US 11,851,052 B2
Vehicle path verification
Yuming Niu, Northville, MI (US); Md Tawhid Bin Waez, Canton, MI (US); Yousaf Rahman, Ypsilanti, MI (US); and Nagarjuna Muvva, Farmington Hills, 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. 17/588,489.
Prior Publication US 2023/0242104 A1, Aug. 3, 2023
Int. Cl. B60W 30/095 (2012.01); B60W 40/105 (2012.01); G07C 5/00 (2006.01); B62D 15/02 (2006.01)
CPC B60W 30/095 (2013.01) [B60W 40/105 (2013.01); B62D 15/021 (2013.01); G07C 5/004 (2013.01); B60W 2420/42 (2013.01); B60W 2554/4049 (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 programmed to:
based on a set of planned control parameters defining a planned path for a vehicle, identify a set of reference control parameters corresponding to the set of planned path control parameters;
input optimized controller inputs associated with the identified set of reference control parameters, the set of planned control parameters, and operation noise data to a vehicle dynamics model that outputs a vehicle state model;
based on the vehicle state model, determine an actual path for the vehicle and an operating range for the actual path; and
determine that the planned path is one of verified or unverified based on the operating range.