# US 11,079,761 B2 · Vehicle path processing > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,079,761 B2 - Document ID: US11079761B2 - Status: Granted - Kind: B2 - Application number: 16/217,227 - Filed: 2018-12-12 - Published: 2020-06-18 - Granted: 2021-08-03 - Earliest claimed: 2018-12-12 - Assignees: Ford Global Technologies, LLC - Applicants: Ford Global Technologies, LLC - Inventors: Nitendra Nath - Web page: https://patentgrep.com/patent/US11079761B2 ## CPC - B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)} - G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)} - B62D 6/00: Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits (means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00) - G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)} - G05D 1/027: {comprising intertial navigation means, e.g. azimuth detector (inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165)} - G05D 1/0278: {using satellite positioning signals, e.g. GPS} - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The method of claim 1, further comprising controlling the path coefficient gain by limiting values of elements of a four-by-four diagonal gain matrix. ### Claim 3 (depends on 2) The method of claim 2, further comprising replacing the four-by-four diagonal gain matrix with ordinary differential equations based on a time series in each of the elements of the four-by-four diagonal gain matrix. ### Claim 4 (depends on 3) The method of claim 3, further comprising solving the ordinary differential equations iteratively as a time series using a least squares error term to determine a new gain matrix that minimizes a prediction error at each time step. ### Claim 5 (depends on 1) The method of claim 1, further comprising operating the vehicle by inputting path coefficients into a steering controller. ### Claim 6 (depends on 5) The method of claim 5, further comprising determining instructions to direct vehicle steering components based on the path coefficients. ### Claim 7 (depends on 1) The method of claim 1, further comprising determining vehicle location based on vehicle sensor data including global positioning system (GPS) sensor data and inertial navigation system (INS) sensor data. ### Claim 8 (depends on 1) The method of claim 1, further comprising determining the vehicle path based on uploading path information from a plurality of vehicles to a server computer. ### Claim 9 (depends on 8) The method of claim 8, further comprising downloading the vehicle path based on the vehicle location. ### Claim 10 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. ### Claim 11 (depends on 10) The system of claim 10, further comprising replacing the four-by-four diagonal gain matrix with ordinary differential equations based on a time series in each of the elements of the four-by-four diagonal gain matrix. ### Claim 12 (depends on 11) The system of claim 11, further comprising solving the ordinary differential equations iteratively as a time series using a least squares error term to determine a new gain matrix that minimizes a prediction error at each time step. ### Claim 13 (depends on 10) The system of claim 10, further comprising controlling the path coefficient gain by limiting values of elements of a four-by-four diagonal gain matrix. ### Claim 14 (depends on 10) The system of claim 10, further comprising operating the vehicle by inputting path coefficients into a steering controller. ### Claim 15 (depends on 14) The system of claim 14, further comprising determining instructions to direct vehicle steering components based on the path coefficients. ### Claim 16 (depends on 10) The system of claim 10, further comprising determining the vehicle location based on vehicle sensor data including global positioning system (GPS) sensor data and inertial navigation system (INS) sensor data. ### Claim 17 (depends on 10) The system of claim 10, further comprising determining the vehicle path based on uploading path information from a plurality of vehicles to a server computer. ### Claim 18 (depends on 17) The system of claim 17, further comprising downloading the vehicle path based on the vehicle location. ### Claim 19 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. ### Claim 20 (depends on 19) The system of claim 19, further comprising replacing the four-by-four diagonal gain matrix with ordinary differential equations based on a time series in each of the elements of the four-by-four diagonal gain matrix.