Gm Global Technolgoy Operations, Inc.

Technion Research & Development Foundation Limited

Avshalom Suissa

Vladimir Suplin

Kevin Austin O'Dea

Klaus Trangbaek

Igal Bilik

Reza Zarringhalam

Mohammadali Shahriari

Inna Stainvas Olshansky

Amir Takhmar

Mario Jodorkovsky

Jimmy Lu

Mohammed Raju Hossain

Guy Raz

Roi Reshef

Audrey Devin Porter

Alon Capua

Armin Biess

Daniel Yitzhak Rubin

Dvir Brand

Jacob R Kilver

Yongkyun Shin

A vehicle, and a system a method of navigating a vehicle. The system includes a trajectory planning module and a trajectory tracking module. The trajectory planning module operates at a processor of the vehicle to generate a trajectory for the vehicle. The trajectory tracking module operates at the processor to track the trajectory to navigate the vehicle. The trajectory planning module and the trajectory tracking module run asynchronously from each other.

Method of decoupling trajectory planning and tracking

A system for tuning a trajectory tracking controller for a vehicle includes a trajectory planner configured to generate the planned trajectory and to output one or more planned trajectory components representative of the planned trajectory, a model predictive controller including an internal model and an optimizer, and a tuning neural network configured to receive the one or more planned trajectory components and one or more measured trajectory components and to produce weights for a cost function. The internal model is configured to receive a predicted control input from the optimizer and the one or more measured trajectory components and to produce a predicted output. The optimizer utilizes a cost function and is configured to receive the weights for the cost function and a predicted error and to produce the predicted control input, wherein the predicted error is a selected one of the planned trajectory components minus the predicted output.

System for tuning a trajectory tracking controller for an automotive vehicle

A vehicle control system for automated driver-assistance includes a model-based controller that generates a first control signal to alter an operation of a plurality of actuators of a vehicle based on a reference trajectory for the vehicle, and a present state of the vehicle and actuators. The vehicle control system further includes a neural network controller that generates a second control signal to alter the operation of the actuators of the vehicle based on a reference trajectory for the vehicle, and the present state of the vehicle and actuators. The vehicle control system further includes a combination module that combines the first control signal and the second control signal to operate the actuators based on a combined signal.

Vehicle control using neural network controller in combination with model-based controller

In exemplary embodiments, methods, systems, and vehicles are provided that include: one or more sensors disposed onboard a vehicle and configured to at least facilitate obtaining sensor data for the vehicle; one or more location systems configured to at least facilitate obtaining location data pertaining to a location of the vehicle; a computer memory configured to store map data pertaining to a path corresponding to the location; and a processor disposed onboard the vehicle and configured to at least facilitate: generating an elevation profile along the path using the sensor data and the map data; and providing instructions for controlling the vehicle using the elevation profile.

Pro-active trajectory tracking control for automated driving during elevation transitions

Motion control systems and methods are provided in a vehicle. In one embodiment, a motion control system includes a controller. The controller is configured to: receive target trajectory data associated with an upcoming trajectory of the autonomous vehicle; determine a yaw rate reference and a relative heading reference associated with the upcoming target trajectory based on a numerical integration of the target trajectory data; and control a trajectory of the autonomous vehicle based on the yaw rate reference and the relative heading reference.

Systems and methods for estimating heading and yaw rate for automated driving

Methods and system for vehicle control. The methods and systems determining actuator commands data based on a vehicle stability and motion control function. The vehicle stability and motion control function having planned trajectory data, current vehicle position data and current vehicle heading data as inputs, having the actuator commands data as an output and utilizing a model predicting vehicle motion including predicting vehicle heading data and predicting vehicle position data. The actuator commands data includes steering and propulsion commands. The actuator commands data includes differential braking commands for each brake of the vehicle to correct for any differential between the planned vehicle heading and the current vehicle heading data or the predicted vehicle heading data. The methods and systems output the actuator commands data to the actuator system.

Vehicle control systems and methods

A method of maintaining stability of a motor vehicle having a first axle, a second axle, and a steering actuator configured to steer the first axle includes determining localization and heading of the vehicle. The method also includes determining a current side-slip angle of the second axle and setting a maximum side-slip angle of the second axle using the friction coefficient at the vehicle and road surface interface. The method additionally includes predicting when the maximum side-slip angle would be exceeded using the localization, heading, and determined current side-slip angle as inputs to a linear computational model. The method also includes updating the model using the prediction of when the maximum side-slip angle would be exceeded to determine impending instability of the vehicle. Furthermore, the method includes correcting for the impending instability using the updated model and the maximum side-slip angle via modifying a steering angle of the first axle.

