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公开(公告)号：US20200041304A1
公开(公告)日：2020-02-06
申请号：US16050189
申请日：2018-07-31
Applicant: GM Global Technology Operations LLC
Inventor： Carlos E. Arreaza , Amin Abdossalami , Norman J. Weigert , Daniel S. Maitlen , David M. Sidlosky
Abstract: A method for producing high resolution virtual wheel speed sensor data includes simultaneously collecting wheel speed sensor (WSS) data from multiple wheel speed sensors each sensing rotation of one of multiple wheels of an automobile vehicle. A camera image is generated of a vehicle environment from at least one camera mounted in the automobile vehicle. An optical flow program is applied to discretize the camera image in pixels. Multiple distance intervals are overlayed onto the discretized camera image each representing a vehicle distance traveled defining a resolution of each of the multiple wheel speed sensors. A probability distribution function is created predicting a distance traveled for a next WSS output.
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公开(公告)号：US09616900B2
公开(公告)日：2017-04-11
申请号：US14888630
申请日：2014-05-02
Applicant: GM Global Technology Operations llc
Inventor： Shih-ken Chen , David M. Sidlosky , Jin-Jae Chen , Nikolai K. Moshchuk
IPC: G01M17/00 , B60W40/112 , B60W40/06 , B60W30/04
CPC classification number: B60W40/112 , B60W30/04 , B60W40/06 , B60W2400/00 , B60W2420/905 , B60W2520/18
Abstract: A system, for use at a vehicle to estimate vehicle roll angle and road bank angle, in real time and generally simultaneously. The system includes a sensor configured to measure vehicle roll rate, a processor; and a computer-readable medium. The medium includes instructions that, when executed by the processor, cause the processor to perform operations comprising estimating, using an observer and the vehicle roll rate measured by the sensor, a vehicle roll rate. The operations also include estimating, using an observer and a measured vehicle roll rate, the vehicle roll angle, and estimating, based on the vehicle roll rate estimated and the vehicle roll angle estimated, the road bank angle.
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3.发明申请STEERING SYSTEM FOR AN AUTONOMOUSLY DRIVEN VEHICLE AND METHODS OF STEERING THE SAME 有权自动驾驶车辆的转向系统及其转向方法公开(公告)号：US20140277893A1
公开(公告)日：2014-09-18
申请号：US13826122
申请日：2013-03-14
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Kenneth L. Rosol , David M. Sidlosky , Robert W. Leschuk , Scott R. Kloess , John T. Zuzelski , Eric L. Raphael , Yat-Chung Tang , Stephen Pastor
IPC: B62D6/00
CPC classification number: B62D6/00 , B60W10/20 , B62D1/28 , B62D1/286 , B62D5/003 , B62D5/30 , B62D7/148 , B62D7/159
Abstract: A steering system for an autonomously driven vehicle and methods of steering the vehicle are disclosed. A main controller signals a secondary steering assembly to operate in a first phase when a power steering controller is in a first mode and a second phase to steer the vehicle when the power steering controller is in a second mode. The main controller signals a friction device to actuate to a disengaged position when the power steering controller is in the first mode and the secondary steering assembly is in the first phase, and to signal the friction device to actuate to an engaged position to secure a steering wheel in an initial position when the power steering controller is in the second mode and the secondary steering assembly is in the second phase to allow the secondary steering assembly to steer the vehicle.
Abstract translation: 公开了一种用于自主驾驶车辆的转向系统和转向车辆的方法。 当动力转向控制器处于第一模式时，主控制器指示次级转向组件在第一阶段中操作，而当动力转向控制器处于第二模式时，主控制器指示第二阶段来转向车辆。 当动力转向控制器处于第一模式并且次级转向组件处于第一阶段时，主控制器用信号通知摩擦装置致动到脱离位置，并且向摩擦装置发出信号以致动到接合位置以固定转向 当动力转向控制器处于第二模式并且次级转向组件处于第二阶段以允许辅助转向组件转向车辆时，车轮处于初始位置。
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4.发明授权Steering system for an autonomously driven vehicle and methods of steering the same 有权用于自主驾驶车辆的转向系统及其转向方法公开(公告)号：US08886412B2
公开(公告)日：2014-11-11
申请号：US13826122
申请日：2013-03-14
Applicant: GM Global Technology Operations LLC
Inventor： Kenneth L. Rosol , David M. Sidlosky , Robert W. Leschuk , Scott R. Kloess , John T. Zuzelski , Eric L. Raphael , Yat-Chung Tang , Stephen Pastor
CPC classification number: B62D6/00 , B60W10/20 , B62D1/28 , B62D1/286 , B62D5/003 , B62D5/30 , B62D7/148 , B62D7/159
Abstract: A steering system for an autonomously driven vehicle and methods of steering the vehicle are disclosed. A main controller signals a secondary steering assembly to operate in a first phase when a power steering controller is in a first mode and a second phase to steer the vehicle when the power steering controller is in a second mode. The main controller signals a friction device to actuate to a disengaged position when the power steering controller is in the first mode and the secondary steering assembly is in the first phase, and to signal the friction device to actuate to an engaged position to secure a steering wheel in an initial position when the power steering controller is in the second mode and the secondary steering assembly is in the second phase to allow the secondary steering assembly to steer the vehicle.
