Gm Global Technolgoy Operations, Inc.

Technion Research & Development Foundation Limited

Daniel Yitzhak Rubin

Avshalom Suissa

Alon Capua

A method of operating an autonomous racetrack driver coach and demonstrator in an autonomous vehicle employing operating systems for propulsion and maneuvering includes identifying a road course and mapping a velocity profile and a trajectory for the vehicle via a remote configurator. The trajectory defines a vehicle path around the road course and with the velocity profile minimizes the vehicle's lap time. The method also includes determining a presence of a human passenger/operator in the vehicle. The method additionally includes determining, via an electronic controller in communication with a remote detection source, localization of the vehicle on the road course. The method also includes determining vehicle velocity, acceleration, and heading relative to the mapped trajectory. Furthermore, the method includes operating the vehicle, with the human passenger/operator situated therein, to follow the mapped trajectory using feedback control of the operating systems in response to the determined localization, velocity, acceleration, and heading.

Autonomous racetrack driver coach and demonstrator

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.

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Holon, Israel

Daniel Yitzhak Rubin