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. 22, 2023
Filed:
Mar. 24, 2021
Ford Global Technologies, Llc, Dearborn, MI (US);
Sanghyun Hong, Ann Arbor, MI (US);
Jianbo Lu, Northville, MI (US);
Ford Global Technologies, LLC, Dearborn, MI (US);
Abstract
Present embodiments describe a method for controlling a robotic vehicle that can include causing a processor to determine a localized position of a dynamic object, determining, via the processor, a predicted trajectory of the robotic vehicle based on the localized position of the dynamic object, and determining an optimum trajectory based on the predicted trajectory, the optimum trajectory chosen based a travel velocity and longitudinal velocity. Determining the optimum trajectory can include computing a cost value comprising a plurality of cost terms associated with the optimum trajectory, and determining a control command that modifies a travel velocity and a travel vector of the robotic vehicle based on the cost value. The method further includes causing, via the processor, the robotic vehicle to follow the optimal trajectory based on the control command.