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公开(公告)号：US10345812B2
公开(公告)日：2019-07-09
申请号：US15402436
申请日：2017-01-10
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Pinaki Gupta
Abstract: A method for performing autonomous operation of a vehicle is provided. The method obtains object data, by a plurality of vehicle onboard sensors; obtains road data, by one or more cameras onboard the vehicle; determines, by at least one processor, an initial vehicle trajectory, based on the object data and the road data; identifies, by the at least one processor, a set of constraints associated with the initial vehicle trajectory; determines a final vehicle trajectory, based on the potential vehicle trajectory and the set of constraints; and transmits the final vehicle trajectory to a steering mechanism onboard the vehicle.
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2.发明授权Asynchronous-to-synchronous clutch torque exchange in a hybrid electric vehicle 有权混合动力汽车中的异步到同步离合器扭矩交换公开(公告)号：US08938342B1
公开(公告)日：2015-01-20
申请号：US13950794
申请日：2013-07-25
Applicant: GM Global Technology Operations LLC
Inventor： Pinaki Gupta , Lawrence A. Kaminsky , Sean W. McGrogan
CPC classification number: B60W10/11 , B60W10/02 , B60W10/08 , B60W20/30 , B60W2540/10 , B60W2540/16 , B60W2710/021 , Y10T477/6937 , Y10T477/6939 , Y10T477/693958 , Y10T477/755 , Y10T477/78
Abstract: A vehicle includes torque sources, a transmission, and a controller programmed to execute a method. In executing the associated method, the controller determines whether continuous output torque is required through a torque exchange. When continuous output torque is required, the controller synchronizes and fills the oncoming clutch, estimates capacity of the oncoming clutch, and expands a short-term torque capacity of the oncoming clutch during the torque exchange, doing so in response to a control objective having a threshold priority. Onset of the torque exchange delays until the short-term torque capacity is sufficient for receiving all torque load from the offgoing clutch without affecting output torque. The controller asynchronously controls the offgoing clutch and synchronously controls the oncoming clutch through the torque exchange, and loads the synchronous oncoming clutch via an expanding set of long-control torque capacity limits as a function of a simultaneously exhausting of the offgoing clutch load.
Abstract translation: 车辆包括扭矩源，变速器和被编程为执行方法的控制器。 在执行相关联的方法时，控制器通过扭矩交换确定是否需要连续的输出转矩。 当需要连续输出转矩时，控制器同步并填充即将到来的离合器，估计迎面而来的离合器的容量，并且在扭矩交换期间扩展迎面而来的离合器的短期扭矩容量，响应于具有 门槛优先。 扭矩交换的开始延迟，直到短期扭矩能力足以从离合离合器接收所有转矩负载而不影响输出转矩。 控制器异步地控制脱离离合器，并通过扭矩交换同步控制迎面而来的离合器，并通过扩展的一组长控制转矩容量限制装载同步到来的离合器，作为离合离合器负载的同时排气的功能。
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公开(公告)号：US20210089030A1
公开(公告)日：2021-03-25
申请号：US16582513
申请日：2019-09-25
Applicant: GM Global Technology Operations LLC
Inventor： Syed B. Mehdi , Sayyed Rouhollah Jafari Tafti , Pinaki Gupta
Abstract: A system or method implemented by an autonomous vehicle involves determining a path plan to reach a destination from an origin. The path plan includes two or more path steps indicating tasks to be completed to reach the destination. The method includes, during traversal of the path plan by the autonomous vehicle, evaluating one or more of the two or more path steps of a planning horizon to determine a behavior plan for the planning horizon. The planning horizon is based on a current position of the autonomous vehicle, the behavior plan includes a speed and a trajectory, and the evaluating includes performing a cost analysis using a parallelized tree-based decision scheme at each of two or more simulation intervals within the planning horizon. The evaluating and the determining the behavior plan is repeated at two or more positions of the autonomous vehicle from the origin to the destination.
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公开(公告)号：US20210061282A1
公开(公告)日：2021-03-04
申请号：US16551218
申请日：2019-08-26
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Sayyed Rouhollah Jafari Tafti , Pinaki Gupta
Abstract: In various embodiments, methods, systems, and vehicles are provided for executing a lane change for a host vehicle. In various embodiments, one or more sensors obtain sensor data pertaining to target vehicles in proximity to the host vehicle; and a processor at least facilitates: obtaining, using the sensor data, predictions as to future positions and movement of the target vehicle; identifying a plurality of gaps through which the host vehicle may accomplish the lane change, based on the predictions; calculating a cost for each of the plurality of gaps; selecting, a selected gap of the plurality of gaps, having a minimized cost; and executing the lane change for the host vehicle via the selected gap.
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5.发明申请公开(公告)号：US20200290619A1
公开(公告)日：2020-09-17
申请号：US16352918
申请日：2019-03-14
Applicant: GM Global Technology Operations LLC
Inventor： Syed B. Mehdi , Pinaki Gupta , Upali P. Mudalige
Abstract: Presented are automated driving systems and control logic for intelligent vehicle operation in transient driving conditions, methods for constructing/operating such systems, and vehicles equipped with such systems. A method for controlling an automated driving operation includes a vehicle controller receiving path plan data with location, destination, and predicted path data for a vehicle. From the received path plan data, the controller predicts an upcoming maneuver for driving the vehicle between start and goal lane segments. The vehicle controller determines a predicted route with lane segments connecting the start and goal lane segments, and segment maneuvers for moving the vehicle between the start, goal, and route lane segments. A cost value is calculated for each segment maneuver; the controller determines if a cost values exceeds a corresponding criticality value. If so, the controller transmits commands a resident vehicle subsystem to execute a control operation associated with taking the first predicted route.
