Patents by Inventor Nikolai K. Moshchuk

Nikolai K. Moshchuk 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: 10427678
    Abstract: A method for providing low speed lateral steering control for a vehicle is disclosed. The method includes receiving sensor data corresponding to a road wheel angle, determining a planned vehicle path of travel, defining a road wheel angle search range based on a maximum road wheel angle rate, determining a steering control goal using the road wheel angle that tracks and measures a difference between a current vehicle path and the planned vehicle path, determining an optimal steering control signal using the road wheel angle and the steering control goal and providing the control signal to a steering controller.
    Type: Grant
    Filed: June 13, 2017
    Date of Patent: October 1, 2019
    Assignee: GM Global Technology Operations LLC.
    Inventors: Nikolai K. Moshchuk, Shih-ken Chen
  • Patent number: 10266202
    Abstract: Methods and system are provided for controlling a vehicle. The methods and systems read sensors and estimate pneumatic trail for a tire of the vehicle based on the sensor readings. The methods and systems determine presence or absence of a tire lateral saturation condition based on a comparison of the estimated pneumatic trail for the tire of the vehicle with a pneumatic trail threshold indicative of a tire lateral saturation condition. When the tire lateral saturation condition is present, the methods and systems determine a control value and use the control value as an input to a vehicle control module. The vehicle control module is responsive to the tire lateral saturation condition based on the control value.
    Type: Grant
    Filed: April 12, 2017
    Date of Patent: April 23, 2019
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Seyedalireza Kasaiezadeh Mahabadi, Bakhtiar B. Litkouhi, Nikolai K. Moshchuk, Shih-Ken Chen
  • Patent number: 10202125
    Abstract: Methods and systems are provided for an improved system and method for validating vehicle lateral velocity estimation. The provided system and method employ an efficient validation algorithm to detect lateral velocity estimation faults. The method and system are robust to road uncertainties and do not require redundant estimations or measurements. The provided system and method offer a technological solution for real time validation of lateral velocity estimation using already existing vehicle sensors, and are independent of (i) road condition information, (ii) wheel torque information, (iii) tire model information, and (iv) tire wear information.
    Type: Grant
    Filed: April 12, 2017
    Date of Patent: February 12, 2019
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Seyedalireza Kasaiezadeh Mahabadi, Ehsan Hashemi, Bakhtiar B. Litkouhi, Nikolai K. Moshchuk, Shih-Ken Chen
  • Patent number: 10204461
    Abstract: Methods and systems are provided for detecting faults in a sensor and reconstructing an output signal without use of the faulty sensor. In one embodiment, a method includes: receiving, by a processor, sensor data indicating a measured value from a first sensor; receiving, by a processor, sensor data indicating measured values from a plurality of other sensors; computing, by a processor, virtual values based on a vehicle model and the sensor data from the plurality of other sensors; computing, by a processor, a residual difference between the measured value from the first sensor and the virtual values; detecting, by a processor, whether a fault exists in the first sensor based on the residual difference; and when a fault in the sensor is detected, generating, by a processor, a control value based on the virtual values instead of the measured value.
    Type: Grant
    Filed: July 19, 2016
    Date of Patent: February 12, 2019
    Assignees: GM GLOBAL TECHNOLOGY OPERATIONS LLC, UNIVERSITY OF WATERLOO
    Inventors: Shih-Ken Chen, Nikolai K. Moshchuk, Bakhtiar B. Litkouhi, Reza Zarringhalam, Amir Khajepour, William Melek
  • Publication number: 20180362022
    Abstract: A method and system for controlling a vehicle to improve vehicle dynamics are provided. The method includes receiving data from a plurality of sensors which monitor vehicle dynamics by monitoring at least wheel and steering movements associated with a vehicle system used in controlling vehicle dynamics by control outputs from a holistic vehicle control system. Then, estimating states of the vehicle from computations of longitudinal and latitudinal velocities, tire slip ratios, clutch torque, axle torque, brake torque, and slip angles derived from the data sensed by the sensors from the wheel and steering movements. Finally, formulating a model of vehicle dynamics by using estimations of vehicle states with a target function to provide analytical data to enable the model of vehicle dynamics to be optimized and for using the data associated with the model which has been optimized to change control outputs to improve in real-time the vehicle dynamics.
