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US 11,079,761 B2Granted
Vehicle path processing
AssigneeFord Global Technologies, LLC
InventorNitendra Nath
Life of this patent
Estimating the term…
Abstract
A system, comprising a computer that includes a processor and a memory, the memory storing instructions executable by the processor to estimate path coefficients based on a difference between a vehicle location and a vehicle path. Estimating the path coefficients can include minimizing the difference while controlling path coefficient gain to maintain occupant comfort and safety. A vehicle can be operated based on the estimated path coefficients.
Claims20
A method, comprising:
- estimating path coefficients of a third-degree polynomial equation based on a lateral distance between the vehicle and the vehicle path, a vehicle steering path heading angle, a steering path curvature, and a steering path curvature rate of change, including minimizing the difference while controlling path coefficient gain to maintain occupant comfort and safety;
- determining the estimated path coefficients iteratively using a recursive least squares estimation technique;
- and
- operating a vehicle based on the estimated path coefficients.
1 more element
A system, comprising a processor;
- and
- a memory, the memory including instructions to be executed by the processor to:
- estimate path coefficients of a third-degree polynomial equation based on a lateral distance between the vehicle and the vehicle path, a vehicle steering path heading angle, a steering path curvature, and a steering path curvature rate of change, including minimizing the difference while controlling path coefficient gain to maintain occupant comfort and safety;
- determine the estimated path coefficients iteratively using a recursive least squares estimation technique;
- and
- operating a vehicle based on the estimated path coefficients.
3 more elements
A system, comprising:
- means for controlling vehicle steering, braking and powertrain;
- and
- means for:
- estimating path coefficients of a third-degree polynomial equation based on a lateral distance between the vehicle and the vehicle path, a vehicle steering path heading angle, a steering path curvature, and a steering path curvature rate of change, including minimizing the difference while controlling path coefficient gain to maintain occupant comfort and safety;
- determining the estimated path coefficients iteratively using a recursive least squares estimation technique;
- and
- operating a vehicle based on the estimated path coefficients and the means for controlling vehicle steering, braking and powertrain.
4 more elements
Dependencies are inferred from the claim text.