Motion controller for real-time continuous curvature path planning
US10591915B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 3, 2017 |
| Grant date | Mar 17, 2020 |
| Priority date | — |
| Expiry date | Oct 31, 2037 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2050/065
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A system for controlling a motion of a vehicle from an initial state to a target state includes a path planner to determine a discontinuous curvature path connecting the initial state with the target state by a sequential composition of driving patterns. The discontinuous curvature path is collision-free within a tolerance envelope centered on the discontinuous curvature path. The system further includes a path transformer to locate and replace at least one treatable primitive in the discontinuous curvature path with a corresponding continuous curvature segment to form a modified path remaining within the tolerance envelope. Each treatable primitive is a predetermined pattern of elementary paths. The system further includes a controller to control the motion of the vehicle according to the modified path.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.