Patents by Inventor Mohammadali Shahriari

Mohammadali Shahriari 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: 11987241
    Abstract: An autonomous vehicle and a system and method for operating the autonomous vehicle. The system includes a sensor and a processor. A disturbance force or yaw moment is received on the autonomous vehicle. The sensor measures a position of the autonomous vehicle within a lane of a road with respect to road boundaries and lane markings. The processor is configured to resist an effect of a disturbance force or yaw moment received on the autonomous vehicle. The processor minimizes a tracking error between a path of the autonomous vehicle and an initial track lane, wherein resisting the effect creates an inflection point in the path of the autonomous vehicle, establishes a final track lane at a closer of a lateral position of the inflection point and a lane center to the initial track lane, and tracks the path to the final track lane.
    Type: Grant
    Filed: October 23, 2020
    Date of Patent: May 21, 2024
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Jimmy Zhong Yan Lu, Mohammadali Shahriari, Reza Zarringhalam
  • Patent number: 11987251
    Abstract: A system includes a computing device. The computing device includes a processor and a memory, the memory including instructions such that the processor is configured to: transform vehicle dynamics data to corresponding roadway geometry data, calculate a rationalization value based on a difference between the roadway geometry data and map-based roadway geometry data, and determine whether to modify a vehicle state based on the rationalization value.
    Type: Grant
    Filed: November 15, 2021
    Date of Patent: May 21, 2024
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Mohammadali Shahriari, Reza Zarringhalam, Haley Marie Dalzell, Khizar Ahmad Qureshi, Patrick Francis Pirrmann
  • Patent number: 11919582
    Abstract: In various embodiments, methods, systems, and vehicle apparatuses are provided. A method for lateral control of a steering system includes identifying at least one parameter of at least one lateral control feature that results in an optimized value in an outcome of control for a lateral control feature enabling robustness to an uncertainty; adaptively adjusting an output control signal generated by a vehicle trajectory controller coupled to the steering controller, by quantifying the uncertainty of an uncertain value in a lateral control feature; and sending a control command including at least a torque control or a wheel angle control to compensate for the uncertainty of the at least one uncertain value in the configuration of components of an electronic power steering (EPS) system associated with the vehicle variant by correcting at least one parameter of the at least one lateral control feature.
    Type: Grant
    Filed: March 1, 2022
    Date of Patent: March 5, 2024
    Assignee: GM GLOBAL TECHNOLOGY OPERATION LLC
    Inventors: Mohammadali Shahriari, Mohammed Raju Hossain, Ashraf Abualfellat, Brian Porto
  • Publication number: 20240067220
    Abstract: Automated driver assistance systems and methods for towing predict vehicle/trailer instabilities and adapt automated driving control to avoid them. A tow-vehicle includes a controller that, through an actuator system, controls speed and/or steering. A map system and/or a sensor system monitor a roadway on which the vehicle is travelling to identify a road profile located ahead of the vehicle over a prediction horizon. A projected trajectory for navigating the vehicle through the road profile over the prediction horizon and considering environmental conditions is determined. Before travel over the road profile, whether the projected trajectory through the road profile will result in exceeding a vehicle dynamic threshold is determined. When the projected trajectory will result in exceeding the vehicle dynamic threshold through the road profile, a control action is determined to prevent instability and optimize driver experience. The vehicle is operated through the road profile using the control action.
    Type: Application
    Filed: August 24, 2022
    Publication date: February 29, 2024
    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Mohammadali Shahriari, Ashraf Abualfellat, Reza Zarringhalam, Mehdi Abroshan, Michael B. Peppard
  • Publication number: 20240051549
    Abstract: Systems and methods for controlling a vehicle. The systems and methods receive static object detection data from a perception system. The static object detection data includes a first representation of a static object at a current time and a second representation of the static object at an earlier time.
    Type: Application
    Filed: August 14, 2022
    Publication date: February 15, 2024
    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Jackson Barry McGrory, Mohammadali Shahriari, Khizar Ahmad Qureshi, Mehdi Abroshan
  • Patent number: 11858509
    Abstract: An operator offset request for automatic lane following system of an automobile vehicle includes an operator offset request defining a lateral offset distance away from a first travel-line of an automobile vehicle in a displacement path moved until a second travel-line of the automobile is achieved. An operator input setting system when actuated generates an initiation signal forwarded to a controller to input the operator offset request. An achievement signal is generated to signify a selected offset position selected by a vehicle operator for the offset distance is achieved. A vehicle return travel path is elected by the vehicle operator to return the automobile vehicle to the first travel-line from the second travel-line by a return displacement path which is opposite to the displacement path.
