sensed by the vehicle. The sensed roadside objects are identified on the digital map. A vehicle position on the traveled road is determined utilizing coordinates of the sensed roadside objects identified in the digital map. The position of the vehicle is localized in the road as a function of the GPS coordinates and the determined vehicle position utilizing the coordinates of the sensed roadside objects.
摘要翻译： 一种用于在数字地图中定位车辆的方法和系统包括在行进路面上生成车辆的GPS坐标，并且从数据库中根据GPS坐标的位置从数据库中检索由车辆行驶的区域的数字地图。 数字地图包括旅行的道路和注册的路边物体的地理地图。 通过纵向和横向坐标在数字地图中确定注册的路边物体。 旅行区域的路边物体被车辆感知。 感测到的路边物体在数字地图上被识别。 使用在数字地图中识别的感测到的路边物体的坐标来确定行进路面上的车辆位置。 根据所感测的路边物体的坐标，车辆的位置作为GPS坐标和确定的车辆位置的函数被定位在道路中。
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