    Type: Application
    Filed: June 14, 2017
    Publication date: December 20, 2018
    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: SEYEDALIREZA KASAIEZADEH MAHABADI, SHIH-KEN CHEN, BAKHTIAR B. LITKOUHI, NIKOLAI K. MOSHCHUK, PATRICK J. MONSERE, EDWARD T. HEIL
  • Publication number: 20180356819
    Abstract: A method is provided for autonomously operating a vehicle. The method includes receiving, at a processor, at least vehicle state data and vehicle object environment data; generating, with the processor, an optimal path for the vehicle with a cost function based on the vehicle state data and the vehicle object environment data; identifying, with the processor, at least one critical condition constraint based on at least one of the vehicle or vehicle environment; modifying, with the processor, at least a first portion of the optimal path based on the at least one critical condition constraint to result in a short-range trajectory portion; generating a resulting trajectory with the short-range trajectory portion; and implementing the resulting trajectory on the vehicle.
    Type: Application
    Filed: June 13, 2017
    Publication date: December 13, 2018
    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: SEYEDALIREZA KASAIEZADEH MAHABADI, SAYYED ROUHOLLAH JAFARI TAFTI, EDWARD T. HEIL, NIKOLAI K. MOSHCHUK, BAKHTIAR B. LITKOUHI
  • Publication number: 20180354513
    Abstract: A method for providing low speed lateral steering control for a vehicle is disclosed. The method includes receiving sensor data corresponding to a road wheel angle, determining a planned vehicle path of travel, defining a road wheel angle search range based on a maximum road wheel angle rate, determining a steering control goal using the road wheel angle that tracks and measures a difference between a current vehicle path and the planned vehicle path, determining an optimal steering control signal using the road wheel angle and the steering control goal and providing the control signal to a steering controller.
    Type: Application
    Filed: June 13, 2017
    Publication date: December 13, 2018
    Inventors: Nikolai K. Moshchuk, Shih-ken Chen
  • Patent number: 10131360
    Abstract: Methods and systems are provided for determining a road surface friction coefficient and controlling a feature of the vehicle based thereon. In one embodiment, a method includes: receiving signals from an electronic power steering system and an inertial measurement unit; estimating parameters associated with an electronic power steering system model using an iterative optimization method; calculating an electronic power steering system variable using the electronic power steering system model, the estimated parameters and one or more of the received signals; determining whether the calculated electronic power steering system variable satisfies a fitness criterion; and when the calculated electronic power steering system variable does satisfy the fitness criterion, determining a road surface friction coefficient based on at least one of the estimated parameters.
    Type: Grant
    Filed: August 12, 2016
    Date of Patent: November 20, 2018
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Yadollah Sabri, Simon E. Zimmerman, Yingmei Si, Steven T. Schweitzer, Qingrong Zhao, Qi Zhang, Nikolai K. Moshchuk
  • Publication number: 20180297633
    Abstract: Methods and system are provided for controlling a vehicle. The methods and systems read sensors and estimate pneumatic trail for a tire of the vehicle based on the sensor readings. The methods and systems determine presence or absence of a tire lateral saturation condition based on a comparison of the estimated pneumatic trail for the tire of the vehicle with a pneumatic trail threshold indicative of a tire lateral saturation condition. When the tire lateral saturation condition is present, the methods and systems determine a control value and use the control value as an input to a vehicle control module. The vehicle control module is responsive to the tire lateral saturation condition based on the control value.
    Type: Application
    Filed: April 12, 2017
    Publication date: October 18, 2018
    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: SEYEDALIREZA KASAIEZADEH MAHABADI, BAKHTIAR B. LITKOUHI, NIKOLAI K. MOSHCHUK, SHIH-KEN CHEN
  • Publication number: 20180297605
    Abstract: Methods and systems are provided for an improved system and method for validating vehicle lateral velocity estimation. The provided system and method employ an efficient validation algorithm to detect lateral velocity estimation faults. The method and system are robust to road uncertainties and do not require redundant estimations or measurements. The provided system and method offer a technological solution for real time validation of lateral velocity estimation using already existing vehicle sensors, and are independent of (i) road condition information, (ii) wheel torque information, (iii) tire model information, and (iv) tire wear information.
    Type: Application
    Filed: April 12, 2017
    Publication date: October 18, 2018
    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: SEYEDALIREZA KASAIEZADEH MAHABADI, EHSAN HASHEMI, BAKHTIAR B. LITKOUHI, NIKOLAI K. MOSHCHUK, SHIH-KEN CHEN
  • Patent number: 9988043
    Abstract: Methods and systems are provided for determining vehicle spin-out conditions including conditions indicative of a vehicle spin-out ahead of the vehicle actually spinning-out. The methods and systems receive motion parameters of a vehicle based on sensed signals from at least one vehicle sensor of an electronic power steering system and an inertial measurement unit. The method and systems estimate pneumatic trail based on a rate of change of self-aligning torque with respect to axle lateral force. The methods and systems determine vehicle spin-out conditions based on the estimated pneumatic trail. The methods and systems control at least one feature of a vehicle in response to the determined vehicle spin-out conditions.
