VEHICLE OPERATION AROUND OBSTACLES

Abstract: a computer includes a processor and a memory, and the memory stores instructions executable by the processor to formulate a plurality of constraints, determine a final input modification to a nominal input that minimizes a cost function subject to the constraints, and actuate a component of a vehicle according to the nominal input and the final input modification. each constraint indicates a respective obstacle relative to the vehicle. each constraint is represented as a linear inequality in a two-dimensional space with dimensions for acceleration and steering angle. the nominal input includes a nominal acceleration and a nominal steering angle. the final input modification includes a final change to the nominal acceleration and a final change to the nominal steering angle. the computer determines the final input modification by individually calculating the cost function for a plurality of potential input modifications that are on the constraints.

Inventor(s): Erol Dogan Sumer, Ehsan Arabi, Yousaf Rahman, Abhishek Sharma, Alex Maurice Miller, Michael Hafner

CPC Classification: B60W30/09 (CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT)

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