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公开(公告)号：US20230382403A1
公开(公告)日：2023-11-30
申请号：US17824444
申请日：2022-05-25
Applicant: GM Global Technology Operations LLC
Inventor： Hualin Tan , Paul Guillermo Otanez , SeyedAlireza Kasaiezadeh Mahabadi , Bharath Pattipati , Ruixing Long , Lapo Frascati , Giulio Boni
IPC: B60W40/105 , B60W40/06 , B60W50/02 , B60W50/14 , G06V20/56
CPC classification number: B60W40/105 , B60W40/06 , B60W50/0205 , B60W50/14 , G06V20/588 , B60W2050/0083
Abstract: A system for estimating a lateral velocity and a longitudinal velocity of a vehicle includes a plurality of sensors for monitoring data indicative of a travel state of the vehicle and one or more controllers in electronic communication with the plurality of sensors. The one or more controllers executes instructions to receive the data indicative of the travel state of the vehicle from the plurality of sensors. The one or more controllers estimate at least one initial estimated state of the vehicle based on the data indicative of the travel state of the vehicle. The one or more controllers fuse together the data indicative of the travel state of the vehicle with the at least one initial estimated state of the vehicle to determine the lateral velocity and a longitudinal velocity of the vehicle based on a single state estimation scheme.
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公开(公告)号：US11573119B2
公开(公告)日：2023-02-07
申请号：US16250380
申请日：2019-01-17
Applicant: GM Global Technology Operations LLC
Inventor： Xiaoyu Huang , Xueying Kang , Hualin Tan
Abstract: A method for dynamically determining a mass of a vehicle including a propulsion system coupled to a drive wheel is described, and includes monitoring vehicle operating conditions, executing an event-based estimation method based upon the vehicle operating conditions to determine a first vehicle mass state, and executing a recursive estimation method based upon the vehicle operating conditions to determine a second vehicle mass state. A final vehicle mass is determined based upon the first and second vehicle mass states.
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公开(公告)号：US20230035637A1
公开(公告)日：2023-02-02
申请号：US17444005
申请日：2021-07-29
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Nikolai K Moshchuk , David Perez-Chaparro , Kausalya Singuru , Hualin Tan , Jin-Jae Chen , Mohammadali Shahriari , Ping Mi , Jimmy Lu
IPC: B60W60/00
Abstract: Methods and systems are provided for controlling an autonomous vehicle. In one embodiment, a method includes: A method of controlling an autonomous vehicle, comprising: receiving, by a processor, a first set of data obtained from an inertial measurement unit of the vehicle; receiving, by the processor, a second set of data obtained from a global positioning system of the vehicle; receiving, by the processor, a third set of data obtained from a camera of the vehicle; determining, by the processor, at least two vehicle states relative to markings of a lane by processing the first set of data, the second set of data, and the third set of data as measurement with an extended Kalman filter; and controlling, by the processor, the vehicle based on the at least two vehicle states.
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公开(公告)号：US11338796B1
公开(公告)日：2022-05-24
申请号：US17124664
申请日：2020-12-17
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Yubiao Zhang , SeyedAlireza Kasaiezadeh Mahabadi , Ehsan Asadi , Naser Mehrabi , Hualin Tan
Abstract: A traction control module includes a sensor/estimation module configured to output wheel stability data based on a plurality of wheel condition inputs and a wheel stability monitoring module configured to calculate a plurality of wheel stability predictors based on the wheel stability data. Each of the wheel stability predictors is independently indicative of a wheel slip condition. The traction control module further includes a wheel stability data fusion module configured to receive each of the plurality of wheel stability predictors, combine selected wheel stability predictors from the plurality of wheel stability predictors to generate combinations of the wheel stability predictors, and selectively output a torque reduction request based on the combinations of the wheel stability predictors.
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公开(公告)号：US11332152B2
公开(公告)日：2022-05-17
申请号：US16886976
申请日：2020-05-29
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Nikolai K. Moshchuk , David Andres Pérez Chaparro , Kausalya Singuru , Hualin Tan , James H. Holbrook , Curtis L. Hay
IPC: B60W40/105 , B60W40/11 , B60W40/112 , B60W30/02 , B60W40/101 , B60W40/13
Abstract: A vehicle including a Global Positioning System (GPS) sensor, an Inertial Measurement Unit (IMU), and an Advanced Driver Assistance System (ADAS) is described. Operating the vehicle includes determining, via the GPS sensor, first parameters associated with a velocity, a position, and a course, and determining, via the IMU, second parameters associated with acceleration and angular velocity. Roll and pitch parameters are determined based upon the first and second parameters. A first vehicle velocity vector is determined based upon the roll and pitch parameters, the first parameters, and the second parameters; and a second vehicle velocity vector is determined based upon the roll and pitch parameters, road surface friction coefficient, angular velocity, road wheel angles and the first vehicle velocity vector. A final vehicle velocity vector is determined based upon fusion of the first and second vehicle velocity vectors. The vehicle is controlled based upon the final vehicle velocity vector.