    Type: Grant
    Filed: August 4, 2016
    Date of Patent: June 5, 2018
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Seyedalireza Kasaiezadeh Mahabadi, Bakhtiar B. Litkouhi, Shih-Ken Chen, Nikolai K. Moshchuk
  • Publication number: 20180043900
    Abstract: Methods and systems are provided for determining a road surface friction coefficient and controlling a feature of the vehicle based thereon. In one embodiment, a method includes: receiving signals from an electronic power steering system and an inertial measurement unit; estimating parameters associated with an electronic power steering system model using an iterative optimization method; calculating an electronic power steering system variable using the electronic power steering system model, the estimated parameters and one or more of the received signals; determining whether the calculated electronic power steering system variable satisfies a fitness criterion; and when the calculated electronic power steering system variable does satisfy the fitness criterion, determining a road surface friction coefficient based on at least one of the estimated parameters.
    Type: Application
    Filed: August 12, 2016
    Publication date: February 15, 2018
    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: YADOLLAH SABRI, SIMON E. ZIMMERMAN, YINGMEI SI, STEVEN T. SCHWEITZER, QINGRONG ZHAO, QI ZHANG, NIKOLAI K. MOSHCHUK
  • Publication number: 20180037222
    Abstract: Methods and systems are provided for determining vehicle spin-out conditions including conditions indicative of a vehicle spin-out ahead of the vehicle actually spinning-out. The methods and systems receive motion parameters of a vehicle based on sensed signals from at least one vehicle sensor of an electronic power steering system and an inertial measurement unit. The method and systems estimate pneumatic trail based on a rate of change of self-aligning torque with respect to axle lateral force. The methods and systems determine vehicle spin-out conditions based on the estimated pneumatic trail. The methods and systems control at least one feature of a vehicle in response to the determined vehicle spin-out conditions.
    Type: Application
    Filed: August 4, 2016
    Publication date: February 8, 2018
    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: SEYEDALIREZA KASAIEZADEH MAHABADI, BAKHTIAR B. LITKOUHI, SHIH-KEN CHEN, NIKOLAI K. MOSHCHUK
  • Publication number: 20180025558
    Abstract: Methods and systems are provided for detecting faults in a sensor and reconstructing an output signal without use of the faulty sensor. In one embodiment, a method includes: receiving, by a processor, sensor data indicating a measured value from a first sensor; receiving, by a processor, sensor data indicating measured values from a plurality of other sensors; computing, by a processor, virtual values based on a vehicle model and the sensor data from the plurality of other sensors; computing, by a processor, a residual difference between the measured value from the first sensor and the virtual values; detecting, by a processor, whether a fault exists in the first sensor based on the residual difference; and when a fault in the sensor is detected, generating, by a processor, a control value based on the virtual values instead of the measured value.
    Type: Application
    Filed: July 19, 2016
    Publication date: January 25, 2018
    Applicants: GM GLOBAL TECHNOLOGY OPERATIONS LLC, UNIVERSITY OF WATERLOO
    Inventors: SHIH-KEN CHEN, NIKOLAI K. MOSHCHUK, BAKHTIAR B. LITKOUHI, REZA ZARRINGHALAM, AMIR KHAJEPOUR, WILLIAM MELEK
  • Patent number: 9868443
    Abstract: A method of adaptively re-generating a planned path for an autonomous driving maneuver. An object map is generated based on the sensed objects in a road of travel. A timer re-set and actuated. A planned path is generated for autonomously maneuvering the vehicle around the sensed objects. The vehicle is autonomously maneuvered along the planned path. The object map is updated based on sensed data from the vehicle-based devices. A safety check is performed for determining whether the planned path is feasible based on the updated object map. The planned path is re-generated in response to a determination that the existing path is infeasible, otherwise a determination is made as to whether the timer has expired. If the timer has not expired, then a safety check is re-performed; otherwise, a return is made to re-plan the path.
