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AssigneesToyota Research Institute, Inc., Toyota Jidosha Kabushiki Kaisha, The Regents of the University of Michigan
InventorsJames Andrew Dallas, John Talbot, Makoto Suminaka, Michael Thompson, Thomas J. Lew, Gabor Orosz, John K. Subosits
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Systems and methods for controlling a vehicle using a control barrier function candidate are disclosed. In one example, a system includes a memory in communication with a processor. The memory includes instructions that, when executed by the processor, cause the processor to control the movement of a vehicle to satisfy one or more constraints defined by a control barrier function candidate that is based on a maximum phase recovery ellipse that defines a safe set for a sideslip angle-yaw rate phase plane where the vehicle remains in a recoverable state.
A system comprising a memory in communication with a processor and having instructions that, when executed by the processor, cause the processor to control a movement of a vehicle to satisfy one or more constraints defined by a control barrier function candidate that is based on a maximum phase recovery ellipse that defines a safe set for a sideslip angle-yaw rate phase plane where the vehicle remains in a recoverable state.
A method comprising controlling a movement of a vehicle to satisfy a constraint defined by a control barrier function candidate that is based on a maximum phase recovery ellipse that defines a safe set for a sideslip angle-yaw rate phase plane where the vehicle remains in a recoverable state.
A non-transitory computer-readable medium having instructions that, when executed by a processor, cause the processor to control a movement of a vehicle to satisfy one or more constraints defined by a control barrier function candidate that is based on a maximum phase recovery ellipse that defines a safe set for a sideslip angle-yaw rate phase plane where the vehicle remains in a recoverable state.
Dependencies are inferred from the claim text.