Adaptive control of autonomous or semi-autonomous vehicle
US11753023B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jan 19, 2020 |
| Grant date | Sep 12, 2023 |
| Priority date | — |
| Expiry date | Jan 20, 2041 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2400/00
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A control system controls a vehicle using a probabilistic motion planner and an adaptive predictive controller. The probabilistic motion planner produces a sequence of parametric probability distributions over a sequence of target states for the vehicle with parameters defining a first and higher order moments. The adaptive predictive controller optimizes a cost function over a prediction horizon to produce a sequence of control commands to one or multiple actuators of the vehicle. The cost function balances a cost of tracking of different state variables in the sequence of the target states defined by the first moments. The balancing is performed by weighting different state variables using one or multiple of the higher order moments of the probability distribution.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.