公开(公告)号：US11891073B2

公开(公告)日：2024-02-06

申请号：US16664109

申请日：2019-10-25

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Gabriel T. Choi ,  Paul A. Adam ,  Jeffrey S. Parks ,  Lance A. Smith

IPC: B60W40/114 ,  B60W30/12 ,  B60W40/072 ,  G05D1/02 ,  G05D1/00

CPC classification number: B60W40/114 ,  B60W30/12 ,  B60W40/072 ,  G05D1/0088 ,  G05D1/0246 ,  B60W2420/42 ,  B60W2540/18 ,  B60W2552/30 ,  G05D2201/0213

Abstract: A control system for a vehicle using a forward-facing camera includes a look ahead module configured to determine a distance to a look ahead point. A lane center module determines a location of a lane center line. A vehicle center line module determines a location of a vehicle center line. A first lateral offset module determines a first lateral offset based on the look ahead point and the determined lane center line. A second lateral offset module determines a second lateral offset based on the determined lane center line and the vehicle center line. A yaw angle offset calculating module receives the first lateral offset, the second lateral offset and the distance to the look ahead point, calculates a yaw angle offset, and compensates a yaw angle error based on the yaw angle offset.

公开(公告)号：US20190184957A1

公开(公告)日：2019-06-20

申请号：US15843411

申请日：2017-12-15

Applicant: GM Global Technology Operations LLC

Inventor： Yixin Yao ,  Lance A. Smith ,  Leibing Yu

IPC: B60T17/22 ,  G01R31/28 ,  G07C5/08

CPC classification number: B60T17/221 ,  B60T2270/404 ,  B60T2270/406 ,  B60T2270/82 ,  G01R31/2829 ,  G07C5/0808

Abstract: Examples of techniques for fault diagnosis for fault tolerant chassis architecture systems are disclosed. In one example implementation according to aspects of the present disclosure, a computer-implemented method includes receiving, by a processing device, a control variable for the system. The method further includes receiving, by the processing device, a measured variable for the system. The method further includes calculating, by the processing device, a residual based at least in part on the control variable and the measured variable. The method further includes performing, by the processing device, a fault diagnosis to detect a fault in the system based at least in part on the residual.