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:
Sep. 29, 2026
Filed:
Nov. 22, 2024
GM Global Technology Operations Llc, Detroit, MI (US);
Harsh Ketan Patel, New Hudson, MI (US);
Paul A. Adam, Milford, MI (US);
Tetyana V. Mamchuk, Novi, MI (US);
GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US);
Abstract
A trajectory planning system that calculates a laterally offset trajectory based on a maximum allowable in-lane lateral offset with respect to the center of a host lane of a vehicle includes one or more controllers including one or more processors that execute instructions to monitor perception data collected by a plurality of perception sensors until determining an occurrence of an offset event requiring the vehicle to deviate from an original trajectory. In response to determining the occurrence of the offset event, the one or more controllers calculate a non-linear error component of the maximum allowable in-lane lateral offset. The one or more controllers update the laterally offset trajectory of the vehicle with the maximum allowable in-lane lateral offset and apply a rate limiter to the maximum allowable in-lane lateral offset in real-time while instructing the vehicle to travel along the laterally offset trajectory.