System and method for controlling movement of a vehicle

US12311975B2 · kind B2 · utility

Assignee

• Mitsubishi Electric Research Laboratories, Inc. · US

Inventors

• Rien Quirynen · Somerville, US
• Yebin Wang · Acton, US
• Stefano Di Cairano · Newton, US
• Ahmad Ahmad · Sammamish, US
• Zejiang Wang · Cambridge, US
• Akshay Bhagat · Squirrel Hill, US
• Eyad Zeino · Northville, US

Key dates

• Filing date: Sep 19, 2022
• Grant date: May 27, 2025
• Expiry date: Apr 7, 2043

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B60W2554/40
• WIPO field: Transport
• WIPO sector: Mechanical engineering

Abstract

A control system for controlling movement of a vehicle, is disclosed. The control system is configured to construct a graph having multiple nodes defining states of the vehicle. The multiple nodes comprise an initial node defining initial state and a target node defining target state. Each pair of nodes is connected by an edge defined by collision-free motion primitives where the nodes comprise motion cusps. Multiple nodes connected through edges form a first path. A first number of motion cusps in the first path is determined and the graph is expanded to add new nodes until a termination condition is met on determining that the first number of motion cusps is above a threshold. The expansion of the graph is subjected to a constraint associated with a total number of motion cusps. Further a second path is determined having lesser motion cusps than the first path.