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1. 发明授权

US10211990B2 Authenticating messages sent over a vehicle bus that include message authentication codes 有权
公开(公告)号：US10211990B2
公开(公告)日：2019-02-19
申请号：US15215078
申请日：2016-07-20
申请人： GM Global Technology Operations LLC
发明人： David M. Nairn , Thomas M. Forest , Padma Sundaram , Mohammed Abdulla Yousuf
IPC分类号： H04L9/32 , G06F13/42 , G06F21/64 , G06F21/85
摘要： A method of transmitting data within a vehicle includes: storing two copies of a data message; constructing at an electronic control unit (ECU) a serial bus message that includes one copy of the data message and a message authentication code (MAC) created using a secret key stored at the ECU, a MAC algorithm, and a different copy of the data message; transmitting the serial bus message to a receiving ECU over a vehicle bus; authenticating the serial bus message at the receiving ECU using a copy of the key stored at the receiving ECU by creating a copy of the MAC from the data message included in the serial bus message and the copy of the key; comparing the MAC from the serial bus message with the copy of the MAC created at the receiving ECU; and rejecting or accepting the data message based on the comparison.

2. 发明申请

US20180052470A1 Obstacle Avoidance Co-Pilot For Autonomous Vehicles 审中-公开
公开(公告)号：US20180052470A1
公开(公告)日：2018-02-22
申请号：US15240108
申请日：2016-08-18
申请人： GM GLOBAL TECHNOLOGY OPERATIONS LLC
发明人： Keun Jae Kim , Padma Sundaram , Andrew H. Leutheuser , Upali P. Mudalige
IPC分类号： G05D1/02 , B60W10/184 , B60W10/20 , B60W10/04 , B60W30/095 , G05D1/00
CPC分类号： B60W30/0956 , B60W10/04 , B60W10/184 , B60W10/20 , B60W2600/00 , B60W2750/00 , G05D1/0077 , G05D2201/0213
摘要： An automotive vehicle includes a vehicle steering system, an actuator configured to control the steering system, and first and second controllers. The first controller is in communication with the actuator, and is configured to communicate an actuator control signal based on a primary automated driving system control algorithm. The second controller is in communication with the actuator and with the first controller. The second controller is configured to, in response to a first predicted vehicle path based on the actuator control signal passing within a first threshold distance of a detected obstacle, control the actuator to maintain a current actuator setting. The second controller is also configured to in response to the first predicted vehicle path not passing within the first threshold distance of a detected obstacle, control the actuator according to the actuator control signal.

3. 发明申请

US20160330032A1 AUTHENTICATING MESSAGES SENT OVER A VEHICLE BUS THAT INCLUDE MESSAGE AUTHENTICATION CODES 审中-公开
标题翻译：在包含消息认证码的车辆总线上发出的认证消息
公开(公告)号：US20160330032A1
公开(公告)日：2016-11-10
申请号：US15215078
申请日：2016-07-20
申请人： GM Global Technology Operations LLC
发明人： David M. Naim , Thomas M. Forest , Padma Sundaram , Mohammed Abdulla Yousuf
IPC分类号： H04L9/32 , G06F13/42
CPC分类号： H04L9/3242 , G06F13/4282 , G06F21/64 , G06F21/85 , H04L2209/84
摘要： A method of transmitting data within a vehicle includes: storing two copies of a data message; constructing at an electronic control unit (ECU) a serial bus message that includes one copy of the data message and a message authentication code (MAC) created using a secret key stored at the ECU, a MAC algorithm, and a different copy of the data message; transmitting the serial bus message to a receiving ECU over a vehicle bus; authenticating the serial bus message at the receiving ECU using a copy of the key stored at the receiving ECU by creating a copy of the MAC from the data message included in the serial bus message and the copy of the key; comparing the MAC from the serial bus message with the copy of the MAC created at the receiving ECU; and rejecting or accepting the data message based on the comparison.
摘要翻译：在车辆内发送数据的方法包括：存储数据消息的两个副本; 在电子控制单元（ECU）处构造包括数据消息的一个副本和使用存储在ECU中的秘密密钥创建的消息认证码（MAC）的串行总线消息，MAC算法和数据的不同副本信息; 通过车辆总线将串行总线消息发送到接收ECU; 使用存储在接收ECU处的密钥的副本，在接收ECU处认证串行总线消息，通过从包括在串行总线消息中的数据消息和密钥的副本创建MAC的副本; 将来自串行总线消息的MAC与在接收ECU处创建的MAC的副本进行比较; 并基于比较拒绝或接受数据消息。

