Autonomous automobile guidance and trajectory-tracking
US11366478B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 13, 2017 |
| Grant date | Jun 21, 2022 |
| Priority date | — |
| Expiry date | Aug 2, 2038 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2050/0012
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
Systems, methods, and computer program products for autonomous car-like ground vehicle guidance and trajectory tracking control. A multi-loop 3DOF trajectory linearization controller provides guidance to a vehicle having nonlinear rigid-body dynamics with nonlinear tire traction force, nonlinear drag forces and actuator dynamics. The controller may be based on a closed-loop PD-eigenvalue assignment and a singular perturbation (time-scale separation) theory for exponential stability, and controls the longitudinal velocity and steering angle simultaneously to follow a feasible guidance trajectory. A line-of-sight based pure-pursuit guidance controller may generate a 3DOF spatial trajectory that is provided to the 3DOF controller to enable target pursuit and path-following/trajectory-tracking. The resulting combination may provide a 3DOF motion control system with integrated simultaneous steering and speed control for automobile and car-like mobile robot target pursuit and trajectory-tracking.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.