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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：US11987241B2
公开(公告)日：2024-05-21
申请号：US17078320
申请日：2020-10-23
Applicant: GM Global Technology Operations LLC
Inventor： Jimmy Zhong Yan Lu , Mohammadali Shahriari , Reza Zarringhalam
CPC classification number: B60W30/12 , B60W60/001 , B60W2510/202 , B60W2520/14
Abstract: An autonomous vehicle and a system and method for operating the autonomous vehicle. The system includes a sensor and a processor. A disturbance force or yaw moment is received on the autonomous vehicle. The sensor measures a position of the autonomous vehicle within a lane of a road with respect to road boundaries and lane markings. The processor is configured to resist an effect of a disturbance force or yaw moment received on the autonomous vehicle. The processor minimizes a tracking error between a path of the autonomous vehicle and an initial track lane, wherein resisting the effect creates an inflection point in the path of the autonomous vehicle, establishes a final track lane at a closer of a lateral position of the inflection point and a lane center to the initial track lane, and tracks the path to the final track lane.
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Patent Agency Ranking
公开(公告)号：US20220126823A1
公开(公告)日：2022-04-28
申请号：US17078320
申请日：2020-10-23
Applicant: GM Global Technology Operations LLC
Inventor： Jimmy Zhong Yan Lu , Mohammadali Shahriari , Reza Zarringhalam
Abstract: An autonomous vehicle and a system and method for operating the autonomous vehicle. The system includes a sensor and a processor. A disturbance force or yaw moment is received on the autonomous vehicle. The sensor measures a position of the autonomous vehicle within a lane of a road with respect to road boundaries and lane markings. The processor is configured to resist an effect of a disturbance force or yaw moment received on the autonomous vehicle. The processor minimizes a tracking error between a path of the autonomous vehicle and an initial track lane, wherein resisting the effect creates an inflection point in the path of the autonomous vehicle, establishes a final track lane at a closer of a lateral position of the inflection point and a lane center to the initial track lane, and tracks the path to the final track lane.
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4.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：US20220126851A1
公开(公告)日：2022-04-28
申请号：US17078359
申请日：2020-10-23
Applicant: GM Global Technology Operations LLC
Inventor： Jimmy Zhong Yan Lu , Mohammadali Shahriari , Reza Zarringhalam
Abstract: An autonomous vehicle and a system and method of operating the autonomous vehicle. The system includes a processor. A driver-applied steering torque is received at the autonomous vehicle while the autonomous vehicle is following an initial target path via a path tracking program. The processor receives the driver-applied steering torque and allows a driver to adjust a path of the autonomous vehicle from the initial target path to a final target path determined through the driver-applied steering torque.
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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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7.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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