Gm Global Technolgoy Operations, Inc.

Hossein Sadjadi

Ehsan Jafarzadeh

Milad Jalaliyazdi

Arash Mohtat

Yu Cao

Hamed Kazemi

Alaeddin Bani Milhim

Zachary T Kroeze

Matthew G Adams

Tyler J Jamieson

Hadyan Sani Ramadhan

Sara Sadat Rahimifard

Syed Ali Raza

Graeme R Garner

Mohammad Amin Rajaie

Dezhi Li

Paola Scarassatti Sant Anna

Systems and methods are provided for controlling a vehicle. In one embodiment, a method includes: receiving, by the controller, return data generated by a lidar device of the vehicle; determining, by the controller, at least one overlapping channel of redundant return data; determining, by the controller, an optimization framework of equations based on modeled errors of the at least one overlapping channel; solving, by the controller, the optimization framework using a least squares method to determine an error value; determining, by the controller, a state of health of the lidar device based on the error value; compensating, by the controller, the return data from the lidar device based on the error value; and controlling, by the controller, the vehicle based on the compensated return data.

Methods and systems for lidar monitoring

Vehicles and systems and methods for health monitoring drive unit bearings in vehicles are provided. A system for health monitoring a drive unit bearing in a vehicle includes a sensor mounted to a drive unit of the vehicle and configured to provide a vibration signal; and a processor configured to: pre-process the vibration signal from the sensor to enhance a fault signature and form a frequency domain signal; and process the frequency domain signal to estimate a health stage of the drive unit bearing.

Systems and methods for monitoring drive unit bearings

Methods and systems are provided for monitoring ground line degradation of electric devices coupled to a communication bus. The method includes, by a processor: receiving voltage data including measurements of voltages of messages transmitted by the electric device over the communication bus, generating health indicators from the voltage data associated with ground line degradation of the electric device, the health indicators including statistical moments calculated based on the voltage data, and determining a health stage of the electric device based on the health indicators, the health stage including a classification based on a relationship between ground line degradation and communication loss for the electric device.

Systems and methods for monitoring ground line degradation of electric devices coupled to a communication bus

A system includes a brake torque request module, a brake control module, and a diagnostic module. The brake torque request module is configured to generate a brake torque request based on a brake pedal position during a braking event. The brake control module is configured to apply friction brakes on a wheelset of a vehicle to satisfy the brake torque request during the braking event. The wheelset includes less than all wheels of the vehicle. The diagnostic module is configured to detect a fault in a brake rotor on a wheel in the wheelset based on vehicle operating conditions measured during the braking event.

System and method for assessing health of brake rotors

A method of controlling tethered self-propelled platforms is provided. The method comprises providing a platform leader and a platform follower connected to the leader with a tether to define a first heading line of the leader and a first coordinate frame of the follower. Each of the leader and the follower is pivotally moveable relative to the tether, defining a leader angle and a follower angle. The method further comprises estimating a predicted position of the leader based on a current position, a current speed, and a current yaw rate of the leader. The predicted position of the leader defines a predicted heading line of the leader. The method further comprises determining a trajectory of the follower from the first coordinate frame to the predicted heading line defining a second coordinate frame of the follower. The trajectory is based on a desired distance the predicted heading line and a desired change in yaw angle of the follower. The method further comprises moving the follower along the trajectory to the second coordinate frame.

System and method of controlling tethered self-propelled platforms

A system and method to perform lane position sensing and tracking in a vehicle include using a first camera with a first field of view of a first side of the vehicle and a second camera with a second field of view on a second side of the vehicle to capture images. The method includes determining if a first lane line on a first side of the vehicle and a second lane line on the second side of the vehicle are both visible, and based on the first lane line and the second lane line being visible, determining, a position of the vehicle in a lane between the first lane line and the second lane line and determining a trajectory of the first lane line and the second lane line and of the vehicle.

Lane position sensing and tracking in a vehicle

A method to automate detection of a vehicle light degradation or failure includes generating a distinct pattern to be executed by at least one vehicle light, and sending a command to a light control module operative to cause the at least one vehicle light to emit the distinct pattern. The method continues with extracting features from camera images of the distinct pattern emitted by the at least one vehicle light, and then comparing the features extracted from the camera images with features from the commanded distinct pattern to determine degradation or failure of the at least one vehicle light's state of health.

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Markham, Canada

Hossein Sadjadi