Patents by Inventor Amir Takhmar
Amir Takhmar has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 11858549Abstract: A method for generating a steering command for controlling a vehicle is provided.Type: GrantFiled: November 9, 2020Date of Patent: January 2, 2024Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Amir Takhmar, Joshua M. Levin, Jimmy Zhong Yan Lu, Jayant Sachdev, Reza Zarringhalam
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Patent number: 11814098Abstract: In various embodiments, methods, systems, and vehicle apparatuses are provided. A method for adaptive control of electronic power steering (EPS) including sending, a torque control to an EPS that is based on input control signals from a vehicle trajectory control unit and a steering assistive control unit when the vehicle is coupled to a trailer engaging in a trailering action; configuring the steering assistive control unit, to generate a control signal based on an algorithm using an adaptive factor that models steering dynamics impacted by the trailer while engaging in the trailering action and modeling by the steering assistive control unit, an adaptive damping factor modeled on a tongue weight of a trailer coupled to a hitch of the vehicle wherein the hitch reduces a force applied to a vehicle front axle.Type: GrantFiled: March 11, 2021Date of Patent: November 14, 2023Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Mohammadali Shahriari, Amir Takhmar, Reza Zarringhalam, Klaus Trangbaek
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Patent number: 11794751Abstract: In exemplary embodiments, methods, systems, and vehicles are provided that include: one or more sensors disposed onboard a vehicle and configured to at least facilitate obtaining sensor data for the vehicle; one or more location systems configured to at least facilitate obtaining location data pertaining to a location of the vehicle; a computer memory configured to store map data pertaining to a path corresponding to the location; and a processor disposed onboard the vehicle and configured to at least facilitate: generating an elevation profile along the path using the sensor data and the map data; and providing instructions for controlling the vehicle using the elevation profile.Type: GrantFiled: February 26, 2021Date of Patent: October 24, 2023Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Reza Zarringhalam, Yongkyun Shin, Mohammadali Shahriari, Avshalom Suissa, Kevin A. O'Dea, Amir Takhmar, Mohammed Raju Hossain
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Patent number: 11738749Abstract: In various embodiments, methods, systems, and vehicle apparatuses are provided. A method for implementing a lane-keeping assist unit of a vehicle by receiving information of a plurality of road geometries, and driving scenarios wherein at least one driving scenario is combined with a target path that is parallel and biased from a lane center by a desired path offset, and a reference path for guiding the vehicle to merge with the target path; adapting the reference path with control based on a selected road geometry and driving scenario; adjusting the desired path offset by considering lane markings during an intervention for an inner curve, an outer curve and a straight road; controlling the vehicle trajectory for enabling the vehicle to track the reference path; exiting the intervention once a trajectory tracking performance by the vehicle is confirmed; and aborting once an instability of the trajectory tracking performance is confirmed.Type: GrantFiled: November 9, 2020Date of Patent: August 29, 2023Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Jayant Sachdev, Reza Zarringhalam, Amir Takhmar, Jimmy Zhong Yan Lu, Paul A. Adam, Tetyana V. Mamchuk
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Patent number: 11738806Abstract: Systems and methods for smoothing automated lane change (ALC) operations. A mission planner, upon receipt of an ALC request, sends a ALC heads up signal to a lateral control. The mission planner then begins confidence building operations, for a preprogrammed duration of time, and awaits an ALC ready signal from the lateral control. The lateral control, upon receipt of the ALC heads up, calculates an index of readiness, RALC, as a function of the requested ALC, a current trajectory, and a lane centering control path. When RALC is less than or equal to a readiness threshold, Rt, the lateral control sends the ALC ready signal. When RALC is greater than Rt, the lateral control generates a steering correction and applies the steering correction to reduce the RALC and thereby stabilize the vehicle and send the ALC ready signal. Upon receiving the ALC ready signal, the ALC operation is executed.Type: GrantFiled: March 29, 2021Date of Patent: August 29, 2023Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Reza Zarringhalam, Mohammadali Shahriari, Amir Takhmar, Paul A. Adam, Namal P. Kumara
