System and method for controlling motion of articulated vehicles

US12286151B1 · kind B1 · utility

Assignee

• Mitsubishi Electric Research Laboratories, Inc. · US

Inventors

• Marcus Greiff · Cambridge, US
• Rien Quirynen · Somerville, US
• Karl Berntorp · Newton, US
• Stefano Di Cairano · Newton, US
• Yebin Wang · Acton, US
• Eyad Zeino · Northville, US
• Astha Tiwari · Cambridge, US
• Hassan Iqbal · Schwechat, AT
• Shuangxuan Ran · Cambridge, US
• Sixiong You · Cambridge, US

Key dates

• Filing date: Mar 24, 2023
• Grant date: Apr 29, 2025
• Expiry date: Nov 8, 2043

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B60W2510/18
• WIPO field: Transport
• WIPO sector: Mechanical engineering

Abstract

A system for controlling motion of an articulated vehicle with one or multiple trailers is described. The system is configured to infer the state of a vehicle, determine a motion path with forward motions and backward motions for the vehicle based on the state, and formulate an optimal control problem for optimizing the motion path. The optimal control problem comprises an integral tracking error function indicating integral tracking error based on motion cusps relating to the motion path. The motion cusps indicate switching between forward motion and backward motion. The motion path is optimized over a prediction horizon based on solving the optimal control problem. A control command is generated for the vehicle based on the optimized motion path and a vehicle model, and the motion of the articulated vehicle is controlled based on the control command thereby changing its state.