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公开(公告)号：US20240357548A1
公开(公告)日：2024-10-24
申请号：US18303060
申请日：2023-04-19
Applicant: GM Global Technology Operations LLC
Inventor： Prakash M. Peranandam , Jayant Sachdev , Md Mhafuzul Islam
CPC classification number: H04W64/006 , G01C21/3807 , G01C21/3896 , G06T19/003 , H04N7/185 , H04W76/14 , G06Q10/0875
Abstract: An electric mobility device communication system includes one or more electric mobility devices located within a service area, one or more remotely located client servers, and one or more central computers in wireless communication with the one or more electric mobility devices and the one or more remotely located client servers. The central computers execute instructions to receive a service request from one of the client servers. The service request represents a task that one of the electric mobility devices executes within the service area. The central computers determine a total number of electric mobility devices available within the service area. In response to determining more than one electric mobility device is available within the service area, the central computers identify an electric mobility device that executes the service request based on one or more electric mobility device selection criteria and transmit the service request to the electric mobility device.
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2.发明授权公开(公告)号：US11858549B2
公开(公告)日：2024-01-02
申请号：US17093023
申请日：2020-11-09
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Amir Takhmar , Joshua M. Levin , Jimmy Zhong Yan Lu , Jayant Sachdev , Reza Zarringhalam
IPC: B62D15/02
CPC classification number: B62D15/025
Abstract: A method for generating a steering command for controlling a vehicle is provided. The method includes: generating a first vehicle steering control torque command by a steering controller in the vehicle while the vehicle is driven in a semi-autonomous mode; generating an impedance-adjusted vehicle steering angle command based on a first vehicle steering angle command that was generated to compensate for a trajectory error, and a measured driver steering torque command generated in response to navigation of the vehicle using a steering wheel; generating an impedance-adjusted vehicle steering control torque command by the steering controller in the vehicle based on a difference between the impedance-adjusted vehicle steering angle command and a measured vehicle steering angle command; generating a steering command by a power steering system in the vehicle based on the measured driver steering torque command and the impedance-adjusted vehicle steering control torque command; and operating the vehicle in accordance with the steering command.
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公开(公告)号：US20190389470A1
公开(公告)日：2019-12-26
申请号：US16015532
申请日：2018-06-22
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Reza Zarringhalam , Mohammadali Shahriari , Mohammed Raju Hossain , Jayant Sachdev , Amir Takhmar
IPC: B60W30/18
Abstract: An automotive vehicle includes at least one sensor configured to detect a lane marking proximate the vehicle, and to detect velocity, acceleration, and yaw rate of the vehicle. The vehicle also includes a controller in communication with the at least one sensor and configured to selectively control a steering intervention system in a first mode and a second mode. The controller is configured to calculate a plurality of lane departure estimations at a corresponding plurality of time instances, arbitrate among the plurality of lane departure estimations to calculate a predictive time to lane departure, calculate a lane departure confidence value associated with the predictive time to lane departure, and, in response to the confidence value exceeding a first threshold and the predictive time to lane departure being below a second threshold, control the steering intervention system in the second mode.
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公开(公告)号：US11738748B2
公开(公告)日：2023-08-29
申请号：US17072068
申请日：2020-10-16
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Tara Craigen , Mohammadali Shahriari , Jayant Sachdev
CPC classification number: B60W30/12 , G08G1/167 , B60W2420/42 , B60W2520/06 , B60W2520/10 , B60W2540/18 , B60W2540/229 , B60W2552/05
Abstract: The present application generally relates to a method and apparatus for generating an action policy for controlling an autonomous vehicle. In particular, the method and apparatus are operative for detecting, by a vehicle sensor, a distance from a host vehicle to a lane edge, determining a status of a vehicle system, calculating, by a processor, a risk index in response to the status of the vehicle system, calculating, by the processor, an intervention threshold in response to the risk index, generating, by the processor, a vehicle path in response to the distance of the host vehicle to the lane edge being less than the intervention threshold, and controlling the vehicle, by a vehicle controller, in response to the vehicle path.
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公开(公告)号：US11608089B2
公开(公告)日：2023-03-21
申请号：US17092790
申请日：2020-11-09
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Amir Takhmar , Jayant Sachdev , Mohammed Raju Hossain , Nathan Fujimoto , Joshua M. Levin
Abstract: The present application generally relates to a method and apparatus for controlling an autonomous vehicle. In particular, the method and apparatus are operative for detecting, by a sensor, an object within a first vehicle path, generating, by a processor, a second vehicle path in response to either the detection of the object such that the second vehicle path avoids the object, or a user initiated trajectory shift, generating, by the processor, an initial steering torque in response to the second vehicle path, performing, by the processor, an adaptation on the initial steering torque to generate an adapted steering torque in response to the initial steering torque exceeding a torque rate limit, and controlling, by a vehicle controller a host vehicle steering system to follow the second vehicle signal path in response to the adapted steering torque.