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Patent number: 11634128Abstract: Methods and systems are provided for a vehicle towing a trailer within a lane of a roadway that include: reconstructing, via a processor onboard the vehicle, lane markings for the trailer using lane markers as sensed via camera data; transforming the reconstructed lane markings, using additional sensor data, to a perspective of the trailer; localizing the trailer within the transformed lane markers using historical camera lane marking information, articulated vehicle dynamics, hitch angle, and trailer dimensions, without needing to add additional trailer lane sensing cameras to the trailer; calculating a time to lane crossing (T-TTLC) value for the trailer and vehicle; generating candidate blended paths of the trailer and the vehicle with a centerline of the lane of the roadway; and controlling operation of the vehicle, the trailer, or both, via instructions provided by the processor to keep the vehicle, the trailer, or both within a lane of travel.Type: GrantFiled: March 8, 2021Date of Patent: April 25, 2023Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Reza Zarringhalam, Amir Takhmar, Carlos E. Arreaza, Shiv G. Patel, Mohammed Raju Hossain, Dorothy Lui, Kibrom Yohannes
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Patent number: 11608089Abstract: The present application generally relates to a method and apparatus for controlling an autonomous vehicle. In particular, the method and apparatus are operative for detecting, by a sensor, an object within a first vehicle path, generating, by a processor, a second vehicle path in response to either the detection of the object such that the second vehicle path avoids the object, or a user initiated trajectory shift, generating, by the processor, an initial steering torque in response to the second vehicle path, performing, by the processor, an adaptation on the initial steering torque to generate an adapted steering torque in response to the initial steering torque exceeding a torque rate limit, and controlling, by a vehicle controller a host vehicle steering system to follow the second vehicle signal path in response to the adapted steering torque.Type: GrantFiled: November 9, 2020Date of Patent: March 21, 2023Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Amir Takhmar, Jayant Sachdev, Mohammed Raju Hossain, Nathan Fujimoto, Joshua M. Levin
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Publication number: 20220306199Abstract: Systems and methods for smoothing automated lane change (ALC) operations. A mission planner, upon receipt of an ALC request, sends a ALC heads up signal to a lateral control. The mission planner then begins confidence building operations, for a preprogrammed duration of time, and awaits an ALC ready signal from the lateral control. The lateral control, upon receipt of the ALC heads up, calculates an index of readiness, RALC, as a function of the requested ALC, a current trajectory, and a lane centering control path. When RALC is less than or equal to a readiness threshold, Rt, the lateral control sends the ALC ready signal. When RALC is greater than Rt, the lateral control generates a steering correction and applies the steering correction to reduce the RALC and thereby stabilize the vehicle and send the ALC ready signal. Upon receiving the ALC ready signal, the ALC operation is executed.Type: ApplicationFiled: March 29, 2021Publication date: September 29, 2022Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Reza Zarringhalam, Mohammadali Shahriari, Amir Takhmar, Paul A. Adam, Namal P. Kumara
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Publication number: 20220289292Abstract: In various embodiments, methods, systems, and vehicle apparatuses are provided. A method for adaptive control of electronic power steering (EPS) including sending, a torque control to an EPS that is based on input control signals from a vehicle trajectory control unit and a steering assistive control unit when the vehicle is coupled to a trailer engaging in a trailering action; configuring the steering assistive control unit, to generate a control signal based on an algorithm using an adaptive factor that models steering dynamics impacted by the trailer while engaging in the trailering action and modeling by the steering assistive control unit, an adaptive damping factor modeled on a tongue weight of a trailer coupled to a hitch of the vehicle wherein the hitch reduces a force applied to a vehicle front axle.Type: ApplicationFiled: March 11, 2021Publication date: September 15, 2022Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Mohammadali Shahriari, Amir Takhmar, Reza Zarringhalam, Klaus Trangbaek
