The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jun. 09, 2020
Filed:
Aug. 28, 2017
GM Global Technology Operations Llc, Detroit, MI (US);
Shengbing Jiang, Rochester Hills, MI (US);
Mutasim A. Salman, Madison, WI (US);
Yilu Zhang, Northville, MI (US);
Shuqing Zeng, Sterling Heights, MI (US);
GM Global Technology Operations LLC, Detroit, MI (US);
Abstract
An autonomic vehicle control system includes a perception module of a spatial monitoring system that is disposed to monitor a spatial environment proximal to the autonomous vehicle. A method for evaluating vehicle dynamics operation includes determining a desired trajectory for the autonomous vehicle, wherein the desired trajectory includes desired vehicle positions including an x-position, a y-position and a heading. Vehicle control commands are determined based upon the desired trajectory, and include a commanded steering angle, an acceleration command and a braking command. Actual vehicle states responsive to the vehicle control commands are determined. An estimated trajectory is determined based upon the actual vehicle states, and a trajectory error is determined based upon a difference between the desired trajectory and the estimated trajectory. The trajectory error is monitored over a time horizon, and a first state of health (SOH) is determined based upon the trajectory error over the time horizon.