Toyota Research Institute, Inc.

Toyota Jidosha Kabushiki Kaisha

Matthew Brown

Sarah Koehler

Carrie Bobier-Tiu

Miroslav Baric

Vishnu R Desaraju

Timothee Jean William Cazenave

Katherine Steele Schweidel

Systems, methods, and other embodiments described herein relate to determining a type and an issue time of a vehicle control command based on an estimated realization delay. In one embodiment, a method includes identifying a first realization delay associated with a first control command and identifying a second realization delay associated with a second control command. The second control command is issued after the first control command is issued. The method includes issuing the first control command at an issue time that is based on the first realization delay and the second realization delay, and realizing the first control command on a vehicle.

Systems and methods for determining vehicle control based on estimated realization delay

System, methods, and other embodiments described herein relate to vehicle maneuvering using predictive control with automated driving and contingency planning to preserve safety and increase comfort. In one embodiment, a method includes receiving, by a controller, an operator command associated with a vehicle maneuver while automated driving is engaged. The method also includes adjusting a motion command associated with the vehicle maneuver by applying a predictive control according to motion estimates outputted from the automated driving and the operator command, the predictive control using motion constraints that are constant between time intervals for the vehicle maneuver. The method also includes controlling, by the controller, a vehicle using the motion command for a time step during the time intervals.

Systems and methods for maneuvering vehicles using predictive control and automated driving

Systems and methods of using a common control scheme to autonomously controlling a vehicle during semi-autonomous and fully autonomous driving modes are provided. In particular, embodiments of the presently disclosed technology incorporate reference tracking for driving input and vehicle state into this common control scheme. In some embodiments, this common control scheme may be implemented using Model Predictive Control (MPC).

Reference tracking for two autonomous driving modes using one control scheme

Growing community of inventors

Palo Alto, CA, United States of America

Matthew Brown