Gm Global Technolgoy Operations, Inc.

Audrey Devin Porter

Bakhtiar Brian Litkouhi

Nikolai K Moshchuk

Kevin Austin O'Dea

Avshalom Suissa

Kausalya Singuru

Sami Ahmed

Kevin A O'dea

A lane hazard mitigation algorithm includes a sensor for detecting a first hazard in a host road lane and a second hazard in an adjacent road lane, a processor for determining a host lane mitigation including a host lane speed reduction in response to the first hazard and an adjacent lane mitigation including an adjacent lane speed reduction in response to the second hazard, the processor being further configured to generate a lane change control signal in response to the adjacent lane speed reduction being less than the host lane speed reduction and to generate a vehicle speed reduction control signal in response to the host lane speed reduction being less than the adjacent lane speed reduction, and a vehicle controller for controlling a host vehicle in response to the lane change control signal and the vehicle speed reduction control signal.

Lane hazard mitigation strategy in advanced driver assistance system

Systems and methods for controlling an autonomous vehicle are described. A trajectory planner module provides a first trajectory to a trajectory control module. The trajectory control module determines parameters of the first trajectory. The trajectory control module compares the parameters to a respective threshold value. The trajectory control module obtains one or more alternative trajectories, determines parameters of each alternative trajectory, and compares the parameters of the alternative trajectory to a respective threshold value. The trajectory control module selects a trajectory for controlling the autonomous vehicle that has parameters which are within a range defined by the threshold values and controls the autonomous vehicle based on the selected trajectory. Thus, before handing back control to a driver, the trajectory control module selects from alternate trajectories for controlling the autonomous vehicle.

Selecting trajectories for controlling autonomous vehicles

A limiting system for constraining a commanded steering angle for a vehicle including an electric power steering (EPS) system includes a controller in electronic communication with at least one other system of the vehicle. The controller executes instructions to receive a plurality of trajectory planning inputs that are each expressed as an array including a plurality of values, where the plurality of trajectory planning inputs includes a trajectory velocity array, a trajectory acceleration array, and a trajectory curvature array. The controller also executes instructions to determine a maximum rate of steering angle change based on the corresponding ideal rate of change of the commanded steering angle and the maximum rate change allowed by the EPS system.

Limiting system for constraining the commanded steering angle of a steering system

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Hazel Park, MI, United States of America

Audrey Devin Porter