Integrated chassis control
First Claim
Patent Images
1. A control system for a vehicle, comprising:
- a plurality of vehicle actuators that are operable to affect actual chassis-level accelerations;
a vehicle intelligence unit that determines a motion plan, wherein the vehicle intelligence unit determines the motion plan based on an intended destination, and wherein the motion plan describes an intended path for the vehicle from a current location of the vehicle to the intended destination;
a vehicle motion control unit that receives the motion plan, receives information describing a feasible range of chassis-level accelerations and determines a chassis-level motion request based on the motion plan and the feasible range of chassis-level accelerations, wherein the chassis-level motion request includes requested chassis-level accelerations, and wherein, in response to a determination that the intended path described by the motion plan is not feasible, the vehicle motion control unit determines the chassis-level motion request to constrain a deviation from the motion plan and constrain the requested chassis-level accelerations based on the feasible range of chassis-level accelerations; and
a chassis control unit that determines actuator commands for the plurality of vehicle actuators based on the chassis-level motion request and controls operation of the plurality of vehicle actuators using the actuator commands.
1 Assignment
0 Petitions
Accused Products
Abstract
A control system for a vehicle includes a plurality of vehicle actuators that are operable to affect actual chassis-level accelerations, a vehicle intelligence unit that determines a motion plan, a vehicle motion control unit that determines a chassis-level motion request based on the motion plan, and a chassis control unit that determines actuator commands for the plurality of vehicle actuators based on the chassis-level motion request.
55 Citations
18 Claims
-
1. A control system for a vehicle, comprising:
-
a plurality of vehicle actuators that are operable to affect actual chassis-level accelerations; a vehicle intelligence unit that determines a motion plan, wherein the vehicle intelligence unit determines the motion plan based on an intended destination, and wherein the motion plan describes an intended path for the vehicle from a current location of the vehicle to the intended destination; a vehicle motion control unit that receives the motion plan, receives information describing a feasible range of chassis-level accelerations and determines a chassis-level motion request based on the motion plan and the feasible range of chassis-level accelerations, wherein the chassis-level motion request includes requested chassis-level accelerations, and wherein, in response to a determination that the intended path described by the motion plan is not feasible, the vehicle motion control unit determines the chassis-level motion request to constrain a deviation from the motion plan and constrain the requested chassis-level accelerations based on the feasible range of chassis-level accelerations; and a chassis control unit that determines actuator commands for the plurality of vehicle actuators based on the chassis-level motion request and controls operation of the plurality of vehicle actuators using the actuator commands. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
-
-
9. A method for controlling a vehicle, comprising:
-
determining a motion plan based on an intended destination, wherein the motion plan describes an intended path for the vehicle from a current location of the vehicle to the intended destination; determining a chassis-level motion request based on the motion plan and information describing a feasible range of chassis-level accelerations, wherein the chassis-level motion request includes requested chassis-level accelerations, and wherein, in response to a determination that the intended path described by the motion plan is not feasible, the chassis-level motion request is determined to constrain a deviation from the motion plan and constrain the requested chassis-level accelerations based on the feasible range of chassis-level accelerations; and determining actuator commands for a plurality of vehicle actuators based on the chassis-level motion request; and controlling operation of the plurality of vehicle actuators using the actuator commands. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
-
-
17. A non-transitory computer-readable storage device including program instructions executable by one or more processors that, when executed, cause the one or more processors to perform operations, the operations comprising:
-
determining a motion plan based on an intended destination, wherein the motion plan describes an intended path for the vehicle from a current location of the vehicle to the intended destination; determining a chassis-level motion request based on the motion plan and information describing a feasible range of chassis-level accelerations, wherein the chassis-level motion request includes requested chassis-level accelerations, and wherein, in response to a determination that the intended path described by the motion plan is not feasible, the chassis-level motion request is determined to constrain a deviation from the motion plan and constrain the requested chassis-level accelerations based on the feasible range of chassis-level accelerations; determining actuator commands for a plurality of vehicle actuators based on the chassis-level motion request; and controlling operation of the plurality of vehicle actuators using the actuator commands. - View Dependent Claims (18)
-
Specification