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US 2026/0274282 A1Published application
Single control scheme for two autonomous driving modes using model predictive control envelope
AssigneeWoven By Toyota, Inc.
InventorsCARRIE G. BOBIER-TIU, SARAH M. KOEHLER, MATTHEW J. BROWN, MANUEL AHUMADA
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Abstract
Systems and methods of using a common control scheme to autonomously control a vehicle during semi-autonomous and fully autonomous driving modes are provided. In particular, embodiments of the presently disclosed technology incorporate reference tracking for driving input and vehicle state into this common control scheme. In some embodiments, this common control scheme may be implemented using Model Predictive Control (“MPC”).
Claims20
A vehicle system comprising:
- one or more processors;
- and
- memory storing instructions that, when executed by at least one processor of the one or more processors, cause the vehicle system to perform:
- based on a navigation input, a vehicle state of a vehicle, and a path of travel of the vehicle, generate a reference navigation input and a reference vehicle state;
- compare the reference vehicle state to the vehicle state within a first component of an objective cost function;
- compare the reference navigation input to an autonomous driving command within a second component of the objective cost function;
- compare the navigation input to the autonomous driving command within a third component of the objective cost function;
- and
- generate a control signal, the control signal comprising a refined autonomous driving command according to the comparisons within the first component, the second component, and the third component.
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A method comprising:
- based on a navigation input, a vehicle state of a vehicle, and a path of travel of the vehicle, generating a reference navigation input and a reference vehicle state;
- comparing the reference vehicle state to the vehicle state within a first component of an objective cost function;
- comparing the reference navigation input to an autonomous driving command within a second component of the objective cost function;
- comparing the navigation input to the autonomous driving command within a third component of the objective cost function;
- and
- generating a control signal, the control signal comprising a refined autonomous driving command according to the comparisons within the first component, the second component, and the third component.
3 more elements
Dependencies are inferred from the claim text.