US 12,179,792 B2 · Vehicle control

Abstract

Command determination for controlling a vehicle, such as an autonomous vehicle, is described. In an example, individual requests for controlling the vehicle relative to each of multiple objects or conditions in an environment are received (substantially simultaneously) and based on the request type and/or additional information associated with a request, command controllers can determine control commands (e.g., different accelerations, steering angles, steering rates, and the like) associated with each of the one or more requests. The command controllers may have different controller gains (which may be based on functions of distance, distance ratios, time to estimated collisions, etc.) for determining the controls and a control command may be determined based on the all such determined controls.

Claims20

Dependent claims

A non-transitory computer-readable medium storing a set of instructions that, when executed, cause one or more processors to perform operations comprising:

receiving a first request to navigate relative to an object in an environment, the first request comprising first information including at least one of a first velocity relative to the object, a first distance relative to the object, or a first time relative to the object;
receiving a second request to navigate in the environment, the second request comprising second information comprising at least one of a second velocity, a second distance, or a second time;
determining, using a first command controller, a first command for controlling a vehicle in accordance with the first request;
determining, using a second command controller, a second command for controlling the vehicle in accordance with the second request;
determining, based at least in part on the first command and the second command, a control command for controlling the vehicle, and
controlling, based at least in part on the control command, the vehicle.

3 more elements

An autonomous vehicle comprising:

a first controller for determining a first acceleration based at least in part on first input information and associated with a first controller gain;
a second controller for determining a second acceleration based at least in part on second input information and associated with a second controller gain;
one or more processors;
and
memory storing processor-executable instructions that, when executed by the one or more processors, cause the autonomous vehicle to perform acts comprising:
receiving a first request to navigate relative to an object in an environment;
receiving a second request to navigate in the environment;
determining, using the first controller, a first command for controlling the autonomous vehicle in accordance with the first request;
determining, using the second controller, a second command for controlling the autonomous vehicle in accordance with the second request;
determining, based at least in part on the first command and the second command, a control command;
and
controlling the autonomous vehicle based at least in part on the control command.

9 more elements

Dependencies are inferred from the claim text.

Vehicle control

Life of this patent

Vehicle control

Life of this patent

Abstract

Claims20