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公开(公告)号：US20210009201A1
公开(公告)日：2021-01-14
申请号：US16508754
申请日：2019-07-11
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Joonho Lee , Qingrong Zhao , Bakhtiar B. Litkouhi
IPC: B62D6/00 , B60W40/068 , B60W40/064
Abstract: Systems and methods are provided for generating adapted tuning parameters for target slip estimation, the parameters being adapted to real-time road surface conditions. The method includes, receiving, from a road surface detection module, a road surface condition, Sn, from among N road surface conditions S, range of friction, mu, and a confidence level, Ci. The method receives sensor system data from a sensor system, and determines, as a function of Sn, range of mu, and Ci, initial estimator values including an estimated initial frictional force {circumflex over (Θ)}(0), an initial gain, P0, and an initial projected range of signal bounds, (Pu) and (Pl). The method tunes (i.e., adapts) the initial estimator values to generate therefrom adapted tuning parameters based on received inputs. The method outputs adapted tuning parameters.
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公开(公告)号：US20230219572A1
公开(公告)日：2023-07-13
申请号：US17575041
申请日：2022-01-13
Applicant: GM Global Technology Operations LLC
Inventor： Joonho Lee , Josh Campbell , Danny John Grignion , Ryan C. Morris , Russell T. Capito , Mark B. Clark , Jason Seunghwa Rhee
CPC classification number: B60W30/18172 , B60W10/04 , B60W10/18 , B60W50/0098 , B60W2540/18 , B60W2520/26 , B60W2710/18 , B60W2050/0026 , B60W2050/0012
Abstract: A system comprises a computer including a processor and a memory. The memory includes instructions such that the processor is programmed to: estimate a slip condition corresponding to at least one vehicle wheel; and generate, via an explicit Nonlinear Model Predictive Control (NMPC) module, control data for operating the at least one vehicle wheel based on the estimated slip condition. The explicit Nonlinear Model Predictive Control (NMPC) module includes a feedforward control module that is configured to generate adjustment data based on the estimated slip condition, wherein the adjustment data modifies the control data.
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公开(公告)号：US11603102B2
公开(公告)日：2023-03-14
申请号：US17135376
申请日：2020-12-28
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Joonho Lee , Jason S. Rhee
Abstract: A vehicle includes a system and method of modeling and controlling a traction of a wheel of the vehicle. The system includes an observer, a predictive controller and an online solver. The observer receives a dynamic model parameter of the wheel and determines an estimate of a wheel velocity and an uncertainty in the wheel velocity using a non-linear model of the wheel. The predictive controller determines an average gain and differential gain from the estimate of the wheel velocity and the uncertainty in the wheel velocity. The online solver calculates a motor torque and a wheel brake torque for increasing the traction of the wheel with a road based on the average gain and the differential gain. The motor torque and the wheel brake torque are applied at the vehicle.
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Patent Agency Ranking
公开(公告)号：US11027776B2
公开(公告)日：2021-06-08
申请号：US16508754
申请日：2019-07-11
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Joonho Lee , Qingrong Zhao , Bakhtiar B. Litkouhi
IPC: B62D6/00 , B60W40/064 , B60W40/068 , G06F16/903
Abstract: Systems and methods are provided for generating adapted tuning parameters for target slip estimation, the parameters being adapted to real-time road surface conditions. The method includes, receiving, from a road surface detection module, a road surface condition, Sn, from among N road surface conditions S, range of friction, mu, and a confidence level, Ci. The method receives sensor system data from a sensor system, and determines, as a function of Sn, range of mu, and Ci, initial estimator values including an estimated initial frictional force {circumflex over (Θ)}(0), an initial gain, P0, and an initial projected range of signal bounds, (Pu) and (Pl). The method tunes (i.e., adapts) the initial estimator values to generate therefrom adapted tuning parameters based on received inputs. The method outputs adapted tuning parameters.
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5.发明申请公开(公告)号：US20200089229A1
公开(公告)日：2020-03-19
申请号：US16133987
申请日：2018-09-18
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Joonho Lee , Vincent DeSapio
Abstract: A method for using a closed-loop control system to control an autonomous system is disclosed, the closed-loop control system comprising an explicit Nonlinear Model Predictive Control (NMPC) framework. The method (i) computes operation parameters for the autonomous system using the closed-loop control system, the output of the explicit NMPC framework comprising the operation parameters; (ii) modifies the output of the explicit NMPC framework to consider unmeasured system states, unknown system model values, and external disturbances, to create modified operation parameters, using an extended high-gain observer (EHGO) to estimate the unmeasured system states and the external disturbances and a dynamic inverter to compute values of unknown input coefficients for a system model of the autonomous system; (iii) generates a modified output signal including the modified operation parameters; and (iv) transmits the modified output signal to control operation of the autonomous system using the modified operation parameters.
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公开(公告)号：US20230219576A1
公开(公告)日：2023-07-13
申请号：US17575131
申请日：2022-01-13
Applicant: GM Global Technology Operations LLC
Inventor： Joonho Lee , Chelsea Gardner , Josh Campbell , Danny John Grignion , Ryan C. Morris , Jason Seunghwa Rhee , Jackie Chan
IPC: B60W40/064 , B60W30/02 , B60W50/00 , B60T8/176 , B60W40/068 , G06N20/00
CPC classification number: B60W40/064 , B60T8/176 , B60W30/02 , B60W40/068 , B60W50/0098 , G06N20/00 , B60T8/175 , B60W2050/0026 , B60W2520/26 , B60W2520/28 , B60W2552/15 , B60W2552/35
Abstract: A system comprises a computer including a processor and a memory. The memory includes instructions such that the processor is programmed to: predict, at a trained machine learning classifier, a target slip value based on a predicted slip slope and a predicted road texture, wherein the predicted slip slope and the predicted road texture are determined using sensor data representing tire forces and modify at least one vehicle action based on the target slip value when a confidence level value corresponding to the target slip value is greater than or equal to a confidence level threshold.
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公开(公告)号：US20220203994A1
公开(公告)日：2022-06-30
申请号：US17135376
申请日：2020-12-28
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Joonho Lee , Jason S. Rhee
Abstract: A vehicle includes a system and method of modeling and controlling a traction of a wheel of the vehicle. The system includes an observer, a predictive controller and an online solver. The observer receives a dynamic model parameter of the wheel and determines an estimate of a wheel velocity and an uncertainty in the wheel velocity using a non-linear model of the wheel. The predictive controller determines an average gain and differential gain from the estimate of the wheel velocity and the uncertainty in the wheel velocity. The online solver calculates a motor torque and a wheel brake torque for increasing the traction of the wheel with a road based on the average gain and the differential gain. The motor torque and the wheel brake torque are applied at the vehicle.
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公开(公告)号：US20190337511A1
公开(公告)日：2019-11-07
申请号：US15969279
申请日：2018-05-02
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Leon Nguyen , Kyungnam Kim , Michael J. Daily , Vincent De Sapio , Joonho Lee
IPC: B60W30/095 , B60W30/09 , B60W40/04
Abstract: An automotive vehicle includes an actuator configured to control vehicle acceleration, steering, or braking. The vehicle additionally includes at least one sensor configured to detect an object in the vicinity of the vehicle. The vehicle further includes at least one controller configured to automatically control the actuator according to an automated driving system algorithm. The at least one controller is configured to define a first vehicle route, detect at least one object in the vicinity of the vehicle; calculate a probabilistic forecast of a future location of the at least one detected object, define a second vehicle route in response to the probabilistic forecast indicating proximity of the at least one detected object to the first route, and to control the actuator to execute the second vehicle route.
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