Adaptive path following algorithm for heavy-duty vehicles
US12377845B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 23, 2022 |
| Grant date | Aug 5, 2025 |
| Priority date | — |
| Expiry date | Aug 12, 2042 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2552/30
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A method for controlling a heavy-duty vehicle to follow a reference path (P), comprising determining a goal point along the reference path to be used as a steering reference from a vehicle location in vicinity of the path, where the goal point is distanced along the path by a preview distance measured from a reference location associated with the vehicle location, determining a direction w1 of a first flow field associated with the reference path, determining whether a lateral deviation of the vehicle location from the reference path exceeds a threshold lateral deviation, and controlling the vehicle in accordance with the direction w1 of a first flow field if the lateral deviation exceeds the threshold lateral deviation, and otherwise controlling the vehicle in accordance with the direction wpipe of a pipe flow substantially parallel to the reference path or in accordance with an optimization-based path.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.