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AssigneeMitsubishi Electric Research Laboratories, Inc.
InventorsStefano Di Cairano, Terrence Skibik, Abraham Vinod, Avishai Weiss
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The present disclosure discloses a system and a method for controlling motion of an ego vehicle. The method includes collecting a feedback signal indicative of a current state of the ego vehicle and an environment, processing the feedback signal to determine a region of the state of the ego vehicle uplifted with admissible values of a control parameter, processing the feedback signal with a nominal controller to produce a nominal control command maintaining the state of the ego vehicle within the determined region, and evaluating a state function of an evasive controller with a value of the control parameter from the determined region to produce an evasive control command. The method further includes controlling the motion of the ego vehicle according to the nominal control command when the fault is not detected; and otherwise controlling the motion of the ego vehicle according to the evasive control command.
A control system for controlling motion of an ego vehicle, comprising:
A method for controlling motion of an ego vehicle, wherein the method uses a processor coupled to a memory storing a nominal controller for controlling a nominal motion of the ego vehicle subject to a nominal constraint and an evasive controller for controlling an evasive maneuver of the ego vehicle subject to an evasive constraint different from the nominal constraint, wherein the nominal controller is configured to produce a nominal control command according to a movement objective of the ego vehicle, wherein the evasive controller is configured to produce an evasive control command by evaluating a state function of a control parameter, the processor is coupled with stored instructions when executed by the processor carry out steps of the method, comprising:
A non-transitory computer readable storage medium embodied thereon a program executable by a processor for performing a method, the storage medium stores a nominal controller for controlling a nominal motion of the ego vehicle subject to a nominal constraint and an evasive controller for controlling an evasive maneuver of the ego vehicle subject to an evasive constraint different from the nominal constraint, wherein the nominal controller is configured to produce a nominal control command according to a movement objective of the ego vehicle, wherein the evasive controller is configured to produce an evasive control command by evaluating a state function of a control parameter, the program when executed by the processor carry out steps of the method, comprising:
Dependencies are inferred from the claim text.