Abstract translation: 公开了一种用于自主驾驶车辆的转向系统和转向车辆的方法。 当动力转向控制器处于第一模式时，主控制器指示次级转向组件在第一阶段中操作，而当动力转向控制器处于第二模式时，主控制器指示第二阶段来转向车辆。 当动力转向控制器处于第一模式并且次级转向组件处于第一阶段时，主控制器用信号通知摩擦装置致动到脱离位置，并且向摩擦装置发出信号以致动到接合位置以固定转向 当动力转向控制器处于第二模式并且次级转向组件处于第二阶段以允许辅助转向组件转向车辆时，车轮处于初始位置。
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5.发明授权公开(公告)号：US10272919B2
公开(公告)日：2019-04-30
申请号：US14510862
申请日：2014-10-09
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Youssef A. Ghoneim , Qingrong Zhao , Qi Zhang , Bakhtiar B. Litkouhi , Yingmei Si , David M. Sidlosky , Valarie V. Boatman , Sami Ahmed
IPC: B60W40/06 , B60W40/068
Abstract: Methods and systems for determining road surface information in a vehicle. In one embodiment, the method includes: determining at least one condition assessment value based on steering data; determining a feature set to include at least one of self-aligning torque (SAT), slip angle, SAT variance, steering rate, and lateral acceleration based on the condition assessment value; processing steering data obtained during a steering maneuver and associated with the feature set using a pattern classification technique; and determining a surface type based on the processing.
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Patent Agency Ranking
6.发明授权公开(公告)号：US09645250B2
公开(公告)日：2017-05-09
申请号：US14680894
申请日：2015-04-07
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Shuqing Zeng , David M. Sidlosky , David W. Doerr
CPC classification number: G01S19/52 , G01S7/42 , G01S13/588 , G01S13/86 , G01S19/42 , G08G1/0104
Abstract: A method for providing redundant vehicle speed estimation. The method includes providing sensor output signals from a plurality of primary sensors and providing inertial measurement signals from an inertial measurement unit. The method also includes estimating the vehicle speed in a primary module using the primary sensor signals, and buffering the estimated vehicle speed values from the primary module for a predetermined period of time. The method further includes determining that one or more of the primary sensors or the primary module has failed, and if so, estimating the vehicle speed in a secondary module using the buffered vehicle speed values and the inertial measurement signals. The method can use GPS signal data and/or range data from static objects to improve the estimated vehicle speed in the secondary module if they are available.
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7.发明申请FAIL OPERATIONAL VEHICLE SPEED ESTIMATION THROUGH DATA FUSION OF 6-DOF IMU, GPS, AND RADAR 有权6自由度IMU，GPS和雷达的数据融合失败的运行车速估计公开(公告)号：US20160299234A1
公开(公告)日：2016-10-13
申请号：US14680894
申请日：2015-04-07
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Shuqing Zeng , David M. Sidlosky , David W. Doerr
CPC classification number: G01S19/52 , G01S7/42 , G01S13/588 , G01S13/86 , G01S19/42 , G08G1/0104
Abstract: A method for providing redundant vehicle speed estimation. The method includes providing sensor output signals from a plurality of primary sensors and providing inertial measurement signals from an inertial measurement unit. The method also includes estimating the vehicle speed in a primary module using the primary sensor signals, and buffering the estimated vehicle speed values from the primary module for a predetermined period of time. The method further includes determining that one or more of the primary sensors or the primary module has failed, and if so, estimating the vehicle speed in a secondary module using the buffered vehicle speed values and the inertial measurement signals. The method can use GPS signal data and/or range data from static objects to improve the estimated vehicle speed in the secondary module if they are available.
