US 11,807,275 B2
Method and process for degradation mitigation in automated driving
Rasoul Salehi, Ann Arbor, MI (US); Wen-Chiao Lin, Rochester Hills, MI (US); Sayyed Rouhollah Jafari Tafti, Troy, MI (US); and Reza Zarringhalam, Whitby (CA)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM Global Technology Operations LLC, Detroit, MI (US)
Filed on Aug. 9, 2021, as Appl. No. 17/397,171.
Prior Publication US 2023/0039636 A1, Feb. 9, 2023
Int. Cl. B60W 60/00 (2020.01); B60W 30/095 (2012.01)
CPC B60W 60/0018 (2020.02) [B60W 30/0953 (2013.01); B60W 30/0956 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/4049 (2020.02)] 17 Claims
OG exemplary drawing
 
1. A method of operating a vehicle, comprising:
measuring a degradation in an operation parameter of the vehicle, the vehicle operating in a first state based on a first value of an adaptive parameter;
determining a threat to the vehicle due to operating the vehicle in the first state with the degradation in the operation parameter;
adjusting the adaptive parameter from the first value to a second value that mitigates the threat to the vehicle;
simulating a second state by simulating a perturbation to the adaptive parameter from the first value to the second value;
identifying the degradation in a planning module or a control module of the vehicle; and
operating the vehicle in the second state based on the second value.