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公开(公告)号：US10988135B2
公开(公告)日：2021-04-27
申请号：US16202673
申请日：2018-11-28
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Bo Yu , Donald G. Wirkner , Heng Zhou
Abstract: An exemplary method for detecting a lateral oscillation of a vehicle includes monitoring yaw rate data and lateral acceleration data of the vehicle, analyzing the yaw rate and lateral acceleration data to generate a yaw rate signal energy distribution and a lateral acceleration signal energy distribution, determining whether a series of conditions are satisfied; and if the conditions are satisfied, automatically controlling the actuator to reduce the lateral oscillation of the vehicle. In some examples, the series of conditions includes the detection of spikes in the yaw rate and lateral acceleration data at approximately the same frequency, a magnitude of the spikes exceeding a first threshold, and a phase shift between the yaw rate and lateral acceleration data exceeding a second threshold.
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公开(公告)号：US20240140475A1
公开(公告)日：2024-05-02
申请号：US18050642
申请日：2022-10-28
Applicant: GM Global Technology Operations LLC
Inventor： Shuqing Zeng , Wei Tong , Heng Zhou , Upali P. Mudalige , Reza Zarringhalam
CPC classification number: B60W60/001 , G06V20/588 , B60W2520/10 , B60W2520/12 , B60W2520/14 , B60W2552/53 , B60W2554/4041 , B60W2554/4045
Abstract: A method for determining a lane centerline includes detecting a remote vehicle ahead of a host vehicle includes determining a trajectory of the remote vehicle that is ahead of the host vehicle, extracting features of the trajectory of the remote vehicle that is ahead of the host vehicle to generate a trajectory feature vector, and classifying the trajectory of the remote vehicle that is ahead of the host vehicle using the trajectory feature vector to determine whether the trajectory of the remote vehicle includes a lane change. The method further includes determining a centerline of the current lane using the trajectory of the remote vehicle that does not include the lane change and commanding the host vehicle to move autonomously along the centerline of the current lane to maintain the host vehicle in the current lane.
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公开(公告)号：US20200164867A1
公开(公告)日：2020-05-28
申请号：US16202673
申请日：2018-11-28
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Bo Yu , Donald G. Wirkner , Heng Zhou
Abstract: An exemplary method for detecting a lateral oscillation of a vehicle includes monitoring yaw rate data and lateral acceleration data of the vehicle, analyzing the yaw rate and lateral acceleration data to generate a yaw rate signal energy distribution and a lateral acceleration signal energy distribution, determining whether a series of conditions are satisfied; and if the conditions are satisfied, automatically controlling the actuator to reduce the lateral oscillation of the vehicle. In some examples, the series of conditions includes the detection of spikes in the yaw rate and lateral acceleration data at approximately the same frequency, a magnitude of the spikes exceeding a first threshold, and a phase shift between the yaw rate and lateral acceleration data exceeding a second threshold.
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