US 11,919,514 B1
Safety filter with preview data to improve the safety of steer commands
Siva Bhargav Ravella, San Jose, CA (US); and Muhammad Waqas, Los Angeles, CA (US)
Assigned to PlusAI, Inc., Santa Clara, CA (US)
Filed by PlusAI, Inc., Santa Clara, CA (US)
Filed on Feb. 6, 2023, as Appl. No. 18/106,059.
Int. Cl. B60W 30/12 (2020.01); B60W 10/20 (2006.01); B60W 60/00 (2020.01)
CPC B60W 30/12 (2013.01) [B60W 10/20 (2013.01); B60W 60/001 (2020.02); B60W 2554/4041 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method comprising:
obtaining, by a computing system, a lane-keeping safe set associated with constraints on lateral movement of a vehicle traveling on a road, wherein the constraints include safety constraints and performance objectives, wherein the performance objectives include a minimum allowed lateral offset from a planned path of the vehicle;
generating, by the computing system, a lane-keeping safe set with preview based on the lane-keeping safe set and preview data, the preview data associated with characteristics of the road ahead of the vehicle;
receiving, by the computing system, a steer command to control the lateral movement of the vehicle; and
generating, by the computing system, a safe steer command by modifying the steer command based on the lane-keeping safe set with preview.