公开(公告)号：US20180029603A1

公开(公告)日：2018-02-01

申请号：US15223817

申请日：2016-07-29

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： SeyedAlireza Kasaiezadeh Mahabadi ,  Ehsan Hashemi ,  Amir Khajepour ,  Shih-ken Chen ,  Bakhtiar B. Litkouhi

IPC: B60W40/105 ,  B60W40/101 ,  B60W40/107 ,  B60W30/14 ,  B60T8/172

CPC classification number: B60W40/105 ,  B60L3/102 ,  B60L3/108 ,  B60T8/172 ,  B60T8/1755 ,  B60T2201/16 ,  B60T2250/04 ,  B60W30/14 ,  B60W40/101 ,  B60W40/107 ,  B60W40/114 ,  B60W2520/28 ,  G06F19/00

Abstract: A system and method for computationally estimating a directional velocity of a vehicle in real time under different configurations and road conditions for use in vehicle antilock braking, adaptive cruise control, and traction and stability control by correcting measured accelerations with respect to the estimated road angles. A time window is used to provide reliable mapped acceleration for the transient regions and maneuvers on gravel surfaces with high fluctuations in the acceleration measurement. Longitudinal and lateral accelerations are mapped from the vehicle's CG into the tire coordinates using the vehicle's geometry, lateral velocity, yaw rate, and the steering wheel angle to generate system matrices of the combined kinematic-force estimation structure.

公开(公告)号：US10427678B2

公开(公告)日：2019-10-01

申请号：US15621242

申请日：2017-06-13

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Nikolai K. Moshchuk ,  Shih-ken Chen

IPC: B60W30/12 ,  B60W10/20 ,  G05B1/00 ,  G05B1/02 ,  G05D1/00 ,  G05D1/02 ,  B62D6/00 ,  B62D15/02

Abstract: A method for providing low speed lateral steering control for a vehicle is disclosed. The method includes receiving sensor data corresponding to a road wheel angle, determining a planned vehicle path of travel, defining a road wheel angle search range based on a maximum road wheel angle rate, determining a steering control goal using the road wheel angle that tracks and measures a difference between a current vehicle path and the planned vehicle path, determining an optimal steering control signal using the road wheel angle and the steering control goal and providing the control signal to a steering controller.

公开(公告)号：US20180354513A1

公开(公告)日：2018-12-13

申请号：US15621242

申请日：2017-06-13

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Nikolai K. Moshchuk ,  Shih-ken Chen

IPC: B60W30/12 ,  G05D1/00 ,  G05D1/02 ,  B60W10/20

CPC classification number: B60W30/12 ,  B60W10/20 ,  B62D6/002 ,  B62D15/025 ,  G05D1/0088 ,  G05D1/0223 ,  G05D1/0229

Abstract: A method for providing low speed lateral steering control for a vehicle is disclosed. The method includes receiving sensor data corresponding to a road wheel angle, determining a planned vehicle path of travel, defining a road wheel angle search range based on a maximum road wheel angle rate, determining a steering control goal using the road wheel angle that tracks and measures a difference between a current vehicle path and the planned vehicle path, determining an optimal steering control signal using the road wheel angle and the steering control goal and providing the control signal to a steering controller.

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。

公开(公告)号：US10040460B2

公开(公告)日：2018-08-07

申请号：US15223817

申请日：2016-07-29

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： SeyedAlireza Kasaiezadeh Mahabadi ,  Ehsan Hashemi ,  Amir Khajepour ,  Shih-ken Chen ,  Bakhtiar B. Litkouhi

IPC: B60W40/105 ,  B60W30/14 ,  B60T8/172 ,  B60W40/107 ,  B60W40/101 ,  B60L3/10 ,  B60W40/114 ,  B60T8/1755 ,  G06F19/00

Abstract: A system and method for computationally estimating a directional velocity of a vehicle in real time under different configurations and road conditions for use in vehicle antilock braking, adaptive cruise control, and traction and stability control by correcting measured accelerations with respect to the estimated road angles. A time window is used to provide reliable mapped acceleration for the transient regions and maneuvers on gravel surfaces with high fluctuations in the acceleration measurement. Longitudinal and lateral accelerations are mapped from the vehicle's CG into the tire coordinates using the vehicle's geometry, lateral velocity, yaw rate, and the steering wheel angle to generate system matrices of the combined kinematic-force estimation structure.

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.

公开(公告)号：US20190389473A1

公开(公告)日：2019-12-26

申请号：US16013081

申请日：2018-06-20

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Shih-ken Chen ,  Bakhtiar B. Litkouhi ,  Valery Pylypchuk

IPC: B60W40/10 ,  G01M17/02 ,  B60K31/00 ,  B60T8/32 ,  B60W30/14 ,  B60W30/02

Abstract: A system and method for computationally estimating a tire normal force for use in vehicle antilock braking, adaptive cruise control, and traction and stability control by correcting measured accelerations with respect to the estimated road angles. The system and method are operative to measure an acceleration at three points on a sprung mass of the vehicle and estimate a tire normal force of a tire in response to the three acceleration measurements as an input to the vehicle controller.

公开(公告)号：US09623877B2

公开(公告)日：2017-04-18

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: G01M17/00 ,  B60W40/11 ,  B60W40/076 ,  B60W50/00

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.

公开(公告)号：US20160068166A1

公开(公告)日：2016-03-10

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: B60W40/112

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.

Abstract translation: 用于车辆的系统实时地和大体上同时地估计车辆侧倾角和道路行驶角度。 该系统包括被配置为测量车辆滚动速率的传感器，处理器; 和计算机可读介质。 介质包括指令，当由处理器执行时，使得处理器执行包括使用观测器估计和由传感器测量的车辆滚动速率的车辆滚动速率的操作。 这些操作还包括估计，使用观察者和测量的车辆滚动率，车辆侧倾角度，以及基于估计的车辆滚动速度和所估计的车辆侧倾角来估计道路行驶角度。