Abstract translation: 一种用于提供冗余车速估计的方法。 该方法包括提供来自多个主传感器的传感器输出信号，并提供来自惯性测量单元的惯性测量信号。 该方法还包括使用主传感器信号来估计主模块中的车速，并且在预定时间段内缓冲来自主模块的估计车速值。 该方法还包括确定主传感器或主模块中的一个或多个已经失败，如果是，则使用缓冲的车速值和惯性测量信号来估计次级模块中的车速。 该方法可以使用来自静态对象的GPS信号数据和/或范围数据来改善辅助模块中的估计车辆速度（如果它们可用）。
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8.发明申请INTEGRATED GRADE AND PITCH ESTIMATION USING A THREE-AXIS INERTIAL-MEASURING DEVICE 有权使用三轴惯性测量装置的集成等级和俯仰估计公开(公告)号：US20160068165A1
公开(公告)日：2016-03-10
申请号：US14888657
申请日：2014-05-02
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Shih-ken Chen , Nikolai K. Moshchuk , Jin-Jae Chen , David M. Sidlosky
IPC: B60W40/11 , B60W40/076
CPC classification number: B60W40/11 , B60W40/076 , B60W2050/0031 , B60W2050/0035 , B60W2420/905 , B60W2520/16
Abstract: A system for use at a vehicle to estimate vehicle pitch angle and road grade angle, in real time and generally simultaneously. The system includes a sensor configured to measure vehicle pitch rate, a processor, and a computer-readable medium. The medium includes computer-executable instructions that, when executed by the processor, cause the processor to perform operations comprising estimating, using an observer and the vehicle pitch rate measured by the sensor, an estimated vehicle pitch rate. The operations further comprise estimating, using an observer and the measured vehicle pitch rate, the vehicle pitch angle, and estimating, based on the estimated vehicle pitch rate and the vehicle pitch angle estimated, the road grade angle.
Abstract translation: 一种用于车辆的系统，用于实时地和大体上同时地估计车辆俯仰角和道路坡度角。 该系统包括被配置为测量车辆俯仰速率的传感器，处理器和计算机可读介质。 介质包括计算机可执行指令，当由处理器执行时，该指令使处理器执行包括使用观测器估计和由传感器测量的车辆俯仰速率的估计车辆俯仰速率的操作。 这些操作进一步包括基于估计的车辆俯仰速度和所估计的车辆俯仰角来估计使用观察者和所测量的车辆俯仰速率，车辆俯仰角以及估计道路坡度角。
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9.发明申请STEERING SYSTEM FOR AN AUTONOMOUSLY DRIVEN VEHICLE AND METHODS OF STEERING THE SAME 审中-公开自动驾驶车辆的转向系统及其转向方法公开(公告)号：US20140214256A1
公开(公告)日：2014-07-31
申请号：US13750408
申请日：2013-01-25
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Kenneth L. Rosol , David M. Sidlosky , Robert W. Leschuk , Eric L. Raphael , Scott R. Kloess , Yat-Chung Tang , John T. Zuzelski
IPC: G05D1/02
Abstract: A steering system for an autonomously driven vehicle and methods of steering the vehicle are disclosed. A brake device is operable in a first phase to brake the vehicle when a power steering controller is in a first mode and operable in a second phase to steer the vehicle when the power steering controller is in a second mode. A main controller is in communication with a friction device to signal the friction device to actuate to a disengaged position when the power steering controller is in the first mode and the brake device is in the first phase, and signal the friction device to actuate to an engaged position to secure a steering wheel in an initial position when the power steering controller is in the second mode and the brake device is in the second phase to allow the brake device to steer the vehicle.
Abstract translation: 公开了一种用于自主驾驶车辆的转向系统和转向车辆的方法。 当动力转向控制器处于第一模式时，制动装置可在第一阶段中操作以制动车辆，并且当动力转向控制器处于第二模式时可在第二阶段中操作以转向车辆。 当动力转向控制器处于第一模式并且制动装置处于第一阶段时，主控制器与摩擦装置通信以指示摩擦装置致动到脱离位置，并且将摩擦装置发信号通到一个 当动力转向控制器处于第二模式并且制动装置处于第二阶段以允许制动装置转向车辆时，将方向盘固定在初始位置。
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公开(公告)号：US09797726B2
公开(公告)日：2017-10-24
申请号：US14822231
申请日：2015-08-10
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Shih-Ken Chen , Nikolai K. Moshchuk , Bakhtiar B. Litkouhi , Jin-Jae Chen , David M. Sidlosky
Abstract: A reduced-order fail-safe inertial measurement unit system. A first inertial measurement unit device includes a plurality of accelerometers measuring linear accelerations and gyroscopes measuring angular velocities. A second inertial measurement unit device includes a reduced number of accelerometers and gyroscopes relative to the first inertial measurement unit device measuring at least two linear accelerations and at least one angular velocity. A processor receives acceleration data from the first and second inertial measurement units. The processor detects faulty data measurements from the first inertial measurement unit. The processor supplements the faulty data measurements of the first inertial measurement unit with transformed data generated as a function of the measurement data from the second inertial measurement unit. The processor applies predetermined transformation solutions to transform the measurement data from the second inertial measurement unit into the transformed data. The processing unit provides the transformed data to the safety applications of the vehicle.
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