US 12,084,075 B2
Methods and systems for adaptive blending of driver and automated steering commands under external threat
Jimmy Lu, Markham (CA); Reza Zarringhalam, Whitby (CA); Kin Man Michael Wong, Thornhill (CA); Jackson Barry McGrory, Mississauga (CA); Mehdi Abroshan, Waterloo (CA); Puneet Bagga, Etobicoke (CA); and Zhi Li, Unionville (CA)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed on Dec. 1, 2021, as Appl. No. 17/457,224.
Prior Publication US 2023/0174086 A1, Jun. 8, 2023
Int. Cl. B60W 50/10 (2012.01); B60W 60/00 (2020.01); G01L 3/10 (2006.01)
CPC B60W 50/10 (2013.01) [B60W 60/0055 (2020.02); G01L 3/10 (2013.01); B60W 2540/18 (2013.01); B60W 2554/801 (2020.02)] 8 Claims
OG exemplary drawing
 
1. A method for controlling steering of an autonomous vehicle, comprising:
operating, by a processor, the autonomous vehicle in a semi-automated mode;
receiving, by the processor, driver input including a measured driver torque;
determining, by the processor, a steering command bias based on an impedance relation, impedance parameters, and the measured driver torque, wherein the impedance relation comprises
τd=MΔθ+BΔθ+KΔθ,
where τd represents the measured driver torque, Δθ represents the steering command bias, and M, B, and K comprise the impedance parameters of mass, damping, and stiffness, respectively;
determining, by the processor, a reference angle based on the steering command bias and a desired angle, wherein determining the reference angle comprises adding the steering command bias to the desired angle to determine the reference angle θr=θd+Δθ, where θd represents the desired angle for controlling a trajectory of the autonomous vehicle along a path output by a trajectory control module;
generating, by the processor, control data to control the steering of the autonomous vehicle based on the reference angle;
in response to receiving, by the processor, threat data including a direction of a threat, adjusting the impedance parameters to increase an impedance stiffness parameter in the direction of the threat based on the direction of the threat over a first time period, wherein the determining the steering command bias is based on the adjusted impedance parameters; and
when the threat is no longer present, adjusting the impedance parameters over a second time period, wherein the second time period is longer than the first time period.