Vehicle motion control system and method
US10663966B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 29, 2017 |
| Grant date | May 26, 2020 |
| Priority date | — |
| Expiry date | Apr 15, 2037 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG08G1/143
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A system for controlling a motion of a vehicle includes a memory to store a set of analytical functions corresponding to a set of patterns of elementary paths. Each pattern represents a continuous path and each analytical function is determined for a corresponding pattern to provide an analytical solution for input states of the vehicle defining a continuous path connecting the input states by a sequential compositions of the elementary paths following the corresponding pattern. The system includes a path planner to select from the memory, in response to receiving an initial state and a target state of the vehicle, an analytical function corresponding to a minimum cost of the continuous curvature path connecting the initial state with the target state and to analytically determine parameters of the continuous curvature path using the selected analytical function and a controller to control the motion of the vehicle according to the parameters of the continuous curvature path.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.