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:
Apr. 29, 2025
Filed:
Mar. 24, 2023
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Marcus Greiff, Cambridge, MA (US);
Rien Quirynen, Cambridge, MA (US);
Karl Berntorp, Cambridge, MA (US);
Stefano Di Cairano, Cambridge, MA (US);
Yebin Wang, Cambridge, MA (US);
Eyad Zeino, Cambridge, MA (US);
Astha Tiwari, Cambridge, MA (US);
Hassan Iqbal, Cambridge, MA (US);
Shuangxuan Ran, Cambridge, MA (US);
Sixiong You, Cambridge, MA (US);
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Abstract
A system for controlling motion of an articulated vehicle with one or multiple trailers is described. The system is configured to infer the state of a vehicle, determine a motion path with forward motions and backward motions for the vehicle based on the state, and formulate an optimal control problem for optimizing the motion path. The optimal control problem comprises an integral tracking error function indicating integral tracking error based on motion cusps relating to the motion path. The motion cusps indicate switching between forward motion and backward motion. The motion path is optimized over a prediction horizon based on solving the optimal control problem. A control command is generated for the vehicle based on the optimized motion path and a vehicle model, and the motion of the articulated vehicle is controlled based on the control command thereby changing its state.