    Type: Grant
    Filed: March 2, 2020
    Date of Patent: January 2, 2024
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Reza Zarringhalam, Mohammadali Shahriari, Wenhao Wu, Paul A. Adam
  • Patent number: 11845444
    Abstract: A vehicle parameter estimation module is configured to generate a first estimate of a vehicle parameter based on operating conditions of a vehicle measured or estimated at a first time. The vehicle parameter includes at least one of a tire cornering stiffness of the vehicle and an understeer coefficient of the vehicle. The vehicle parameter estimation module is also configured to determine an error value based on the first estimate of the vehicle parameter and values of the vehicle operating conditions measured or estimated at a second time that is later than the first time. The vehicle parameter estimation module is further configured to generate a second estimate of the vehicle parameter based on the first estimate of the vehicle parameter and the error value. A vehicle actuator control module is configured to control an actuator of the vehicle based on the second estimate of the vehicle parameter.
    Type: Grant
    Filed: September 1, 2021
    Date of Patent: December 19, 2023
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Jackson Barry McGrory, Klaus Trangbaek, Zhi Li, Mohammadali Shahriari, Patrick Giancarlo Gabriel Digioacchino
  • Publication number: 20230391324
    Abstract: Systems and methods for controlling a vehicle are provided. The systems and methods provide a vehicle dynamics model that relates at least one input vehicle dynamics variable to at least one output vehicle dynamics variable. The systems and methods detect a crosswind impacting the vehicle by detecting a disturbance associated with the vehicle dynamics model caused by the crosswind and adapt control of the vehicle based on the detecting the crosswind impacting the vehicle.
    Type: Application
    Filed: June 7, 2022
    Publication date: December 7, 2023
    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Reza Zarringhalam, Mohammadali Shahriari, Klaus Tranbaek, Ashraf Abualfellat
  • Patent number: 11834042
    Abstract: In various embodiments, methods, systems, and vehicle apparatuses are provided. A method for implementing adaptive cruise control (ACC) established by Reinforcement Learning (RL) including executing, by a processor, adaptive cruise control to receive a set of vehicle inputs about a host vehicle's operating environment and current operations; identify, by the processor, a target vehicle operating in the host vehicle environment and quantifying a set of target vehicle parameters about the target vehicle derived from sensed inputs; modeling a state estimation of the host vehicle and the target vehicle by generating a set of speed and torque calculations about each vehicle; generating a set of results from at least one reward function based on one or more modeled state estimations of the host and target vehicle; processing the set of results with driver behavior data established by RL to correlate one or more control actions to the driver behavior data.
    Type: Grant
    Filed: January 14, 2021
    Date of Patent: December 5, 2023
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Jagannadha Reddy Satti, Amanpal S. Grewal, Mohammadali Shahriari
  • Publication number: 20230365124
    Abstract: Systems and methods of alerting an occupant of a vehicle to an obstacle to a side of the vehicle. The systems and methods include receiving turn indicating data from at least one vehicle system, receiving perception data from a perception system of the vehicle, predicting a vehicle turn based on the turn predicting data, generating an obstacle alert, which is output through an output device of the vehicle, when an obstacle is detected within a first sized detection zone or a second sized detection zone using the perception data, and switching from using the first sized detection zone to using the second sized detection zone for generating the obstacle alert in response to predicting the vehicle turn. The second sized detection zone is extended as compared to the first sized detection zone.
    Type: Application
    Filed: May 12, 2022
    Publication date: November 16, 2023
    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Mohammadali Shahriari, Vaibhav J Lawand, Hassan Askari, Rakesh Kumar, Ricky Lin
  • Patent number: 11814098
    Abstract: 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: Grant
    Filed: March 11, 2021
    Date of Patent: November 14, 2023
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Mohammadali Shahriari, Amir Takhmar, Reza Zarringhalam, Klaus Trangbaek
  • 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: 11760373
    Abstract: A method of operating a vehicle of determining whether the vehicle is operating in a road segment with a low visibility condition to cause a loss of input of sensor data to a vehicle controller that operates an assist feature, activating one or more adaptive alerts based on a road departure risk of the vehicle, and driver use of the assist feature in the upcoming road segment, wherein the road departure risk is determined by calculating a road departure risk index that compares an estimated vehicle path based on the vehicle state data with a probabilistic vehicle path for the upcoming road segment; and predicting whether will operate within an acceptable path in the upcoming road segment; and tracking the vehicle in the upcoming road segment based on vehicle navigation data to provide at least one adaptive alert based on a prediction of the road departure risk.
    Type: Grant
    Filed: January 26, 2022
    Date of Patent: September 19, 2023
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Tara Craigen, Mohammadali Shahriari, Reza Zarringhalam
  • Publication number: 20230286550
    Abstract: In accordance with an exemplary embodiment, a method is provided that includes: obtaining sensor data via one or more sensors of a vehicle; determining, via a processor of the vehicle, a driving style of a driver of the vehicle based on use of the sensor data over multiple periods of time; and determining, via the processor, an indication as to whether the driver is attempting to spoof a control system of the vehicle with respect to one or more automated features of the vehicle, based on the sensor data and the style of the driver.
