US 11,945,456 B2
Vehicle control for optimized operation
Branimir Skugor, Sesvete (HR); Jakov Topic, Zapresić (HR); Josko Deur, Zagreb (HR); Vladimir Ivanovic, Canton, MI (US); and Hongtei Eric Tseng, Canton, MI (US)
Assigned to Ford Global Technologies, LLC, Dearborn, MI (US)
Filed by Ford Global Technologies, LLC, Dearborn, MI (US)
Filed on Jan. 31, 2022, as Appl. No. 17/588,401.
Prior Publication US 2023/0242134 A1, Aug. 3, 2023
Int. Cl. B60W 50/12 (2012.01); B60W 30/18 (2012.01); B60W 40/105 (2012.01); B60W 50/06 (2006.01)
CPC B60W 50/12 (2013.01) [B60W 30/18109 (2013.01); B60W 40/105 (2013.01); B60W 50/06 (2013.01); B60W 2554/4041 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A system, comprising a computer including a processor and a memory, the memory storing instructions executable by the processor to:
upon detecting a mobile object approaching a target region, input a target speed profile for a vehicle, a position and a speed for the vehicle and a position and a speed for the mobile object to a first neural network that outputs an entry probability distribution of predicted entry times at which the mobile object will enter the target region;
input the target speed profile, the position and the speed for the vehicle, the position and the speed for the mobile object, and a predicted entry time at which the mobile object entered the target region to a second neural network that outputs an exit probability distribution of predicted exit times at which the mobile object will exit the target region;
determine an optimized speed profile based on the entry and exit probability distributions by executing a model predictive control algorithm in a rolling horizon; and
operate a vehicle based on the optimized speed profile.