×

Integrated chassis control

  • US 10,407,035 B1
  • Filed: 08/03/2017
  • Issued: 09/10/2019
  • Est. Priority Date: 08/03/2016
  • Status: Active Grant
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.

View all claims
  • 1 Assignment
Timeline View
Assignment View
    ×
    ×