Integrated chassis control
AssigneeApple Inc.
InventorsChristopher D. Gadda, Carlos Alberto De Magalhaes Massera Filho, David A. Stronks, Gabriel M. Hoffmann, Miroslav Baric, Nathaniel B. Honka, Stefan Solyom, Timothee J. Cazenave
Life of this patent
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Abstract
A control system for a vehicle includes a plurality of vehicle actuators that are operable to affect actual chassis-level accelerations, a vehicle intelligence unit that determines a motion plan, a vehicle motion control unit that determines a chassis-level motion request based on the motion plan, and a chassis control unit that determines actuator commands for the plurality of vehicle actuators based on the chassis-level motion request.
Claims18
A control system for a vehicle, comprising:
- a plurality of vehicle actuators that are operable to affect actual chassis-level accelerations;
- a vehicle intelligence unit that determines a motion plan, wherein the vehicle intelligence unit determines the motion plan based on an intended destination, and wherein the motion plan describes an intended path for the vehicle from a current location of the vehicle to the intended destination;
- a vehicle motion control unit that receives the motion plan, receives information describing a feasible range of chassis-level accelerations and determines a chassis-level motion request based on the motion plan and the feasible range of chassis-level accelerations, wherein the chassis-level motion request includes requested chassis-level accelerations, and wherein, in response to a determination that the intended path described by the motion plan is not feasible, the vehicle motion control unit determines the chassis-level motion request to constrain a deviation from the motion plan and constrain the requested chassis-level accelerations based on the feasible range of chassis-level accelerations;
- and
- a chassis control unit that determines actuator commands for the plurality of vehicle actuators based on the chassis-level motion request and controls operation of the plurality of vehicle actuators using the actuator commands.
A method for controlling a vehicle, comprising:
- determining a motion plan based on an intended destination, wherein the motion plan describes an intended path for the vehicle from a current location of the vehicle to the intended destination;
- determining a chassis-level motion request based on the motion plan and information describing a feasible range of chassis-level accelerations, wherein the chassis-level motion request includes requested chassis-level accelerations, and wherein, in response to a determination that the intended path described by the motion plan is not feasible, the chassis-level motion request is determined to constrain a deviation from the motion plan and constrain the requested chassis-level accelerations based on the feasible range of chassis-level accelerations;
- and
- determining actuator commands for a plurality of vehicle actuators based on the chassis-level motion request;
- and
- controlling operation of the plurality of vehicle actuators using the actuator commands.
A non-transitory computer-readable storage device including program instructions executable by one or more processors that, when executed, cause the one or more processors to perform operations, the operations comprising:
- determining a motion plan based on an intended destination, wherein the motion plan describes an intended path for the vehicle from a current location of the vehicle to the intended destination;
- determining a chassis-level motion request based on the motion plan and information describing a feasible range of chassis-level accelerations, wherein the chassis-level motion request includes requested chassis-level accelerations, and wherein, in response to a determination that the intended path described by the motion plan is not feasible, the chassis-level motion request is determined to constrain a deviation from the motion plan and constrain the requested chassis-level accelerations based on the feasible range of chassis-level accelerations;
- determining actuator commands for a plurality of vehicle actuators based on the chassis-level motion request;
- and
- controlling operation of the plurality of vehicle actuators using the actuator commands.
Dependencies are inferred from the claim text.