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Patent Agency Ranking
公开(公告)号：US20220234651A1
公开(公告)日：2022-07-28
申请号：US17157389
申请日：2021-01-25
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Wenhao Wu , Jayant Sachdev , Bret T. Schulte , Reza Zarringhalam
Abstract: In various embodiments, methods, systems, and vehicle apparatuses are provided. A method for implementing phases of steering override control in a vehicle using a Deep Neural Network (DNN) including receiving, by a steering assist unit disposed of in the vehicle, a set of vehicle inputs including lane data and vehicle sensor interpretation information and driver steering input; configuring a mission planning module to determine a desired path of the vehicle; configuring a vehicle path prediction module to determine a set of a predicted dynamics of the vehicle; configuring a driver override determination module in communication with the DNN to override the automated steering control torque based on a phase of steering control operation and by information of a corresponding intervention phase classified in the DNN, and configuring a lateral control module to override the steering control torque for automated steering assist based on a determined phase of steering control operation and driver input such as driver steering torque and torque rate.
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公开(公告)号：US20220144266A1
公开(公告)日：2022-05-12
申请号：US17092967
申请日：2020-11-09
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Jayant Sachdev , Reza Zarringhalam , Amir Takhmar , Jimmy Zhong Yan Lu , Paul A. Adam , Tetyana V. Mamchuk
Abstract: In various embodiments, methods, systems, and vehicle apparatuses are provided. A method for implementing a lane-keeping assist unit of a vehicle by receiving information of a plurality of road geometries, and driving scenarios wherein at least one driving scenario is combined with a target path that is parallel and biased from a lane center by a desired path offset, and a reference path for guiding the vehicle to merge with the target path; adapting the reference path with control based on a selected road geometry and driving scenario; adjusting the desired path offset by considering lane markings during an intervention for an inner curve, an outer curve and a straight road; controlling the vehicle trajectory for enabling the vehicle to track the reference path; exiting the intervention once a trajectory tracking performance by the vehicle is confirmed; and aborting once an instability of the trajectory tracking performance is confirmed.
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公开(公告)号：US11738749B2
公开(公告)日：2023-08-29
申请号：US17092967
申请日：2020-11-09
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Jayant Sachdev , Reza Zarringhalam , Amir Takhmar , Jimmy Zhong Yan Lu , Paul A. Adam , Tetyana V. Mamchuk
CPC classification number: B60W30/12 , B60W10/20 , B60W30/02 , B60W30/18163 , B60W40/072 , B60W40/08 , B60W60/0013 , B60W10/18 , B60W2540/22 , B60W2552/53
Abstract: In various embodiments, methods, systems, and vehicle apparatuses are provided. A method for implementing a lane-keeping assist unit of a vehicle by receiving information of a plurality of road geometries, and driving scenarios wherein at least one driving scenario is combined with a target path that is parallel and biased from a lane center by a desired path offset, and a reference path for guiding the vehicle to merge with the target path; adapting the reference path with control based on a selected road geometry and driving scenario; adjusting the desired path offset by considering lane markings during an intervention for an inner curve, an outer curve and a straight road; controlling the vehicle trajectory for enabling the vehicle to track the reference path; exiting the intervention once a trajectory tracking performance by the vehicle is confirmed; and aborting once an instability of the trajectory tracking performance is confirmed.
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9.发明申请公开(公告)号：US20220144341A1
公开(公告)日：2022-05-12
申请号：US17093023
申请日：2020-11-09
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Amir Takhmar , Joshua M. Levin , Jimmy Zhong Yan Lu , Jayant Sachdev , Reza Zarringhalam
IPC: B62D15/02
Abstract: A method for generating a steering command for controlling a vehicle is provided. The method includes: generating a first vehicle steering control torque command by a steering controller in the vehicle while the vehicle is driven in a semi-autonomous mode; generating an impedance-adjusted vehicle steering angle command based on a first vehicle steering angle command that was generated to compensate for a trajectory error, and a measured driver steering torque command generated in response to navigation of the vehicle using a steering wheel; generating an impedance-adjusted vehicle steering control torque command by the steering controller in the vehicle based on a difference between the impedance-adjusted vehicle steering angle command and a measured vehicle steering angle command; generating a steering command by a power steering system in the vehicle based on the measured driver steering torque command and the impedance-adjusted vehicle steering control torque command; and operating the vehicle in accordance with the steering command.
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10.发明申请公开(公告)号：US20220144308A1
公开(公告)日：2022-05-12
申请号：US17092790
申请日：2020-11-09
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Amir Takhmar , Jayant Sachdev , Mohammed Raju Hossain , Nathan Fujimoto , Joshua M. Levin
Abstract: The present application generally relates to a method and apparatus for controlling an autonomous vehicle. In particular, the method and apparatus are operative for detecting, by a sensor, an object within a first vehicle path, generating, by a processor, a second vehicle path in response to either the detection of the object such that the second vehicle path avoids the object, or a user initiated trajectory shift, generating, by the processor, an initial steering torque in response to the second vehicle path, performing, by the processor, an adaptation on the initial steering torque to generate an adapted steering torque in response to the initial steering torque exceeding a torque rate limit, and controlling, by a vehicle controller a host vehicle steering system to follow the second vehicle signal path in response to the adapted steering torque.
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