4. 发明授权

US10394241B2 Multi-stage voting control 有权
公开(公告)号：US10394241B2
公开(公告)日：2019-08-27
申请号：US15623686
申请日：2017-06-15
申请人： GM GLOBAL TECHNOLOGY OPERATIONS LLC
发明人： Rami I. Debouk , Gurmitsingh M. Banvait , Padma Sundaram , Samuel E. Graham
IPC分类号： G06F11/18 , G05D1/00
摘要： Systems and methods are provided for effecting control through multi-stage voting. A control system may be in communication with an actuator device responsive to a voted command. A multi-stage voting system may be configured to determine the voted command. A set of controllers and a monitor controller may provide commands to the multi-stage voting system. The multi-stage voting system includes logic with a first stage that compares the commands of the set of controllers to each other, and a second stage that compares at least one of those commands to the monitor command. The multi-stage voting system delivers the voted command to the actuator device based on the comparisons made in the first and second stages. The actuator device effects an operation in response to the voted command.

5. 发明申请

US20180136660A1 Automated Co-Pilot Control For Autonomous Vehicles 审中-公开
公开(公告)号：US20180136660A1
公开(公告)日：2018-05-17
申请号：US15353842
申请日：2016-11-17
申请人： GM GLOBAL TECHNOLOGY OPERATIONS LLC
发明人： Upali P. Mudalige , Padma Sundaram
IPC分类号： G05D1/02 , B60R16/023
CPC分类号： G05D1/021
摘要： A control system for an autonomous vehicle includes at least one controller. The controller is programmed to receive first sensor readings from a first group of sensors, provide a first sensor fusion output based on the first sensor readings, the first sensor fusion output including a first detected state of a detected object, receive second sensor readings from a second group of sensors, and provide a second sensor fusion output based on the second sensor readings, the second sensor fusion output including a second detected state of the detected object. The controller is additionally programmed to, in response to the first detected state being outside a predetermined range of the second detected state, generate a diagnostic signal.

6. 发明申请

US20150291135A1 METHOD OF APPLYING AN ELECTRIC PARKING BRAKE SYSTEM IN HYBRID AND ELECTRIC VEHICLE PROPULSION SYSTEMS 有权
标题翻译：在混合动力车辆推进系统中应用电动停车制动系统的方法
公开(公告)号：US20150291135A1
公开(公告)日：2015-10-15
申请号：US14249382
申请日：2014-04-10
申请人： GM GLOBAL TECHNOLOGY OPERATIONS LLC
发明人： Mark A. Vernacchia , Padma Sundaram , Orson S. Wang
IPC分类号： B60T7/12 , B60T17/22 , B60T13/74
CPC分类号： B60T7/122 , B60T7/107 , B60T8/885 , B60T13/741 , B60T17/22
摘要： A method applying an electric park brake system of a vehicle includes detecting a park request with a first vehicle control module, and sending a park command, from the first vehicle control module, to both an electric brake control module and a second vehicle control module. Upon the electric brake control module receiving the park command, an actuation signal is sent from the electric brake control module to a motor winding of the electric park brake system. A status actuated signal is sent from the electric brake control module to the second vehicle control module. The status actuated signal indicates that the actuation signal has been sent from the electric brake control module. A position of the motor winding is sensed to determine if the motor winding is actuated. When the motor winding is actuated, a message is displayed to indicate that the electric park brake system is applied.
摘要翻译：应用车辆电动停车制动系统的方法包括：利用第一车辆控制模块检测停车请求，并从第一车辆控制模块向电动制动控制模块和第二车辆控制模块发送停车命令。在电动制动控制模块接收到停车指令时，将致动信号从电动制动控制模块发送到电动停车制动系统的电动机绕组。状态驱动信号从电动制动控制模块发送到第二车辆控制模块。状态激励信号表示致动信号已从电制动控制模块发送。感测电动机绕组的位置，以确定电动机绕组是否被致动。当电动机绕组启动时，显示一条消息以指示电动驻车制动系统被应用。

7. 发明授权

US09971352B1 Automated co-pilot control for autonomous vehicles 有权
公开(公告)号：US09971352B1
公开(公告)日：2018-05-15
申请号：US15353852
申请日：2016-11-17
申请人： GM GLOBAL TECHNOLOGY OPERATIONS LLC
发明人： Upali P. Mudalige , Padma Sundaram
IPC分类号： G05D1/00 , G05D1/02 , G07C5/08
CPC分类号： G05D1/0253 , G05D1/0248 , G07C5/0808
摘要： A control system for a vehicle includes at least one controller. The controller is programmed to receive first sensor readings from a first group of sensors and provide a first vehicle pose based on the first sensor readings. The first vehicle pose includes a first location and a first orientation of the vehicle. The controller is also programmed to receive second sensor readings from a second group of sensors and provide a second vehicle pose based on the second sensor readings. The second vehicle pose includes a second location and a second orientation of the vehicle. The controller is further programmed to, in response to the first vehicle pose being outside a predetermined range of the second vehicle pose, generate a diagnostic signal.

