Gm Global Technolgoy Operations, Inc.

Jackson Barry McGrory

Mohammadali Shahriari

Jimmy Lu

Reza Zarringhalam

Zhi Li

Tushita Arun Sikder

Kin Man Michael Wong

Paul G Otanez

Klaus Trangbaek

Ashraf Abualfellat

Mohammed Raju Hossain

Mehdi Abroshan

Patrick Giancarlo Gabriel Digioacchino

Lance G Lamson

Henry Warren Grasman

Amirreza Mirbeygi Moghaddam

Puneet Bagga

Ravichandran Manogaran

Methods and systems are provided for a vehicle towing a trailer. In one embodiment, a method includes: receiving, by a processor, sensor data from one or more sensors of the vehicle; estimating, by a processor, a steering torque value based on the sensor data; estimating, by the processor, a steering angle value based on the sensor data; determining, by the processor, a trailer tongue value based on the steering torque value and the steering angle value; and generating, by the processor, a control signal to control the vehicle based on the trailer tongue value.

Methods and systems for estimating trailer tongue values

A method controlling a vehicle includes detecting that an object is along a path of the vehicle and within a predetermined distance from the vehicle, in response to detecting the object that is along the path of the vehicle and within the predetermined distance from the vehicle, determining, in real time, a coefficient of friction between a road and a tire of the vehicle, and in respond to determining the coefficient of friction between the road and the tire of the vehicle, commanding the vehicle to perform a control action.

Method and system for friction-aware impact avoidance

Vehicles and related systems and methods are provided for mitigating lane departures, alternatively referred to as lane keeping assistance. One method of assisting vehicle operation involves determining a control trajectory for the vehicle over a prediction horizon that satisfies one or more steering angle constraints for operating a steering system of the vehicle based at least in part on a current steering angle, a first difference between the control trajectory and a reference lateral trajectory for the vehicle and a second difference between the control trajectory and a lane boundary, for example, by minimizing a weighted sum of the differences. The method continues by determining a steering angle command for the vehicle based at least in part on the control trajectory and autonomously operating one or more actuators onboard the vehicle in accordance with the steering angle command prior to the vehicle crossing the lane boundary.

Vehicle systems and autonomous lane departure mitigation methods

Methods and systems are provided for controlling a vehicle comprising an Electric Power Steering System (EPS). In an embodiment, a method includes determining, by the processor, a lateral acceleration reference based on reference path data and vehicle dynamics data; determining, by the processor, coefficient data based on at least one of measured lateral acceleration data and measured steering angle data, and measured torque data; determining, by the processor, a torque command based on the coefficient and the reference lateral acceleration data; and generating, by the processor, a steering command to the EPS based on the torque command.

Online estimation methods and systems for electric power steering parameters for use in automated driving controls

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 semi-automated mode; receiving, by the processor, driver input including a measured driver torque; receiving, by the processor, threat data; determining, by the processor, a steering command bias based on an impedance relation, impedance parameters, the measured driver torque, and the threat data; determining, by the processor, a reference angle based on the steering command bias and a desired angle; and generating, by the processor, control data to control the steering of the autonomous vehicle based on the reference angle.

Methods and systems for adaptive blending of driver and automated steering commands under external threat

A vehicle parameter estimation module is configured to generate a first estimate of a vehicle parameter based on operating conditions of a vehicle measured or estimated at a first time. The vehicle parameter includes at least one of a tire cornering stiffness of the vehicle and an understeer coefficient of the vehicle. The vehicle parameter estimation module is also configured to determine an error value based on the first estimate of the vehicle parameter and values of the vehicle operating conditions measured or estimated at a second time that is later than the first time. The vehicle parameter estimation module is further configured to generate a second estimate of the vehicle parameter based on the first estimate of the vehicle parameter and the error value. A vehicle actuator control module is configured to control an actuator of the vehicle based on the second estimate of the vehicle parameter.

System and method for performing advanced driver-assistance functions including adaptively accounting for impact of different payload or trailer configurations

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Mississauga, Canada

Jackson Barry McGrory