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Patent Agency Ranking
6.发明授权公开(公告)号：US11741719B2
公开(公告)日：2023-08-29
申请号：US16552686
申请日：2019-08-27
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Brent N. Bacchus , Pinaki Gupta , Sayyed Rouhollah Jafari Tafti
IPC: G06V20/58 , G05D1/00 , B60W50/00 , G06V10/764
CPC classification number: G06V20/58 , B60W50/0097 , G05D1/0088 , G06V10/764
Abstract: An autonomous vehicle, system and method of navigating the autonomous vehicle. The system includes one or more sensors for obtaining data with respect to a remote stationary vehicle, and a processor. The processor is configured to classify the remote stationary vehicle into an object hypothesis based on the data, determine an actionable behavior of the autonomous vehicle based on a probability for the object hypothesis, and navigate the autonomous vehicle with respect to the remote vehicle via the actionable behavior.
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公开(公告)号：US10196086B2
公开(公告)日：2019-02-05
申请号：US15234413
申请日：2016-08-11
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Pinaki Gupta , Jin-Woo Lee
IPC: B62D6/00 , B62D5/04 , B62D11/00 , B62D11/02 , G05B15/02 , G05D1/02 , B62D7/15 , B62D9/00 , G05D1/00
Abstract: A method for performing autonomous operation of a vehicle is provided. The method identifies, by at least one processor, an error condition of an electric power steering (EPS) device onboard the vehicle; obtains, by the at least one processor, input trajectory data for the autonomous operation of the vehicle; calculates, by the at least one processor, a feedforward rear steer angle, based on the input trajectory data; calculates, by the at least one processor, a feedback signal of the feedforward rear steer angle; calculates, by the at least one processor, a final steer angle command, using the feedforward rear steer angle and the feedback signal; and operates a steering mechanism of the vehicle using the final steer angle command, to autonomously maneuver the vehicle according to the final steer angle command.
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8.发明申请ASYNCHRONOUS-TO-SYNCHRONOUS CLUTCH TORQUE EXCHANGE IN A HYBRID ELECTRIC VEHICLE 有权混合电动车中的异步同步离合器转矩换向公开(公告)号：US20150032342A1
公开(公告)日：2015-01-29
申请号：US13950794
申请日：2013-07-25
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Pinaki Gupta , Lawrence A. Kaminsky , Sean W. McGrogan
CPC classification number: B60W10/11 , B60W10/02 , B60W10/08 , B60W20/30 , B60W2540/10 , B60W2540/16 , B60W2710/021 , Y10T477/6937 , Y10T477/6939 , Y10T477/693958 , Y10T477/755 , Y10T477/78
Abstract: A vehicle includes torque sources, a transmission, and a controller programmed to execute a method. In executing the associated method, the controller determines whether continuous output torque is required through a torque exchange. When continuous output torque is required, the controller synchronizes and fills the oncoming clutch, estimates capacity of the oncoming clutch, and expands a short-term torque capacity of the oncoming clutch during the torque exchange, doing so in response to a control objective having a threshold priority. Onset of the torque exchange delays until the short-term torque capacity is sufficient for receiving all torque load from the offgoing clutch without affecting output torque. The controller asynchronously controls the offgoing clutch and synchronously controls the oncoming clutch through the torque exchange, and loads the synchronous oncoming clutch via an expanding set of long-control torque capacity limits as a function of a simultaneously exhausting of the offgoing clutch load.
Abstract translation: 车辆包括扭矩源，变速器和被编程为执行方法的控制器。 在执行相关联的方法时，控制器通过扭矩交换确定是否需要连续的输出转矩。 当需要连续输出转矩时，控制器同步并填充即将到来的离合器，估计迎面而来的离合器的容量，并且在扭矩交换期间扩展迎面而来的离合器的短期扭矩容量，响应于具有 门槛优先。 扭矩交换的开始延迟，直到短期扭矩能力足以从离合离合器接收所有转矩负载而不影响输出转矩。 控制器异步地控制脱离离合器，并通过扭矩交换同步控制迎面而来的离合器，并通过扩展的一组长控制转矩容量限制装载同步到来的离合器，作为离合离合器负载的同时排气的功能。
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9.发明申请公开(公告)号：US20210061293A1
公开(公告)日：2021-03-04
申请号：US16552686
申请日：2019-08-27
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Brent N. Bacchus , Pinaki Gupta , Sayyed Rouhollah Jafari Tafti
Abstract: An autonomous vehicle, system and method of navigating the autonomous vehicle. The system includes one or more sensors for obtaining data with respect to a remote stationary vehicle, and a processor. The processor is configured to classify the remote stationary vehicle into an object hypothesis based on the data, determine an actionable behavior of the autonomous vehicle based on a probability for the object hypothesis, and navigate the autonomous vehicle with respect to the remote vehicle via the actionable behavior.
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公开(公告)号：US20210048825A1
公开(公告)日：2021-02-18
申请号：US16539306
申请日：2019-08-13
Applicant: GM Global Technology Operations LLC
Abstract: Systems and methods to control an autonomous vehicle to travel from an origin to a destination include determining a route between the origin and the destination using a map. A method includes determining an initial path along the route by optimizing a first cost function, the first cost function including a static cost component at a first set of locations along the route, and the static cost component at each location among the first set of locations along the route corresponding to a change in field of view of one or more sensors of the autonomous vehicle resulting from one or more static obstructions at the location that are indicated on the map. The method also includes controlling the autonomous vehicle to begin the travel on the route along the initial path.
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