The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Aug. 11, 2020
Filed:
Aug. 08, 2018
Toyota Motor Engineering & Manufacturing North America, Inc., Plano, TX (US);
Dominic M. Liao-McPherson, Ann Arbor, MI (US);
Mike X. Huang, Ann Arbor, MI (US);
Kevin M. Zaseck, New Hudson, MI (US);
TOYOTA MOTOR ENGINEERING & MANUFACTURING NORTH AMERICA, INC., Plano, TX (US);
Abstract
A system including a controller configured to, in each sampling period, minimize a distance of the autonomous vehicle from a target path by solving a constrained control problem, input sensor values and estimators that are calculated based on the sensor values and dynamic models and record the sensor values and the estimators in a memory of the controller, incorporate the sensor values and the estimators into conditions for minimizing the distance of the autonomous vehicle from the target path associated with the constrained control problem, map the conditions for minimizing the distance of the autonomous vehicle from the target path to a non-smooth system using Fischer-Burmeister function, smooth the non-smooth system and apply Newton method iterations to the smoothed system in order to converge on a solution, and issue commands including a steering command that control actuators of the autonomous vehicle based on the solution.