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Publication number: 20220281448Abstract: Methods and systems are provided for a vehicle towing a trailer within a lane of a roadway that include: reconstructing, via a processor onboard the vehicle, lane markings for the trailer using lane markers as sensed via camera data; transforming the reconstructed lane markings, using additional sensor data, to a perspective of the trailer; localizing the trailer within the transformed lane markers using historical camera lane marking information, articulated vehicle dynamics, hitch angle, and trailer dimensions, without needing to add additional trailer lane sensing cameras to the trailer; calculating a time to lane crossing (T-TTLC) value for the trailer and vehicle; generating candidate blended paths of the trailer and the vehicle with a centerline of the lane of the roadway; and controlling operation of the vehicle, the trailer, or both, via instructions provided by the processor to keep the vehicle, the trailer, or both within a lane of travel.Type: ApplicationFiled: March 8, 2021Publication date: September 8, 2022Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Reza Zarringhalam, Amir Takhmar, Carlos E. Arreaza, Shiv G. Patel, Mohammed Raju Hossain, Dorothy Lui, Kibrom Yohannes
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Publication number: 20220274602Abstract: In exemplary embodiments, methods, systems, and vehicles are provided that include: one or more sensors disposed onboard a vehicle and configured to at least facilitate obtaining sensor data for the vehicle; one or more location systems configured to at least facilitate obtaining location data pertaining to a location of the vehicle; a computer memory configured to store map data pertaining to a path corresponding to the location; and a processor disposed onboard the vehicle and configured to at least facilitate: generating an elevation profile along the path using the sensor data and the map data; and providing instructions for controlling the vehicle using the elevation profile.Type: ApplicationFiled: February 26, 2021Publication date: September 1, 2022Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Reza Zarringhalam, Yongkyun Shin, Mohammadali Shahriari, Avshalom Suissa, Kevin A. O'Dea, Amir Takhmar, Mohammed Raju Hossain
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Patent number: 11420638Abstract: A vehicle and a system and method of operating a vehicle. The system includes a processor. The processor learns a driver's behavior of a driver of the vehicle as the driver navigates a road segment, creates a behavior policy based on the driver's behavior and a threshold associated with the road segment, and controls the vehicle to navigate the road segment using the behavior policy.Type: GrantFiled: January 9, 2020Date of Patent: August 23, 2022Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Mohammadali Shahriari, Amir Takhmar, Reza Zarringhalam
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Publication number: 20220144308Abstract: The present application generally relates to a method and apparatus for controlling an autonomous vehicle. In particular, the method and apparatus are operative for detecting, by a sensor, an object within a first vehicle path, generating, by a processor, a second vehicle path in response to either the detection of the object such that the second vehicle path avoids the object, or a user initiated trajectory shift, generating, by the processor, an initial steering torque in response to the second vehicle path, performing, by the processor, an adaptation on the initial steering torque to generate an adapted steering torque in response to the initial steering torque exceeding a torque rate limit, and controlling, by a vehicle controller a host vehicle steering system to follow the second vehicle signal path in response to the adapted steering torque.Type: ApplicationFiled: November 9, 2020Publication date: May 12, 2022Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Amir Takhmar, Jayant Sachdev, Mohammed Raju Hossain, Nathan Fujimoto, Joshua M. Levin
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Publication number: 20220144341Abstract: A method for generating a steering command for controlling a vehicle is provided.Type: ApplicationFiled: November 9, 2020Publication date: May 12, 2022Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Amir Takhmar, Joshua M. Levin, Jimmy Zhong Yan Lu, Jayant Sachdev, Reza Zarringhalam
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Publication number: 20220144266Abstract: In various embodiments, methods, systems, and vehicle apparatuses are provided. A method for implementing a lane-keeping assist unit of a vehicle by receiving information of a plurality of road geometries, and driving scenarios wherein at least one driving scenario is combined with a target path that is parallel and biased from a lane center by a desired path offset, and a reference path for guiding the vehicle to merge with the target path; adapting the reference path with control based on a selected road geometry and driving scenario; adjusting the desired path offset by considering lane markings during an intervention for an inner curve, an outer curve and a straight road; controlling the vehicle trajectory for enabling the vehicle to track the reference path; exiting the intervention once a trajectory tracking performance by the vehicle is confirmed; and aborting once an instability of the trajectory tracking performance is confirmed.Type: ApplicationFiled: November 9, 2020Publication date: May 12, 2022Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Jayant Sachdev, Reza Zarringhalam, Amir Takhmar, Jimmy Zhong Yan Lu, Paul A. Adam, Tetyana V. Mamchuk
