US 2026/0217308 A1Published application

Model predictive control for automated driving in complex geometries

AssigneeGM Global Technology Operations LLC

InventorsJimmy Lu, Amirreza Mirbeygi Moghaddam, Reza Zarringhalam, Milad Jalaliyazdi, Jackson Barry McGrory

Life of this patent

Estimating the term…

Loading patent…

Abstract

Examples provide a method for model predictive control for automated driving in complex geometries. The method includes receiving road lane line information from a first camera associated with a first side of a vehicle, a second camera associated with a second side of the vehicle, and map data. The method further includes initiating a perception task using the road lane line information and determining that the perception task is disturbed due to road lane geometry. The method further includes generating patches of a target path, each of the patches having an associated confidence value. The method further includes generating a combined target path by stitching together the patches of the target path. The method further includes generating, using the combined target path, desired steering commands for the vehicle. The method further includes controlling the vehicle using the desired steering commands to cause the vehicle to follow the combined target path.

Claims25

Dependent claims

A computer-implemented method for model predictive control for automated driving in complex geometries, the method comprising:

receiving road lane line information from a first camera associated with a first side of a vehicle, a second camera associated with a second side of the vehicle, and map data;
initiating a perception task using the road lane line information;
determining that the perception task is disturbed due to road lane geometry;
generating patches of a target path, each of the patches having an associated confidence value;
generating a combined target path by stitching together the patches of the target path;
generating, using the combined target path, desired steering commands for the vehicle;
and
controlling the vehicle using the desired steering commands to cause the vehicle to follow the combined target path,
wherein generating the desired steering commands for the vehicle includes calculating a cost function using the associated confidence value for each of the patches and a weight associated with each of the patches, and
wherein the cost function is calculated according to the following equation:
C
=
∑
k
=
1
p
{
c
1
⁢
w
1
(
Y
+
Y
c
-
y
r
,
1
)
2
+
c
2
⁢
w
2
(
Y
+
Y
c
-
y
r
,
2
)
2
+
c
3
⁢
w
3
(
Y
+
Y
c
-
y
r
,
3
)
2
+
w
Δ
⁢
u
⁢
(
u
k
-
u
k
-
1
)
2
+
w
u
(
u
k
-
u
ref
)
2
}
where C is the cost function, ci is the associated confidence value of the target for source i, wi is the weight value for patches of source i target, associated with each source, Y is a predicted output of the vehicle, Yc is a camera performance bias for lateral position, Yr is the target based on source i, u is a steering angle command, uk is a steering angle command at a current step, and uref is a steering angle reference.

97 more elements

A vehicle comprising:

a first camera;
a second camera;
a vehicle plant;
and
a processing system comprising:
a memory comprising computer readable instructions;
and
a processing device for executing the computer readable instructions, the computer readable instructions controlling the processing system to perform operations for model predictive control for automated driving in complex geometries, the operations comprising:
receiving road lane line information from the first camera, the second camera, and map data;
initiating a perception task using the road lane line information;
determining that the perception task is disturbed due to road lane geometry;
generating patches of a target path, each of the patches having an associated confidence value;
generating a combined target path by stitching together the patches of the target path;
generating, using the combined target path, desired steering commands for the vehicle;
and
controlling the vehicle using the desired steering commands to cause the vehicle to follow the combined target path,
wherein generating the desired steering commands for the vehicle includes calculating a cost function using the associated confidence value for each of the patches and a weight associated with each of the patches, and
wherein the cost function is calculated according to the following equation:
C
=
∑
k
=
1
p
{
c
1
⁢
w
1
(
Y
+
Y
c
-
y
r
,
1
)
2
+
c
2
⁢
w
2
(
Y
+
Y
c
-
y
r
,
2
)
2
+
c
3
⁢
w
3
(
Y
+
Y
c
-
y
r
,
3
)
2
+
w
Δ
⁢
u
⁢
(
u
k
-
u
k
-
1
)
2
+
w
u
(
u
k
-
u
ref
)
2
}
where C is a cost function, ci is an associated confidence value of a target for source i, wi is a weight value for patches of source i target associated with each source, Y is a predicted output of the vehicle, Yc is a camera performance bias for lateral position, Yr is the target based on source i, u is a steering angle command, uk is a steering angle command at a current step, and uref is a steering angle reference.

105 more elements

Dependencies are inferred from the claim text.

Facts

Application: 19/039,222Filed 28 Jan 2025
Published: 30 Jul 2026
Term ends: Not estimatedThe source records don’t support an estimate.

Classification15 codes

B62D 6/001
Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits: the torque NOT…
B62D 15/025
Steering position indicators ; Steering position determination; Steering aids: active steering aids, e.g. helping the driver by actively…
B60W 10/20
Conjoint control of vehicle sub-units of different type or different function: including control of steering systems
B60W 30/045
Control of vehicle driving stability: improving turning performance