Patents by Inventor Avshalom Suissa

Avshalom Suissa 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).

  • Patent number: 12012120
    Abstract: A system for tuning a trajectory tracking controller for a vehicle includes a trajectory planner configured to generate the planned trajectory and to output one or more planned trajectory components representative of the planned trajectory, a model predictive controller including an internal model and an optimizer, and a tuning neural network configured to receive the one or more planned trajectory components and one or more measured trajectory components and to produce weights for a cost function. The internal model is configured to receive a predicted control input from the optimizer and the one or more measured trajectory components and to produce a predicted output. The optimizer utilizes a cost function and is configured to receive the weights for the cost function and a predicted error and to produce the predicted control input, wherein the predicted error is a selected one of the planned trajectory components minus the predicted output.
    Type: Grant
    Filed: July 27, 2022
    Date of Patent: June 18, 2024
    Assignee: GM Global Technology Operations LLC
    Inventors: Avshalom Suissa, Vladimir Suplin
  • Publication number: 20240034349
    Abstract: A system for tuning a trajectory tracking controller for a vehicle includes a trajectory planner configured to generate the planned trajectory and to output one or more planned trajectory components representative of the planned trajectory, a model predictive controller including an internal model and an optimizer, and a tuning neural network configured to receive the one or more planned trajectory components and one or more measured trajectory components and to produce weights for a cost function. The internal model is configured to receive a predicted control input from the optimizer and the one or more measured trajectory components and to produce a predicted output. The optimizer utilizes a cost function and is configured to receive the weights for the cost function and a predicted error and to produce the predicted control input, wherein the predicted error is a selected one of the planned trajectory components minus the predicted output.
    Type: Application
    Filed: July 27, 2022
    Publication date: February 1, 2024
    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Avshalom Suissa, Vladimir Suplin
  • Patent number: 11834066
    Abstract: A vehicle control system for automated driver-assistance includes a model-based controller that generates a first control signal to alter an operation of a plurality of actuators of a vehicle based on a reference trajectory for the vehicle, and a present state of the vehicle and actuators. The vehicle control system further includes a neural network controller that generates a second control signal to alter the operation of the actuators of the vehicle based on a reference trajectory for the vehicle, and the present state of the vehicle and actuators. The vehicle control system further includes a combination module that combines the first control signal and the second control signal to operate the actuators based on a combined signal.
    Type: Grant
    Filed: December 29, 2020
    Date of Patent: December 5, 2023
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Vladimir Suplin, Avshalom Suissa
  • Patent number: 11794751
    Abstract: 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: Grant
    Filed: February 26, 2021
    Date of Patent: October 24, 2023
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Reza Zarringhalam, Yongkyun Shin, Mohammadali Shahriari, Avshalom Suissa, Kevin A. O'Dea, Amir Takhmar, Mohammed Raju Hossain
  • Patent number: 11794777
    Abstract: Motion control systems and methods are provided in a vehicle. In one embodiment, a motion control system includes a controller. The controller is configured to: receive target trajectory data associated with an upcoming trajectory of the autonomous vehicle; determine a yaw rate reference and a relative heading reference associated with the upcoming target trajectory based on a numerical integration of the target trajectory data; and control a trajectory of the autonomous vehicle based on the yaw rate reference and the relative heading reference.
    Type: Grant
    Filed: July 14, 2022
    Date of Patent: October 24, 2023
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Avshalom Suissa, Jimmy Lu
  • Patent number: 11731654
    Abstract: Methods and system for vehicle control. The methods and systems determining actuator commands data based on a vehicle stability and motion control function. The vehicle stability and motion control function having planned trajectory data, current vehicle position data and current vehicle heading data as inputs, having the actuator commands data as an output and utilizing a model predicting vehicle motion including predicting vehicle heading data and predicting vehicle position data. The actuator commands data includes steering and propulsion commands. The actuator commands data includes differential braking commands for each brake of the vehicle to correct for any differential between the planned vehicle heading and the current vehicle heading data or the predicted vehicle heading data. The methods and systems output the actuator commands data to the actuator system.
    Type: Grant
    Filed: October 16, 2020
    Date of Patent: August 22, 2023
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventor: Avshalom Suissa
  • Patent number: 11713036
    Abstract: A method of maintaining stability of a motor vehicle having a first axle, a second axle, and a steering actuator configured to steer the first axle includes determining localization and heading of the vehicle. The method also includes determining a current side-slip angle of the second axle and setting a maximum side-slip angle of the second axle using the friction coefficient at the vehicle and road surface interface. The method additionally includes predicting when the maximum side-slip angle would be exceeded using the localization, heading, and determined current side-slip angle as inputs to a linear computational model. The method also includes updating the model using the prediction of when the maximum side-slip angle would be exceeded to determine impending instability of the vehicle. Furthermore, the method includes correcting for the impending instability using the updated model and the maximum side-slip angle via modifying a steering angle of the first axle.
