Other

Gm Global Technolgoy Operations, Inc.

The University of Waterloo

Electrans Technologies Ltd.

Beijing Institute of Technology

Isabrem Ltd.

Pournazeri, Mohammad

Khajepour, Amir

Toyserkani, Ehsan

Corbin, Stephen F.

Amir Khajepour

Bakhtiar Brian Litkouhi

Ehsan Hashemi

Shih-Ken Chen

SeyedAlireza Kasaiezadeh Mahabadi

Reza Zarringhalam

Brian P Layfield

Brian Layfield

Brian Fan

Saeed Behzadipour

Robert Dekker

Edmon Chan

Yechen Qin

William Melek

John Loewen

Qingrong Zhao

Mansoor Alghooneh

Amin Habibnejad Korayem

Hamed Jamshidifar

Nikolai K Moshchuk

Hualin Tan

Joseph K Moore

James Heath Holbrook

Seyedeh Asal Nahidi

Brent Navin Roger Bacchus

Seyedalireza Kasaiezadeh Mahabadi

Yubiao Zhang

Jin-Jae Chen

Ehsan Toyserkani

Reza Hajiloo

Christopher J Mettrick

Stephen F Corbin

Xueying Kang

Yiwei Huang

John Joseph McPhee

Mitchell Macleod Rushton

Babak Ebrahimi

Kirsten Morris

Sara Behjat

Mohammad Hossein Farshidianfar

Adrian Gerlich

Zhenfeng Wang

Ehsan Mohammadbagher

Mohammad Pournazeri

Gregory P Kakert

Neel Pratik Bhatt

Ahmad R Alghooneh

Cecile Devaud

Ruihe Zhang

Chao Yu

Amir M Fazell

Nasser Lashgarian Azad

Che-Jen Christoph Kuo

Sergio Torres Méndez

Zhihong Yin

Dongpu Cao

Cecil Devaud

Amir M Fazeli

Cao Dongpu

Yin Zhihong

A system for learning-model predictive control (LMPC) with multi-step prediction for motion control of a vehicle includes sensors and actuators. One or more control modules each having a processor, a memory, and input/output (I/O) ports are in communication with the sensors and actuators, the processor executing program code portions stored in the memory. The program code portions cause the sensors and actuators to obtain vehicle state information, receive a driver input, and generate a desired dynamic output based on the driver input and the vehicle state information. A program code portion estimates actions of the actuators based on the vehicle state information and the driver input, and utilizes the vehicle state information, the driver input, and the estimated actions of the actuators to select one or more models of a physics-based vehicle model and a machine-learning model of the vehicle to selectively adjust commands to the actuators.

Learning-model predictive control with multi-step prediction for vehicle motion control

The disclosure is directed at an apparatus for an active converter dolly for use in a tractor-trailer configuration. In one aspect, the apparatus includes a system to connect a first trailer towed behind a towing vehicle to a second trailer. The apparatus further includes a kinetic energy recovery device for translating the mechanical motions or actions of the dolly into electricity or electrical energy so that this energy can be used to charge a battery or to power other functionality for either the dolly or the tractor-trailer. The active dolly may also operate to assist in shunting the tractor-trailer. The active dolly is operable in a number of modes to increase vehicle performance and efficiency.

Methods and apparatus for an active convertor dolly

A monocular camera system for a vehicle includes a front mono camera, a side mono camera, and one or more controllers in electronic communication with the front mono camera and the side mono camera. The one or more controllers execute instructions to determine an ideal lagged distance the vehicle travels between a current time step and a previous time step as two asynchronous camera frames are captured by the front mono camera and the side mono camera, determine a number of delayed frames captured by either the front mono camera or the side mono camera between the current time step and the previous time step based on the ideal lagged distance. The controllers determine a direction of travel of the vehicle that indicates which mono camera is selected to provide a previous camera frame captured at the previous time step.

Monocular camera system performing depth estimation of objects surrounding a vehicle

A universal machine learning based system for estimating a vehicle state of a vehicle includes one or more controllers executing instructions to receive a plurality of dynamic variables and corresponding historical data. The controllers execute a sensitivity analysis algorithm to determine a sensitivity level for each dynamic variable and corresponding historical data and select two or more pertinent dynamic variables based on the sensitivity level of each dynamic variable and the corresponding historical data. The controllers standardize the two or more pertinent dynamic variables into a plurality of generic dynamic variables, wherein the plurality of generic dynamic variables are in a standardized format that is applicable to any configuration of vehicle, and estimate the vehicle state based on the plurality of generic dynamic variables by one or more machine learning algorithms.

