Gm Global Technolgoy Operations, Inc.

Other

The Hugo Gepo Co., Inc.

Brian M Porto

Ashraf Abualfellat

Mohammadali Shahriari

Reza Zarringhalam

Mohammed Raju Hossain

Paul A Adam

Matthew D Whitton

Dara Monajemi

Jimmy Lu

Mehdi Abroshan

Xuefei Yang

Steven Patrick Moorman

William Leonard Aldrich, Iii

Harold A Gell

Todd Thor

Keith D Van Maanen

Craig J Hawkins

Tetyana V Mamchuk

Steven A Tarnowsky

Brian H Fiore

Donald D Crites

Roberto Diaz

Christopher Michael Churay

Tushita Arun Sikder

Roger Joseph Rademacher

Zhi Li

Jason C Jousma

Matthew Kempeinen

Kin Man Michael Wong

Michael Chernyak

Lance G Lamson

Michelle Zirngibl Taylor

Michael E Polom

Patrick Alan Lewis

Harsh Ketan Patel

Ethan Thomas Dietrich

Sadaf Mohammadi

Christopher Ratliff

Jason M France

Emily Frances Wolfangel

A system for controlling lateral positioning in a host vehicle includes a controller having a processor and tangible, non-transitory memory. The host vehicle is located on a host lane defined by a host lane center. The controller is adapted to determine if a first and second enabling condition are met. The first enabling condition is met when the host vehicle is travelling on a non-divided road having no physical barrier separating respective traffic lanes travelling in opposing directions. The second enabling condition is met when the host lane is an inner most lane adjacent to an opposing traffic lane. When the first and second enabling conditions are both met, the controller is adapted to determine a non-divided road offset relative to the host lane center in real-time. Operation of the vehicle is controlled based in part on a magnitude, and a direction of the non-divided road offset.

Vehicle lateral positioning on a non-divided road

An adaptive method for controlling the steering of an autonomous vehicle includes receiving a steering input. The steering input is indicative of a desired road wheel angle. The method also includes determining a commanded torque to achieve the desired road wheel angle. The method also includes measuring the road wheel angle of the vehicle (i.e., the measured road wheel angle). The method also includes executing a feedback control to determine a torque overlay. The feedback control includes determining, in real time, a current steering error vector of the vehicle. The feedback control includes determining the difference between the current steering error vector and a predetermined-steering error dynamics vector. The feedback control also includes determining a feedback gain correction vector. The feedback gain correction vector is a function of the difference between the current steering error vector and the predetermined-steering error dynamics vector.

Model-reference adaptive steering feedback control to reduce unforeseen oscillations in automated driving

A computer-implemented method that, when executed by data processing hardware of a vehicle, causes the data processing hardware to perform operations is provided. The operations include gathering sensor data, calculating one or more groove detection confidence values with the sensor data using one or more groove detection modules, evaluating the one or more groove detection confidence values using a road groove detection fusion module, determining whether a road groove is detected, communicating road groove data to an advanced driver-assistance system, and adapting trajectory and steering controls of the vehicle.

System and method for road groove detection and control in automated driving

Methods and systems are provided for a vehicle. In one embodiment, a method includes: initiating, by a processor, steering excitation according to a pattern while the vehicle is stationary; learning, by the processor, a load associated with a front axle of the vehicle based on the steering excitation; translating, by the processor, the load associated with the front axle of the vehicle to a load associated with a tongue of a trailer, and generating, by the processor, a trailer tongue load value based on the load associated with the tongue of the trailer.

Methods and systems for estimating trailer tongue load

Methods and systems are provided for controlling a vehicle. In one embodiment, a method includes: determining, by a processor, that a lane centering feature is active in the vehicle; identifying, by the processor, a pattern of steering wheel torque; determining, by the processor, a driver requested offset based on a location of the vehicle and a location of a center of the lane; applying, by the processor, the driver requested offset to a planned trajectory of the vehicle; evaluating, by the processor, one or more duration conditions; and in response to the evaluating, selectively generating, by the processor, a control signal based on the planned trajectory with the driver requested offset.

Systems and methods for employing driver input for adapting path planning in lane centering applications

Methods and systems are provided for controlling a vehicle comprising an Electric Power Steering System (EPS). In an embodiment, a method includes learning, by a processor, a non-linearity of a boost factor associated with the EPS; determining, by the processor, a deboost factor based on an inverse relationship of the learned non-linearity of the boost factor associated with the EPS; and generating, by the processor, a steering command to the EPS based on the deboost factor.

Deboost methods and systems for active safety steering control

In accordance with an exemplary embodiment, methods and systems are provided for controlling steering of an autonomous vehicle. The method includes: operating, by a processor, the autonomous vehicle in a path-based automated driving assist mode; receiving, by the processor, driver input including a driver torque; classifying, by the processor, an operation mode based on a type of the path-based automated driving assist mode; determining, by the processor, an override threshold for overriding the path-based automated driving assist mode on a first lateral side of the autonomous vehicle based on the operation mode; determining, by the processor, a driver override status based on the override torque threshold; and generating, by the processor, control signals to control the steering of the autonomous vehicle based on the driver override status and the driver torque.