System and method for maintaining stability of a motor vehicle

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

Methods and systems implemented in a vehicle involve obtaining a single camera image from a camera arranged on the vehicle. The image indicates a heading angle &#x3c8;between a vehicle heading x and a tangent line that is tangential to road curvature of a road on which the vehicle is traveling and also indicates a perpendicular distance yfrom a center of the vehicle to the tangent line. An exemplary method includes obtaining two or more inputs from two or more vehicle sensors, and estimating kinematic states of the vehicle based on applying a Kalman filter to the single camera image and the two or more inputs to solve kinematic equations. The kinematic states include roll angle and pitch angle of the vehicle.

Camera-based enhancement of vehicle kinematic state estimation

A non-linear stiffness actuator for a suspension corner employed in a vehicle includes an actuator housing and an actuator shaft configured to transmit an actuator force to the road wheel. The actuator also includes a primary elastic member assembly arranged between the actuator housing and the actuator shaft and configured to exert a primary elastic member force along the actuator shaft. The actuator additionally includes a secondary elastic member assembly configured to exert a variable secondary elastic member force acting between the actuator housing and the actuator shaft. The variable secondary elastic member force is configured to selectively contribute to and subtract from the primary elastic member force to thereby facilitate the non-linear stiffness of the actuator. A vehicle having such a non-linear stiffness actuator is also provided.

Non-linear stiffness actuator for vehicle suspension

A strut assembly for a suspension corner employed in a vehicle having a vehicle body and a road wheel includes a damper. The strut assembly also includes an elastic unit having at least one spring module acting in concert with the damper to suspend the vehicle body relative to the road wheel. Each spring module has a positive stiffness spring arranged in parallel with a negative stiffness spring. A vehicle that has a suspension corner employing the elastic unit and is configured to maintain contact between the road wheel and the road surface and provide isolation of vibration between the road wheel and the vehicle body is also contemplated.

Spring module with negative and positive stiffness springs

A spring-damper assembly for a suspension corner employed in a vehicle having a vehicle body and a road wheel includes a fluid spring configured to suspend the vehicle body relative to the road wheel. The spring-damper assembly also includes a damper configured to attenuate compression and rebound oscillations of the fluid spring. The spring-damper assembly additionally includes a spring-seat housing configured to retain the fluid spring and establish a position of the fluid spring relative to the damper. The spring-seat housing includes an inner surface defining a contour configured to guide the fluid spring upon compression thereof around the damper and define a non-linear stiffness of the fluid spring. A vehicle having such a spring-damper assembly is also provided.

Spring-damper assembly

Methods and apparatus are provided for controlling a beam pattern of a sensor array. The apparatus includes a plurality of sensors, wherein a distance is defined between at least two of the sensors. A shape memory alloy ('SMA') is coupled to at least one of the sensors. The SMA is controllably deformable to vary the distance between the sensors.

Dynamic sensor array

A lifting mechanism includes a load bearing structure, and a carrier. The carrier is configured for supporting a load. The carrier is moveable relative to the load bearing structure in a substantially vertical direction relative to a ground surface, along a vertical axis. A load carrying spring applies a spring force that biases the carrier relative to the load bearing structure in a direction along the vertical axis. A negative stiffness device interconnects the carrier and the load bearing structure. The negative stiffness device applies a device force that biases the carrier relative to the load bearing structure in a direction along the vertical axis. The device force opposes the spring force. The device force includes a magnitude that is substantially equal to the spring force in any of a plurality of different positions of the carrier relative to the load bearing structure along the vertical axis.

Lifting mechanism using negative stiffness

A system for estimating a position associated with a pre-tensioned active material without using a position sensor. The system includes an active material being transformable between a first state and a second state in response to a pre-determined stimulus and pre-tensioned to at least a pre-determined threshold, yielding the pre-tensioned active material. The system also includes a processing unit configured to perform various operations. The operations include obtaining a value for electrical resistance of the pre-tensioned active material. The operations also include estimating, using the electrical resistance determined, the position associated with the pre-tensioned active material.

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Kiryat Ono, Israel

Avshalom Suissa