US 11,669,098 B2
Method and apparatus for longitudinal motion control of a vehicle
Nikolai K. Moshchuk, Grosse Pointe, MI (US); Kausalya Singuru, Troy, MI (US); and David Andrés Pérez Chaparro, Ferndale, MI (US)
Assigned to GM Global Technology Operations LLC, Detroit, MI (US)
Filed by GM Global Technology Operations LLC, Detroit, MI (US)
Filed on Feb. 7, 2019, as Appl. No. 16/270,073.
Prior Publication US 2020/0257304 A1, Aug. 13, 2020
Int. Cl. G05D 1/02 (2020.01); G05D 1/00 (2006.01)
CPC G05D 1/0223 (2013.01) [G05D 1/0088 (2013.01); G05D 1/0278 (2013.01); G05D 2201/0213 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method for autonomously controlling a subject vehicle, including:
determining states of a plurality of parameters, including parameters associated with a trajectory for the subject vehicle and parameters associated with a control reference determined for the subject vehicle, wherein the parameters associated with the control reference determined for the subject vehicle comprise parameters associated with a desired stop point for the subject vehicle;
executing a range control routine to determine a first parameter associated with a range control command for controlling operation of the subject vehicle based upon the states of the plurality of parameters; wherein the range control routine determines the first parameter in a time domain;
executing a speed control routine to determine a second parameter associated with a speed control command for controlling operation of the subject vehicle based upon the states of the plurality of parameters; wherein the speed control routine determines the second parameter in a space domain;
executing an arbitration routine to evaluate the range control command and the speed control command;
controlling operation of the subject vehicle to achieve a desired longitudinal state, wherein the desired longitudinal state is associated with a minimum of the first parameter associated with the range control command and the second parameter associated with the speed control command, wherein controlling operation of the subject vehicle includes controlling a transmission gear range to achieve the desired longitudinal state; and
transitioning operation of the subject vehicle to a hold-at-stop state and activating a park brake after a period of time subsequent to achieving the desired stop point.