System and method for controlling lateral motion of vehicle
US10994729B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 29, 2017 |
| Grant date | May 4, 2021 |
| Priority date | — |
| Expiry date | Feb 17, 2038 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/0236
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A control system uses a set of regions of states of lateral dynamic of the vehicle corresponding to a set of equilibrium points to control a vehicle. Each region defines a control invariant set of the states of the lateral dynamic determined such that the vehicle having a state within a region is capable to maintain its states within the region. Each region includes a corresponding equilibrium point and intersects with at least one adjacent region. The control system identifies collision-free regions at different time steps of control to produce a collision free sequence of regions forming a union of regions in space and time connecting a region including an initial displacement with a region including a target displacement. The control system produces a trajectory within the union connecting the initial displacement with the target displacement and control the vehicle according to the trajectory.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.