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Patent Agency Ranking
公开(公告)号：US11318924B1
公开(公告)日：2022-05-03
申请号：US17145616
申请日：2021-01-11
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Saurabh Kapoor , Naser Mehrabi , Seyedeh Asal Nahidi , SeyedAlireza Kasaiezadeh Mahabadi , James H. Holbrook , Hualin Tan , Bakhtiar B. Litkouhi
IPC: B60W10/119 , B60K17/34 , B60K23/08 , B60W10/04
Abstract: An axle torque distribution system includes a memory and a control module. The memory stores a steering angle and a toque distribution algorithm. The control module executes the torque distribution algorithm to: obtain the steering angle; based on the steering angle, determine total lateral force requested for axles of a vehicle; based on the total lateral force requested, determine lateral forces requested for the axles while constraining lateral force distribution between the axles, where the constraining of the lateral force distribution includes, based on maximum lateral force capacities of tires of the vehicle, limiting the lateral forces requested for the axles; determine available longitudinal capacities for the axles based on the lateral forces requested respectively for the axles; determine torque capacities of the axles based on the lateral forces requested respectively for the axles; and control distribution of torque to the axles based on the torque capacities of the axles.
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公开(公告)号：US20210370958A1
公开(公告)日：2021-12-02
申请号：US16886976
申请日：2020-05-29
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Nikolai K. Moshchuk , David Andrés Pérez Chaparro , Kausalya Singuru , Hualin Tan , James H. Holbrook , Curtis L. Hay
IPC: B60W40/105 , B60W40/11 , B60W40/112 , B60W40/101 , B60W30/02
Abstract: A vehicle including a Global Positioning System (GPS) sensor, an Inertial Measurement Unit (IMU), and an Advanced Driver Assistance System (ADAS) is described. Operating the vehicle includes determining, via the GPS sensor, first parameters associated with a velocity, a position, and a course, and determining, via the IMU, second parameters associated with acceleration and angular velocity. Roll and pitch parameters are determined based upon the first and second parameters. A first vehicle velocity vector is determined based upon the roll and pitch parameters, the first parameters, and the second parameters; and a second vehicle velocity vector is determined based upon the roll and pitch parameters, road surface friction coefficient, angular velocity, road wheel angles and the first vehicle velocity vector. A final vehicle velocity vector is determined based upon fusion of the first and second vehicle velocity vectors. The vehicle is controlled based upon the final vehicle velocity vector.
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公开(公告)号：US11175667B2
公开(公告)日：2021-11-16
申请号：US16795004
申请日：2020-02-19
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： SeyedAlireza Kasaiezadeh Mahabadi , Seyedeh Asal Nahidi , Michael W. Neal , James H. Holbrook , Hualin Tan , Bakhtiar B. Litkouhi
Abstract: A vehicle, system and method of operating a vehicle. A sensor for measures a dynamic variable of the vehicle. A processor determines a location of a perceived yaw center (PYC) of the vehicle from the dynamic variable, tracks a desired location of the PYC, and adjusts a control parameter of the vehicle to reduce a difference between the location of the PYC and the desired location of the PYC.
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公开(公告)号：US20210255629A1
公开(公告)日：2021-08-19
申请号：US16795004
申请日：2020-02-19
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： SeyedAlireza Kasaiezadeh Mahabadi , Seyedeh Asal Nahidi , Michael W. Neal , James H. Holbrook , Hualin Tan , Bakhtiar B. Litkouhi
IPC: G05D1/02
Abstract: A vehicle, system and method of operating a vehicle. A sensor for measures a dynamic variable of the vehicle. A processor determines a location of a perceived yaw center (PYC) of the vehicle from the dynamic variable, tracks a desired location of the PYC, and adjusts a control parameter of the vehicle to reduce a difference between the location of the PYC and the desired location of the PYC.
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公开(公告)号：US20210253089A1
公开(公告)日：2021-08-19
申请号：US16791470
申请日：2020-02-14
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Seyedeh Asal Nahidi , SeyedAlireza Kasaiezadeh Mahabadi , Naser Mehrabi , Saurabh Kapoor , James H. Holbrook , Hualin Tan , Bakhtiar B. Litkouhi
IPC: B60W30/045 , B60W30/04
Abstract: A vehicle, system and method of operating the vehicle. A sensor measures a dynamic parameter of the vehicle. A processor determines a lateral force on a first tire based on the dynamic parameter of the vehicle, determines a longitudinal force on the first tire that achieves a maximal grip of the first tire for the lateral force, and adjusts a first torque on the first tire in order to achieve the determined longitudinal force at the first tire.
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