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:
May. 04, 2021
Filed:
Mar. 29, 2017
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Karl Berntorp, Watertown, MA (US);
Avishai Weiss, Boston, MA (US);
Claus Danielson, Somerville, MA (US);
Stefano Di Cairano, Newton, MA (US);
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Abstract
A control system uses a set of regions of states of lateral dynamic of the vehicle corresponding to a set of equilibrium points to control a vehicle. Each region defines a control invariant set of the states of the lateral dynamic determined such that the vehicle having a state within a region is capable to maintain its states within the region. Each region includes a corresponding equilibrium point and intersects with at least one adjacent region. The control system identifies collision-free regions at different time steps of control to produce a collision free sequence of regions forming a union of regions in space and time connecting a region including an initial displacement with a region including a target displacement. The control system produces a trajectory within the union connecting the initial displacement with the target displacement and control the vehicle according to the trajectory.