Methods and systems for a unified driver override for path based automated driving assist under external threat

Methods, systems and a vehicle control system for a vehicle is provided. The vehicle control system includes an Electric Power Steering System (EPS), and a sensor system including a vehicle dynamics sensor configured to provide vehicle dynamics data and a temperature sensor configured to provide measured outside temperature. A processor is in operable communication with the EPS and the sensor system. The processor is configured to execute program instructions. The program instructions are configured to cause the processor to: execute an automated lateral control algorithm based on the vehicle dynamics data to generate a steering command, adapt the automated lateral control algorithm based on the measured outside temperature so that the steering command compensates for changing lateral response of the vehicle as a result of changing environmental temperature; and provide the steering command to the EPS, wherein the EPS is configured to laterally control the vehicle based on the steering command.

Automated lateral control of a vehicle with active compensation of temperature variation effects on steering performance

In various embodiments, methods, systems, and vehicle apparatuses are provided. A method for lateral control of a steering system includes identifying at least one parameter of at least one lateral control feature that results in an optimized value in an outcome of control for a lateral control feature enabling robustness to an uncertainty; adaptively adjusting an output control signal generated by a vehicle trajectory controller coupled to the steering controller, by quantifying the uncertainty of an uncertain value in a lateral control feature; and sending a control command including at least a torque control or a wheel angle control to compensate for the uncertainty of the at least one uncertain value in the configuration of components of an electronic power steering (EPS) system associated with the vehicle variant by correcting at least one parameter of the at least one lateral control feature.

Methods, systems, and apparatuses for real-time adaptation of handwheel angle controls for robust automated driving to environmental conditions and model uncertainties

A transmission includes a torque converter with an impeller, a turbine, a torque converter clutch, a hydraulic torque converter clutch control circuit and a controller that commands a first pressure into the hydraulic torque converter clutch control circuit during a transition period between a torque converter clutch OFF mode to a torque converter clutch ON mode and prior to the torque converter clutch reaching capacity and a second pressure into the hydraulic torque converter clutch control circuit after the torque converter clutch reaches capacity.

System and method for torque converter clutch pressure circuit filling and capacity detection

A transmission is provided having a control module, an input member, an output member, four planetary gear sets, a plurality of interconnecting members, and a plurality of torque transmitting devices. Each of the planetary gear sets includes first, second and third members. The torque transmitting devices include clutches and brakes. The control module includes a control logic sequence for performing a coasting downshift of the transmission.

Multi-speed transmission and method of control

A transmission for a vehicle having a prime mover with an output shaft. The transmission includes an offgoing clutch that is selectively connected to the output shaft, and a controller in communication with the prime mover. The controller includes an offgoing clutch control module that determines an offgoing clutch torque profile at the start of a torque phase in a power downshift that does not exceed a predetermined offgoing clutch energy threshold and a torque request module that limits a rate of input torque into the transmission from the prime mover based upon the determined offgoing clutch torque profile.

System and method for controlling vehicle components during a power downshift

A vehicle includes an engine, a dry dual-clutch transmission (dDCT) having a pair of input clutches and a gearbox containing oddly- and evenly-numbered gear sets, and a transmission control module (TCM). Application of one of input clutches connects the engine to a corresponding one of the oddly- or evenly-numbered gear sets. The TCM includes feed-forward PID-based control logic, and a torque-to-position (TTP) table for each input clutch. The TCM commands a position of a designated input clutch during a power-on upshift using the feed-forward, PID-based control logic, and selectively adapts the TTP table as a function of an inertia and acceleration value of the engine. The TCM may apply an asymmetrical handoff profile to commanded oncoming and offgoing clutch torques during the torque phase of the upshift. The TCM may also adjust the TTP table as a function of the frequency of use of the input clutches.

Upshift control of a dry dual-clutch transmission

Clutch pressure of an oncoming clutch may be determined during an upshift in an automatic transmission by determining when offgoing and oncoming clutches of the transmission near a speed synchronization point. Aboard a vehicle, proportional-integral-derivative (PID) feedback control logic of for the oncoming clutch may be activated via a controller. The controller and the activated PID logic may be used to introduce a calibrated slip error between the rotational speeds of the offgoing and oncoming clutches. Engine speed is then held in a calibrated flare using the PID logic. Oncoming clutch pressure is recorded during the duration of the calibrated flare, and a control action is executed with respect to the transmission using the recorded oncoming clutch pressure, e.g., using recorded PID gains and/or a pressure/torque relationship of the oncoming clutch. A vehicle having an engine, transmission, and controller may use the controller to execute such a method.

Determining oncoming clutch pressure in a transmission

A clutch control process for a motor vehicle transmission during brake lift-out monitors a time rate of change of a brake pedal position and torque to detect a lift-out condition with rapidly changing torque. When the process detects a brake lift-out condition, the process limits the minimum scheduled clutch pressure as well as modifies the clutch pressure to torque relationship.

Growing community of inventors

Waterford, MI, United States of America

Brian M Porto