    Type: Application
    Filed: March 9, 2022
    Publication date: September 14, 2023
    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Mohammadali Shahriari, Reza Zarringhalam, Ashraf Abualfellat, Emily Frances Wolfangel, Nathan Fujimoto, Adam M. Mikalauskas
  • Publication number: 20230278622
    Abstract: In various embodiments, methods, systems, and vehicle apparatuses are provided. A method for lateral control of a steering system includes identifying at least one parameter of at least one lateral control feature that results in an optimized value in an outcome of control for a lateral control feature enabling robustness to an uncertainty; adaptively adjusting an output control signal generated by a vehicle trajectory controller coupled to the steering controller, by quantifying the uncertainty of an uncertain value in a lateral control feature; and sending a control command including at least a torque control or a wheel angle control to compensate for the uncertainty of the at least one uncertain value in the configuration of components of an electronic power steering (EPS) system associated with the vehicle variant by correcting at least one parameter of the at least one lateral control feature.
    Type: Application
    Filed: March 1, 2022
    Publication date: September 7, 2023
    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Mohammadali Shahriari, Mohammed Raju Hossain, Ashraf Abualfellat, Brian Porto
  • Patent number: 11738748
    Abstract: The present application generally relates to a method and apparatus for generating an action policy for controlling an autonomous vehicle. In particular, the method and apparatus are operative for detecting, by a vehicle sensor, a distance from a host vehicle to a lane edge, determining a status of a vehicle system, calculating, by a processor, a risk index in response to the status of the vehicle system, calculating, by the processor, an intervention threshold in response to the risk index, generating, by the processor, a vehicle path in response to the distance of the host vehicle to the lane edge being less than the intervention threshold, and controlling the vehicle, by a vehicle controller, in response to the vehicle path.
    Type: Grant
    Filed: October 16, 2020
    Date of Patent: August 29, 2023
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Tara Craigen, Mohammadali Shahriari, Jayant Sachdev
  • Patent number: 11738806
    Abstract: 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: Grant
    Filed: March 29, 2021
    Date of Patent: August 29, 2023
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Reza Zarringhalam, Mohammadali Shahriari, Amir Takhmar, Paul A. Adam, Namal P. Kumara
  • Publication number: 20230234600
    Abstract: A method of operating a vehicle of determining whether the vehicle is operating in a road segment with a low visibility condition to cause a loss of input of sensor data to a vehicle controller that operates an assist feature, activating one or more adaptive alerts based on a road departure risk of the vehicle, and driver use of the assist feature in the upcoming road segment, wherein the road departure risk is determined by calculating a road departure risk index that compares an estimated vehicle path based on the vehicle state data with a probabilistic vehicle path for the upcoming road segment; and predicting whether will operate within an acceptable path in the upcoming road segment; and tracking the vehicle in the upcoming road segment based on vehicle navigation data to provide at least one adaptive alert based on a prediction of the road departure risk.
    Type: Application
    Filed: January 26, 2022
    Publication date: July 27, 2023
    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Tara Craigen, Mohammadali Shahriari, Reza Zarringhalam
  • Publication number: 20230150514
    Abstract: A system includes a computing device. The computing device includes a processor and a memory, the memory including instructions such that the processor is configured to: transform vehicle dynamics data to corresponding roadway geometry data, calculate a rationalization value based on a difference between the roadway geometry data and map-based roadway geometry data, and determine whether to modify a vehicle state based on the rationalization value.
    Type: Application
    Filed: November 15, 2021
    Publication date: May 18, 2023
    Inventors: Mohammadali Shahriari, Reza Zarringhalam, Haley Marie Dalzell, Khizar Ahmad Qureshi, Patrick Francis Pirrmann
  • Publication number: 20230150494
    Abstract: A method is provided for autonomously operating a vehicle. The method includes receiving vehicle state and vehicle environment data; determining that a vehicle position is not in a position for autonomous mode based on vehicle state and vehicle environment data, wherein the position is associated with a center of one lane of a roadway; enabling a steering assistance torque for a lane-centering operation concurrently within a pre-determined period of time of engagement of the autonomous mode for a vehicular operation; blending the steering assistance torque for assisting in vehicle guidance with a torque applied by the operator for the lane-centering operation with the autonomous mode of vehicular operation engaged; and executing enablement of the autonomous vehicular operation mode with the vehicle positioned within the center of one lane of the roadway as the operator is transitioned from a hands-on to a hands-off control of the vehicle.
    Type: Application
    Filed: November 16, 2021
    Publication date: May 18, 2023
    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Paul A. Adam, Reza Zarringhalam, Tetyana V. Mamchuk, Mohammadali Shahriari, Daryl A. Wilson