US 12,286,124 B2
Identification and mitigation control of pull force impacts when passing large vehicles in automated driving
Hassan Askari, Thornhill (CA); Mohammadali Shahriari, Markham (CA); Reza Zarringhalam, Whitby (CA); Ashraf Abualfellat, Grand Blanc, MI (US); and Daniel James Cornelius, Detroit, MI (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS, Detroit, MI (US)
Filed by GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed on Dec. 5, 2022, as Appl. No. 18/061,709.
Prior Publication US 2024/0182040 A1, Jun. 6, 2024
Int. Cl. B60W 40/10 (2012.01); B60W 50/14 (2020.01); B60W 60/00 (2020.01)
CPC B60W 40/10 (2013.01) [B60W 50/14 (2013.01); B60W 60/001 (2020.02); B60W 2050/146 (2013.01); B60W 2530/203 (2020.02); B60W 2554/4023 (2020.02); B60W 2554/80 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
obtaining sensor data via one or more sensors of a vehicle, the sensor data comprising both perception sensor data and vehicle dynamics sensor data;
identifying, via a processor, one or more additional vehicles to be passed by the vehicle, using the perception sensor data;
determining, via the processor using the perception sensor data, a zone classification for the vehicle, wherein the zone classification is divided into three potential zones; namely, (i) a pre-event zone, (ii) an event zone, and (iii) a post-event zone, and wherein the one or more corrective actions are dependent upon a current value of the zone classification for the vehicle; and
predicting and determining, via the processor, a pull force for the vehicle that is caused by the passing of the vehicle by the one or more additional vehicles along with an impact of the pull force on the vehicle, based on both the perception sensor data and the vehicle dynamics sensor data, specifically, based on:
the perception sensor data alone, while the vehicle is in the pre-event zone;
both the perception sensor data and the vehicle dynamics sensor data, namely, based on fused sensor data from the perception sensor data and the vehicle dynamics sensor data, while the vehicle is in the event zone; and
the vehicle dynamics sensor data alone, while the vehicle is in the post-event zone.