    Type: Grant
    Filed: October 27, 2021
    Date of Patent: August 1, 2023
    Assignee: GM Global Technology Operations LLC
    Inventors: Kevin A. O'Dea, Jacob R. Kilver, Avshalom Suissa
  • Patent number: 11679804
    Abstract: A limiting system for constraining a commanded steering angle for a vehicle including an electric power steering (EPS) system includes a controller in electronic communication with at least one other system of the vehicle. The controller executes instructions to receive a plurality of trajectory planning inputs that are each expressed as an array including a plurality of values, where the plurality of trajectory planning inputs includes a trajectory velocity array, a trajectory acceleration array, and a trajectory curvature array. The controller also executes instructions to determine a maximum rate of steering angle change based on the corresponding ideal rate of change of the commanded steering angle and the maximum rate change allowed by the EPS system.
    Type: Grant
    Filed: June 1, 2021
    Date of Patent: June 20, 2023
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Avshalom Suissa, Audrey Devin Porter
  • Publication number: 20230126666
    Abstract: A method of maintaining stability of a motor vehicle having a first axle, a second axle, and a steering actuator configured to steer the first axle includes determining localization and heading of the vehicle. The method also includes determining a current side-slip angle of the second axle and setting a maximum side-slip angle of the second axle using the friction coefficient at the vehicle and road surface interface. The method additionally includes predicting when the maximum side-slip angle would be exceeded using the localization, heading, and determined current side-slip angle as inputs to a linear computational model. The method also includes updating the model using the prediction of when the maximum side-slip angle would be exceeded to determine impending instability of the vehicle. Furthermore, the method includes correcting for the impending instability using the updated model and the maximum side-slip angle via modifying a steering angle of the first axle.
    Type: Application
    Filed: October 27, 2021
    Publication date: April 27, 2023
    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Kevin A. O'Dea, Jacob R. Kilver, Avshalom Suissa
  • Publication number: 20230127999
    Abstract: A vehicle, and a system a method of navigating a vehicle. The system includes a trajectory planning module and a trajectory tracking module. The trajectory planning module operates at a processor of the vehicle to generate a trajectory for the vehicle. The trajectory tracking module operates at the processor to track the trajectory to navigate the vehicle. The trajectory planning module and the trajectory tracking module run asynchronously from each other.
    Type: Application
    Filed: October 26, 2021
    Publication date: April 27, 2023
    Inventors: Roi Reshef, Avshalom Suissa
  • Patent number: 11544858
    Abstract: Methods and systems implemented in a vehicle involve obtaining a single camera image from a camera arranged on the vehicle. The image indicates a heading angle ?0 between a vehicle heading x and a tangent line that is tangential to road curvature of a road on which the vehicle is traveling and also indicates a perpendicular distance y0 from a center of the vehicle to the tangent line. An exemplary method includes obtaining two or more inputs from two or more vehicle sensors, and estimating kinematic states of the vehicle based on applying a Kalman filter to the single camera image and the two or more inputs to solve kinematic equations. The kinematic states include roll angle and pitch angle of the vehicle.
    Type: Grant
    Filed: November 21, 2019
    Date of Patent: January 3, 2023
    Assignees: GM GLOBAL TECHNOLOGY OPERATIONS LLC, TECHNION—RESEARCH & DEVELOPMENT FOUNDATION LTD.
    Inventors: Avshalom Suissa, Daniel Y. Rubin
  • Publication number: 20220379955
    Abstract: A limiting system for constraining a commanded steering angle for a vehicle including an electric power steering (EPS) system includes a controller in electronic communication with at least one other system of the vehicle. The controller executes instructions to receive a plurality of trajectory planning inputs that are each expressed as an array including a plurality of values, where the plurality of trajectory planning inputs includes a trajectory velocity array, a trajectory acceleration array, and a trajectory curvature array. The controller also executes instructions to determine a maximum rate of steering angle change based on the corresponding ideal rate of change of the commanded steering angle and the maximum rate change allowed by the EPS system.
    Type: Application
    Filed: June 1, 2021
    Publication date: December 1, 2022
    Inventors: Avshalom Suissa, Audrey Devin Porter
  • Publication number: 20220274602
    Abstract: 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: Application
    Filed: February 26, 2021
    Publication date: September 1, 2022
    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Reza Zarringhalam, Yongkyun Shin, Mohammadali Shahriari, Avshalom Suissa, Kevin A. O'Dea, Amir Takhmar, Mohammed Raju Hossain
  • Publication number: 20220204018
    Abstract: A vehicle control system for automated driver-assistance includes a model-based controller that generates a first control signal to alter an operation of a plurality of actuators of a vehicle based on a reference trajectory for the vehicle, and a present state of the vehicle and actuators. The vehicle control system further includes a neural network controller that generates a second control signal to alter the operation of the actuators of the vehicle based on a reference trajectory for the vehicle, and the present state of the vehicle and actuators. The vehicle control system further includes a combination module that combines the first control signal and the second control signal to operate the actuators based on a combined signal.
