US 12,168,458 B2
Systems and methods for maneuvering vehicles using predictive control and automated driving
Katherine Steele Schweidel, Berkeley, CA (US); Miroslav Baric, San Jose, CA (US); Sarah Koehler, San Jose, CA (US); Vishnu R. Desaraju, Ann Arbor, MI (US); Matthew Brown, Palo Alto, CA (US); and Timothee Jean William Cazenave, Santa Clara, CA (US)
Assigned to Toyota Research Institute, Inc., Los Altos, CA (US)
Filed by Toyota Research Institute, Inc., Los Altos, CA (US)
Filed on Apr. 11, 2022, as Appl. No. 17/717,416.
Claims priority of provisional application 63/276,164, filed on Nov. 5, 2021.
Prior Publication US 2023/0141801 A1, May 11, 2023
Int. Cl. B60W 60/00 (2020.01); B60W 50/08 (2020.01)
CPC B60W 60/0015 (2020.02) [B60W 50/08 (2013.01); B60W 60/0013 (2020.02); B60W 60/0027 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A control system for improving maneuvering of a vehicle, comprising:
a processor; and
a memory storing instructions that, when executed by the processor, cause the processor to:
receive, by a controller, an operator command associated with a vehicle maneuver while automated driving is engaged;
adjust a motion command associated with the vehicle maneuver by applying a predictive control according to motion estimates outputted from the automated driving and the operator command and factoring manual control for the vehicle maneuver using a cost function, the predictive control using motion constraints that are constant between time intervals for the vehicle maneuver and the cost function includes weighted deviations from the operator command and predicted trajectories associated with the motion command; and
control, by the controller, the vehicle using the motion command for a time step during the time intervals.