US 11,794,751 B2
Pro-active trajectory tracking control for automated driving during elevation transitions
Reza Zarringhalam, Whitby (CA); Yongkyun Shin, Thornhill (CA); Mohammadali Shahriari, Markham (CA); Avshalom Suissa, Ganei Tikva (IL); Kevin A. O'Dea, Ann Arbor, MI (US); Amir Takhmar, Toronto (CA); and Mohammed Raju Hossain, Oshawa (CA)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed on Feb. 26, 2021, as Appl. No. 17/186,649.
Prior Publication US 2022/0274602 A1, Sep. 1, 2022
Int. Cl. B60W 40/076 (2012.01); B60W 50/00 (2006.01); B60W 40/072 (2012.01)
CPC B60W 40/076 (2013.01) [B60W 40/072 (2013.01); B60W 50/0097 (2013.01); B60W 2420/42 (2013.01); B60W 2552/15 (2020.02); B60W 2556/40 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
obtaining sensor data from one or more sensors onboard a vehicle, the sensor data including camera data from one or more cameras onboard the vehicle;
obtaining location data pertaining to a location of the vehicle;
receiving user inputs as to a destination of travel for the vehicle;
obtaining map data pertaining to a path corresponding to the location and the destination of travel;
generating, using a processor onboard the vehicle, a planned mission for travel to the destination along a roadway associated with the path, based on the user inputs, the location data, and the map data;
generating, using the processor, a planned mission for travel to the destination along a roadway associated with the path, based on the user inputs and the location data;
generating, using the processor, an elevation profile along the path using the sensor data, including the camera data, and the map data, by generating the road elevation profile over a receding prediction horizon for the roadway for a plurality of time points for travel of the vehicle along the roadway in accordance with the planned mission, using both the sensor data and the map data; and
proactively controlling the vehicle, based on instructions provided by the processor, using the predicted elevation profile, for adjusting each of the following: acceleration, steering, and braking of the vehicle along the receding prediction horizon for the roadway for a plurality of time points for travel of the vehicle along the roadway in accordance with the planned mission,
wherein the road elevation profile comprises a plurality of bank and grade angle data points that are obtained at different lanes and segments along the roadway, the bank and grade angle data points including: (i) first bank and grade angle data points along a first lane of the of the roadway in which the vehicle is currently travelling; (ii) second bank and grade angle data points corresponding to a second lane of the roadway comprising an immediately adjacent lane to the first lane; and (iii) third bank and grade angle data points along a third lane of the roadway that is two lanes away from the first lane.