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. 17, 2021
Filed:
Jun. 24, 2018
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Karl Berntorp, Watertown, MA (US);
Claus Danielson, Somerville, MA (US);
Avishai Weiss, Cambridge, MA (US);
Stefano Di Cairano, Newton, MA (US);
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Abstract
A control system of a vehicle for controlling motion of the vehicle traveling on a road shared with a set of moving objects include a memory to store a set of regions of states of lateral dynamic of the vehicle corresponding to a set of equilibrium points. Each region defines a control invariant set of the states of the lateral dynamic determined for different speeds of the vehicle, such that the vehicle having a state within a region determined for a speed is capable to maintain its states within the region while moving with the speed. Each region includes a corresponding equilibrium point and intersects with at least one adjacent region. Each equilibrium point is associated with one or multiple regions determined for different speeds. A collision detector to detect a collision of each region with at least one object at each time step of control in a time horizon when a trajectory of the object at the time step of control intersects a space defined by a longitudinal displacement of the vehicle at the time step of control and a range of values of the lateral displacement of the region to produce a data structure indicating a collision-free region at different time steps of control. A path planner determines a time sequence defining 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 to produce a trajectory within the union connecting the initial displacement with the target displacement. A controller controls the vehicle according to the trajectory.