    Type: Application
    Filed: December 29, 2020
    Publication date: June 30, 2022
    Inventors: Vladimir Suplin, Avshalom Suissa
  • Publication number: 20220119008
    Abstract: Methods and system for vehicle control. The methods and systems determining actuator commands data based on a vehicle stability and motion control function. The vehicle stability and motion control function having planned trajectory data, current vehicle position data and current vehicle heading data as inputs, having the actuator commands data as an output and utilizing a model predicting vehicle motion including predicting vehicle heading data and predicting vehicle position data. The actuator commands data includes steering and propulsion commands. The actuator commands data includes differential braking commands for each brake of the vehicle to correct for any differential between the planned vehicle heading and the current vehicle heading data or the predicted vehicle heading data. The methods and systems output the actuator commands data to the actuator system.
    Type: Application
    Filed: October 16, 2020
    Publication date: April 21, 2022
    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventor: Avshalom Suissa
  • Publication number: 20210158545
    Abstract: Methods and systems implemented in a vehicle involve obtaining a single camera image from a camera arranged on the vehicle. The image indicates a heading angle ?0 between a vehicle heading x and a tangent line that is tangential to road curvature of a road on which the vehicle is traveling and also indicates a perpendicular distance y0 from a center of the vehicle to the tangent line. An exemplary method includes obtaining two or more inputs from two or more vehicle sensors, and estimating kinematic states of the vehicle based on applying a Kalman filter to the single camera image and the two or more inputs to solve kinematic equations. The kinematic states include roll angle and pitch angle of the vehicle.
    Type: Application
    Filed: November 21, 2019
    Publication date: May 27, 2021
    Inventors: Avshalom Suissa, Daniel Y. Rubin
  • Patent number: 10457108
    Abstract: A non-linear stiffness actuator for a suspension corner employed in a vehicle includes an actuator housing and an actuator shaft configured to transmit an actuator force to the road wheel. The actuator also includes a primary elastic member assembly arranged between the actuator housing and the actuator shaft and configured to exert a primary elastic member force along the actuator shaft. The actuator additionally includes a secondary elastic member assembly configured to exert a variable secondary elastic member force acting between the actuator housing and the actuator shaft. The variable secondary elastic member force is configured to selectively contribute to and subtract from the primary elastic member force to thereby facilitate the non-linear stiffness of the actuator. A vehicle having such a non-linear stiffness actuator is also provided.
    Type: Grant
    Filed: October 23, 2017
    Date of Patent: October 29, 2019
    Assignee: GM Global Technology Operations LLC
    Inventors: Vladimir Suplin, Avshalom Suissa, Klaus Trangbaek
  • Publication number: 20190118604
    Abstract: A non-linear stiffness actuator for a suspension corner employed in a vehicle includes an actuator housing and an actuator shaft configured to transmit an actuator force to the road wheel. The actuator also includes a primary elastic member assembly arranged between the actuator housing and the actuator shaft and configured to exert a primary elastic member force along the actuator shaft. The actuator additionally includes a secondary elastic member assembly configured to exert a variable secondary elastic member force acting between the actuator housing and the actuator shaft. The variable secondary elastic member force is configured to selectively contribute to and subtract from the primary elastic member force to thereby facilitate the non-linear stiffness of the actuator. A vehicle having such a non-linear stiffness actuator is also provided.
    Type: Application
    Filed: October 23, 2017
    Publication date: April 25, 2019
    Applicant: GM Global Technology Operations LLC
    Inventors: Vladimir Suplin, Avshalom Suissa, Klaus Trangbaek
  • Patent number: 10189327
    Abstract: A strut assembly for a suspension corner employed in a vehicle having a vehicle body and a road wheel includes a damper. The strut assembly also includes an elastic unit having at least one spring module acting in concert with the damper to suspend the vehicle body relative to the road wheel. Each spring module has a positive stiffness spring arranged in parallel with a negative stiffness spring. A vehicle that has a suspension corner employing the elastic unit and is configured to maintain contact between the road wheel and the road surface and provide isolation of vibration between the road wheel and the vehicle body is also contemplated.
    Type: Grant
    Filed: February 15, 2017
    Date of Patent: January 29, 2019
    Assignee: GM Global Technology Operations LLC
    Inventors: Avshalom Suissa, Vladimir Suplin
  • Patent number: 10131196
    Abstract: A spring-damper assembly for a suspension corner employed in a vehicle having a vehicle body and a road wheel includes a fluid spring configured to suspend the vehicle body relative to the road wheel. The spring-damper assembly also includes a damper configured to attenuate compression and rebound oscillations of the fluid spring. The spring-damper assembly additionally includes a spring-seat housing configured to retain the fluid spring and establish a position of the fluid spring relative to the damper. The spring-seat housing includes an inner surface defining a contour configured to guide the fluid spring upon compression thereof around the damper and define a non-linear stiffness of the fluid spring. A vehicle having such a spring-damper assembly is also provided.
    Type: Grant
    Filed: January 12, 2017
    Date of Patent: November 20, 2018
    Assignee: GM Global Technology Operations LLC
    Inventors: Avshalom Suissa, Vladimir Suplin