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:
Dec. 26, 2017
Filed:
Feb. 26, 2016
GM Global Technology Operations Llc, Detroit, MI (US);
Jin-Woo Lee, Rochester Hills, MI (US);
Bakhtiar B. Litkouhi, Washington, MI (US);
GM Global Technology Operations LLC, Detroit, MI (US);
Abstract
A method for providing vehicle steering control through a curve in an autonomously driven or semi-autonomously driven vehicle that is towing a trailer. The method determines that the trailer will cross out of the travel lane based on the curvature of the curve and the turn radius of the trailer. The method calculates a start turn radius of the vehicle for a start location of the curve, an end turn radius of the vehicle for an end location of the curve, and a turn end point proximate the end location or a turn start point proximate the start location. The method provides initial and boundary conditions for determining a desired path of the vehicle through the curve that prevents the trailer from crossing out of the lane and determines the desired path based on the initial and boundary conditions by solving a polynomial equation.