System and method for controlling motion of a vehicle technical field
US11731655B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 15, 2021 |
| Grant date | Aug 22, 2023 |
| Priority date | — |
| Expiry date | Feb 10, 2042 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60Y2200/91
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A controller and a method for controlling motion of a vehicle is provided. The method comprises acquiring motion information including a current state of the vehicle and a desired state of the vehicle, determining a combination of a steering angle of the wheels and motor forces for moving the vehicle from the current state into the desired state by using a first model of the motion of the vehicle and a second model of the motion of the chassis of the vehicle, determining a cost function of the motion of the vehicle, optimizing the cost function of the motion of the vehicle to compute a command signal for controlling the steering wheel and the plurality of electric motors, and controlling the steering angle of the wheels and the motor forces based on the command signal.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.