US 12,286,151 B1
System and method for controlling motion of articulated vehicles
Marcus Greiff, Cambridge, MA (US); Rien Quirynen, Cambridge, MA (US); Karl Berntorp, Cambridge, MA (US); Stefano Di Cairano, Cambridge, MA (US); Yebin Wang, Cambridge, MA (US); Eyad Zeino, Cambridge, MA (US); Astha Tiwari, Cambridge, MA (US); Hassan Iqbal, Cambridge, MA (US); Shuangxuan Ran, Cambridge, MA (US); and Sixiong You, Cambridge, MA (US)
Assigned to Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US)
Filed by Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US)
Filed on Mar. 24, 2023, as Appl. No. 18/189,377.
Int. Cl. B62D 13/06 (2006.01); B60W 30/095 (2012.01)
CPC B62D 13/06 (2013.01) [B60W 30/095 (2013.01); B60W 2300/14 (2013.01); B60W 2510/18 (2013.01)] 20 Claims
OG exemplary drawing
 
15. A method for controlling a motion of an articulated vehicle having one or more trailers, the method comprising:
collecting a feedback signal indicative of a state of the articulated vehicle;
determining a motion path for the articulated vehicle based on the feedback signal, the motion path comprising one or more forward motions of the articulated vehicle and one or more backward motions of the articulated vehicle;
generating an optimal control problem for optimizing the motion path, the optimal control problem comprising an integral tracking error function relating to the motion path, the integral tracking error function indicating at least an integral tracking error based on one or more motion cusps, the one or more motion cusps indicating a switching between a forward motion and a backward motion in the motion path;
optimizing the motion path over a prediction horizon based on solving the optimal control problem, the prediction horizon being associated with a vehicle model of the articulated vehicle having the state;
generating a control command for the articulated vehicle based on the optimized motion path and the vehicle model; and
controlling the motion of the articulated vehicle based on the control command, thereby changing its state.