Adaptive path following algorithm for heavy-duty vehicles
US12420788B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 9, 2022 |
| Grant date | Sep 23, 2025 |
| Priority date | — |
| Expiry date | Jul 4, 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), the method comprising obtaining the reference path (P) to be followed by the vehicle, determining a goal point (G) along the path (P) to be used as a steering reference from a vehicle location (x) in vicinity of the path (P), where the goal point (G) is distanced along the path (P) by a preview distance (Dp) measured from a reference location (x, G0) associated with the vehicle location (x), where the preview distance (Dp) is determined at least partly based on a lateral deviation (y) of the vehicle location (x) from the reference path (P), such that the preview distance (Dp) increases with an increasing lateral deviation (y) from the reference path (P), and decreases with a decreasing lateral deviation (y), and controlling the vehicle on the basis of the goal point (G).
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.