Method for controlling a motor vehicle to avoid a target with Euler-spiral path refinement
US12420779B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Dec 16, 2021 |
| Grant date | Sep 23, 2025 |
| Priority date | — |
| Expiry date | Apr 1, 2042 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2720/14
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A method controls a motor vehicle equipped with at least two perception sensors to avoid a target. The control method includes: determining data of the sensors, fusing the data of the sensors so as to determine the steering wheel angle, the vehicle speed and the vehicle heading, planning an avoidance path to avoid the target, taking the form of a Euler spiral, refining the avoidance path depending on the steering wheel angle, on the vehicle speed and on the vehicle heading and based on the solution of an optimisation problem, controlling the vehicle so as to follow the refined path, the refining the path including honing the avoidance path depending on the path length, on the direction of steering wheel rotation and on the final heading and refining the honed trajectory depending on the initial heading and on the direction of steering wheel rotation.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.