Universal machine learning based system for estimating a vehicle state

A system for managing vehicle body and wheel motion control with a dual clutch differential includes sensors and actuators disposed on the vehicle, the sensors measuring real-time static and dynamic data and the actuators altering static and dynamic behavior of the motor vehicle. A control module executes program code portions stored in memory. The program code portions receive the real-time static and dynamic data; selectively prioritize torque output from a prime mover of the vehicle through the differential to driven wheels of the vehicle to control a body and the driven wheels; model and estimate clutch torque for each clutch of the dual clutch differential; model and estimate a joint clutch torque, a tire force, and corner torque; and generate a torque output for each clutch of the dual clutch differential that is selected to maintain one or more of body control, wheel control, and stability of the motor vehicle.

Management of body and wheel motion controls with dual clutch differential

A method and system for a mobile configurable robot for use in a large workspace including a set of base fixtures located around a perimeter of the large workspace and a moving platform. Each base fixture and the moving platform is connected via a two-arm boom system whereby the two-arm boom system is controlled by a set of actuators.

Method and system for mobile reconfigurable robot for a large workspace

A method for determining a tire tread wear estimation of a tire includes receiving, by a controller, a direct tire tread wear measurement, when available, performing an indirect tire tread wear estimation, performing a data fusion of the indirect tire tread wear estimation with the direct tire tread wear measurement when available, estimating a percentage tire life remaining and a mileage to end of tire life, and estimating a refined tire tread wear calibration coefficient for performing future indirect tire tread wear estimations.

Systems and methods for estimating tire wear

The disclosure is directed at a method and apparatus for an active convertor dolly for use in a tractor-trailer configuration. In one embodiment, the apparatus includes a system to connect a tractor to a trailer. The apparatus further includes a charge generating system for translating the mechanical motions or actions of the dolly into electricity or electrical energy so that this energy can be used to charge a battery or to power other functionality for either the dolly or the tractor-trailer. The active dolly may also operate to assist in shunting the tractor-trailer.

Method and apparatus for an active convertor dolly

The present disclosure relates to a method and system for integrated path planning and path tracking control of an autonomous vehicle. The method includes: obtaining five input control variables and eleven system state variables of an autonomous vehicle at current time; constructing a vehicle path planning-tracking integrated state model according to the obtained variables at the current time; enveloping external contours of two autonomous vehicles using elliptical envelope curves to determine elliptical vehicle envelope curves of the two autonomous vehicles, respectively; determining time to collision (TTC) between the vehicles according to elliptical vehicle envelope curves and vehicle driving states; establishing an objective function of a model prediction controller (MPC) according to the model; and solving the objective function based on the TTC, and determining input control variables to the MPC at the next time. Autonomous vehicle collision avoidance can be achieved according to the present disclosure.

Method and system for integrated path planning and path tracking control of autonomous vehicle

A method for estimation of a vehicle tire force includes: receiving, by a controller of a vehicle, a measured vehicle acceleration of the vehicle; receiving, by the controller, a measured wheel speed and a measured yaw rate of the vehicle; forming, by the controller, inertia matrices based on an inertia of rotating components of the vehicle; calculating torques at corners of the vehicle using the inertia matrices; estimating tire forces of the vehicle based on the measured vehicle acceleration, the measured wheel speed, and the inertia matrices; and controlling, by the controller, the vehicle, based on the plurality of estimated longitudinal and lateral tire forces.

Architecture and reconfigurable tire force estimation for various powertrain configurations

A system and apparatus for controlling a mobile platform via cables is disclosed. Each of the set of cables are connected at one end to the platform at a second end to a cable controlling mechanism, the cable controlling mechanism including a motor to control a length and tension of the cable. At least two of the cables form a constraint, such as a kinematic constraint to the apparatus in order to limit the movement of the platform in certain degrees of freedom.

Apparatus for controlling a mobile platform

The disclosure is directed at a method and apparatus for controlling unwanted vibrations in a mechanical system. The apparatus includes a set of different eccentric and/or concentric masses mounted to the mechanical system for generating forces to counteract the sensed unwanted vibrations. The apparatus further includes a set of motors that control movement of the set of masses.

Multi-axis reaction system and method for vibration control of mechanical systems

Growing community of inventors

Waterloo, Canada

Amir Khajepour