    Type: Grant
    Filed: April 27, 2015
    Date of Patent: January 16, 2018
    Assignee: GM Global Technology Operations LLC
    Inventors: Shuqing Zeng, Rouhollah Jafari, Nikolai K. Moshchuk, Bakhtiar B. Litkouhi
  • Patent number: 9797726
    Abstract: A reduced-order fail-safe inertial measurement unit system. A first inertial measurement unit device includes a plurality of accelerometers measuring linear accelerations and gyroscopes measuring angular velocities. A second inertial measurement unit device includes a reduced number of accelerometers and gyroscopes relative to the first inertial measurement unit device measuring at least two linear accelerations and at least one angular velocity. A processor receives acceleration data from the first and second inertial measurement units. The processor detects faulty data measurements from the first inertial measurement unit. The processor supplements the faulty data measurements of the first inertial measurement unit with transformed data generated as a function of the measurement data from the second inertial measurement unit. The processor applies predetermined transformation solutions to transform the measurement data from the second inertial measurement unit into the transformed data.
    Type: Grant
    Filed: August 10, 2015
    Date of Patent: October 24, 2017
    Assignee: GM Global Technology Operations LLC
    Inventors: Shih-Ken Chen, Nikolai K. Moshchuk, Bakhtiar B. Litkouhi, Jin-Jae Chen, David M. Sidlosky
  • Publication number: 20170233001
    Abstract: A method for providing vehicle lateral steering control. The method includes providing a mathematical model of vehicle dynamics that includes a state variable, a steering control variable and a future road disturbance factor that defines the upcoming road curvature, banks and slopes of the roadway. The method determines an optimal steering control signal that includes a feedback portion and a feed-forward portion, where the feed-forward portion includes the road disturbance factor. The method determines a state variable and a control variable for the current roadway curvature, bank and slope for stationary motion of the vehicle for constant speed, yaw rate and lateral velocity. The method then introduces a new state variable and control variable for dynamic vehicle motion for variable speed, yaw rate and lateral velocity that is a difference between the state and control variables for predicted future times and the steady state variables.
    Type: Application
    Filed: February 16, 2016
    Publication date: August 17, 2017
    Inventors: NIKOLAI K. MOSHCHUK, SHIH-KEN CHEN, BAKHTIAR B. LITKOUHI
  • Patent number: 9731755
    Abstract: A method for providing vehicle lateral steering control. The method includes providing a mathematical model of vehicle dynamics that includes a state variable, a steering control variable and a future road disturbance factor that defines the upcoming road curvature, banks and slopes of the roadway. The method determines an optimal steering control signal that includes a feedback portion and a feed-forward portion, where the feed-forward portion includes the road disturbance factor. The method determines a state variable and a control variable for the current roadway curvature, bank and slope for stationary motion of the vehicle for constant speed, yaw rate and lateral velocity. The method then introduces a new state variable and control variable for dynamic vehicle motion for variable speed, yaw rate and lateral velocity that is a difference between the state and control variables for predicted future times and the steady state variables.
    Type: Grant
    Filed: February 16, 2016
    Date of Patent: August 15, 2017
    Assignee: GM Global Technology Operations LLC
    Inventors: Nikolai K. Moshchuk, Shih-Ken Chen, Bakhtiar B. Litkouhi
  • Patent number: 9623877
    Abstract: A system for use at a vehicle to estimate vehicle pitch angle and road grade angle, in real time and generally simultaneously. The system includes a sensor configured to measure vehicle pitch rate, a processor, and a computer-readable medium. The medium includes computer-executable instructions that, when executed by the processor, cause the processor to perform operations comprising estimating, using an observer and the vehicle pitch rate measured by the sensor, an estimated vehicle pitch rate. The operations further comprise estimating, using an observer and the measured vehicle pitch rate, the vehicle pitch angle, and estimating, based on the estimated vehicle pitch rate and the vehicle pitch angle estimated, the road grade angle.
    Type: Grant
    Filed: May 2, 2014
    Date of Patent: April 18, 2017
    Assignee: GM Global Technology Operations LLC
    Inventors: Shih-ken Chen, Nikolai K. Moshchuk, Jin-Jae Chen, David M. Sidlosky
  • Patent number: 9616900
    Abstract: A system, for use at a vehicle to estimate vehicle roll angle and road bank angle, in real time and generally simultaneously. The system includes a sensor configured to measure vehicle roll rate, a processor; and a computer-readable medium. The medium includes instructions that, when executed by the processor, cause the processor to perform operations comprising estimating, using an observer and the vehicle roll rate measured by the sensor, a vehicle roll rate. The operations also include estimating, using an observer and a measured vehicle roll rate, the vehicle roll angle, and estimating, based on the vehicle roll rate estimated and the vehicle roll angle estimated, the road bank angle.
    Type: Grant
    Filed: May 2, 2014
    Date of Patent: April 11, 2017
    Assignee: GM Global Technology Operations LLC
    Inventors: Shih-ken Chen, David M. Sidlosky, Jin-Jae Chen, Nikolai K. Moshchuk