8. 发明申请

US20180050695A1 Trajectory Integrity Co-Pilot For Autonomous Vehicle 审中-公开
公开(公告)号：US20180050695A1
公开(公告)日：2018-02-22
申请号：US15240106
申请日：2016-08-18
申请人： GM GLOBAL TECHNOLOGY OPERATIONS LLC
发明人： Padma Sundaram , Keun Jae Kim , Brian N. Siskoy , Andrew H. Leutheuser
IPC分类号： B60W30/10 , B60W10/20 , B60W10/06 , B60W10/18 , B60W10/10
CPC分类号： B60W30/10 , B60W10/06 , B60W10/10 , B60W10/18 , B60W10/20 , B60W50/06 , B60W2520/06 , B60W2710/0605 , B60W2710/10 , B60W2710/18 , B60W2710/20 , B60W2710/207 , B60W2720/24
摘要： An automotive vehicle includes a vehicle steering system, an actuator configured to control the steering system, a first controller, and a second controller. The first controller is in communication with the actuator. The first controller is configured to communicate an actuator control signal based on a primary automated driving system control algorithm. The second controller is in communication with the actuator and with the first controller. The second controller is configured to, in response to a first predicted vehicle path based on the actuator control signal deviating from a desired route by a threshold distance, control the actuator to maintain a current actuator setting. The second controller is also configured to, in response to the first predicted vehicle path not deviating from the desired route by the threshold distance, control the actuator according to the actuator control signal.

9. 发明授权

US09187068B2 Method of applying an electric parking brake system in hybrid and electric vehicle propulsion systems 有权
标题翻译：在电动车辆推进系统中应用电动驻车制动系统的方法
公开(公告)号：US09187068B2
公开(公告)日：2015-11-17
申请号：US14249382
申请日：2014-04-10
申请人： GM GLOBAL TECHNOLOGY OPERATIONS LLC
发明人： Mark A. Vernacchia , Padma Sundaram , Orson S. Wang
IPC分类号： B60T13/74 , B60T7/12 , B60T17/22
CPC分类号： B60T7/122 , B60T7/107 , B60T8/885 , B60T13/741 , B60T17/22
摘要： A method applying an electric park brake system of a vehicle includes detecting a park request with a first vehicle control module, and sending a park command, from the first vehicle control module, to both an electric brake control module and a second vehicle control module. Upon the electric brake control module receiving the park command, an actuation signal is sent from the electric brake control module to a motor winding of the electric park brake system. A status actuated signal is sent from the electric brake control module to the second vehicle control module. The status actuated signal indicates that the actuation signal has been sent from the electric brake control module. A position of the motor winding is sensed to determine if the motor winding is actuated. When the motor winding is actuated, a message is displayed to indicate that the electric park brake system is applied.
摘要翻译：应用车辆电动停车制动系统的方法包括：利用第一车辆控制模块检测停车请求，并从第一车辆控制模块向电动制动控制模块和第二车辆控制模块发送停车命令。在电动制动控制模块接收到停车指令时，将致动信号从电动制动控制模块发送到电动停车制动系统的电动机绕组。状态驱动信号从电动制动控制模块发送到第二车辆控制模块。状态激励信号表示致动信号已从电制动控制模块发送。感测电动机绕组的位置，以确定电动机绕组是否被致动。当电动机绕组启动时，显示一条消息以指示电动驻车制动系统被应用。

10. 发明申请

US20180136665A1 Automated Co-Pilot Control For Autonomous Vehicles 有权
公开(公告)号：US20180136665A1
公开(公告)日：2018-05-17
申请号：US15353852
申请日：2016-11-17
申请人： GM GLOBAL TECHNOLOGY OPERATIONS LLC
发明人： Upali P. Mudalige , Padma Sundaram
IPC分类号： G05D1/02 , G07C5/08
CPC分类号： G05D1/0253 , G05D1/0248 , G07C5/0808
摘要： A control system for a vehicle includes at least one controller. The controller is programmed to receive first sensor readings from a first group of sensors and provide a first vehicle pose based on the first sensor readings. The first vehicle pose includes a first location and a first orientation of the vehicle. The controller is also programmed to receive second sensor readings from a second group of sensors and provide a second vehicle pose based on the second sensor readings. The second vehicle pose includes a second location and a second orientation of the vehicle. The controller is further programmed to, in response to the first vehicle pose being outside a predetermined range of the second vehicle pose, generate a diagnostic signal.

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