US 11,934,194 B2
Adaptive vehicle motion control system
Albert Costa, Pittsburgh, PA (US); Michael L. Phillips, Pittsburgh, PA (US); and Michael Bode, Pittsburgh, PA (US)
Assigned to UATC, LLC, Mountain View, CA (US)
Filed by UATC, LLC, Mountain View, CA (US)
Filed on Jun. 10, 2021, as Appl. No. 17/344,504.
Application 17/344,504 is a continuation of application No. 15/963,662, filed on Apr. 26, 2018, granted, now 11,036,233.
Application 15/963,662 is a continuation of application No. 15/423,233, filed on Feb. 2, 2017, granted, now 9,964,952, issued on May 8, 2018.
Prior Publication US 2021/0302983 A1, Sep. 30, 2021
Int. Cl. G05D 1/00 (2006.01); B60W 30/095 (2012.01); G01C 21/34 (2006.01)
CPC G05D 1/0223 (2013.01) [B60W 30/0953 (2013.01); G01C 21/3415 (2013.01); G05D 1/0027 (2013.01); G05D 1/0088 (2013.01); G05D 1/0217 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An adaptive vehicle motion control system comprising:
one or more processors; and
one or more memory devices, the one or more memory devices storing instructions that when executed by the one or more processors cause the one or more processors to perform operations, the operations comprising:
obtaining data associated with a plurality of objects within a surrounding environment of a vehicle, wherein the data comprises respective predicted paths of the plurality of objects;
performing a cost analysis with respect to the plurality of objects, wherein the cost analysis for a respective object comprises a cost analysis to maintain travel behind the respective object at a following distance or in front of the respective object at a leading distance in a manner that corresponds to a motion of the respective object;
determining one or more parameters associated with a motion of the vehicle based, at least in part, on the cost analysis; and
causing the vehicle to implement at least a portion of the one or more parameters associated with the motion of the vehicle.