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Patent number: 11299179Abstract: A system to enable an automobile vehicle automated driving control includes a quality index of an automated driving control system prior to enablement of an automated driving control function of an automobile vehicle. An adaptive forward propagation horizon and a prediction horizon for assessment of the quality index are computed. Vehicle states and road geometry are propagated over the adaptive forward propagation horizon, and the quality index is assessed based on forward propagated states over the prediction horizon. A first signal permits actuation of the automated driving control function of the automobile vehicle and a second signal precludes actuation of the automated driving control function. One of the first signal or the second signal is elected based on the results of assessing a quality control index trajectory over the adaptive forward propagation horizon.Type: GrantFiled: March 10, 2020Date of Patent: April 12, 2022Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Reza Zarringhalam, Mohammadali Shahriari, Amir Takhmar, Zhi Li
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Patent number: 11198437Abstract: A method and apparatus that perform threat zone assessment in a host vehicle are provided. The method includes detecting a target vehicle in a nonadjacent lane with respect to the host vehicle, determining dimensions of the detected target vehicle, a type of the detected target vehicle, and geometry of a road on which the detected target vehicle and the host vehicle are traveling, calculating the threat zone based on the dimensions of the detected target vehicle, the type of the detected target vehicle, or the geometry of the road on which the detected target vehicle and the host vehicle are traveling, and controlling the host vehicle to avoid the calculated threat zone by accelerating the host vehicle, decelerating the host vehicle, or aborting a lane change by the host vehicle.Type: GrantFiled: June 24, 2019Date of Patent: December 14, 2021Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Gurhari Singh, Alaeddin Bani Milhim, Paul A. Adam, Reza Zarringhalam, Amir Takhmar, Mark Gazda, Shaun C. Bowman, Joseph M. Burdge
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Publication number: 20210284199Abstract: A system to enable an automobile vehicle automated driving control includes a quality index of an automated driving control system prior to enablement of an automated driving control function of an automobile vehicle. An adaptive forward propagation horizon and a prediction horizon for assessment of the quality index are computed. Vehicle states and road geometry are propagated over the adaptive forward propagation horizon, and the quality index is assessed based on forward propagated states over the prediction horizon. A first signal permits actuation of the automated driving control function of the automobile vehicle and a second signal precludes actuation of the automated driving control function. One of the first signal or the second signal is elected based on the results of assessing a quality control index trajectory over the adaptive forward propagation horizon.Type: ApplicationFiled: March 10, 2020Publication date: September 16, 2021Inventors: Reza Zarringhalam, Mohammadali Shahriari, Amir Takhmar, Zhi Li
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Publication number: 20210213959Abstract: A vehicle and a system and method of operating a vehicle. The system includes a processor. The processor learns a driver's behavior of a driver of the vehicle as the driver navigates a road segment, creates a behavior policy based on the driver's behavior and a threshold associated with the road segment, and controls the vehicle to navigate the road segment using the behavior policy.Type: ApplicationFiled: January 9, 2020Publication date: July 15, 2021Inventors: Mohammadali Shahriari, Amir Takhmar, Reza Zarringhalam
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Publication number: 20200398848Abstract: A method and apparatus that perform threat zone assessment in a host vehicle are provided. The method includes detecting a target vehicle in a nonadjacent lane with respect to the host vehicle, determining dimensions of the detected target vehicle, a type of the detected target vehicle, and geometry of a road on which the detected target vehicle and the host vehicle are traveling, calculating the threat zone based on the dimensions of the detected target vehicle, the type of the detected target vehicle, or the geometry of the road on which the detected target vehicle and the host vehicle are traveling, and controlling the host vehicle to avoid the calculated threat zone by accelerating the host vehicle, decelerating the host vehicle, or aborting a lane change by the host vehicle.Type: ApplicationFiled: June 24, 2019Publication date: December 24, 2020Inventors: Gurhari Singh, Alaeddin Bani Milhim, Paul A. Adam, Reza Zarringhalam, Amir Takhmar, Mark Gazda, Shaun C. Bowman, Joseph M. Burdge