US 12,012,120 B2
System for tuning a trajectory tracking controller for an automotive vehicle
Avshalom Suissa, Ganei Tikva (IL); and Vladimir Suplin, Modiin (IL)
Assigned to GM Global Technology Operations LLC, Detroit, MI (US)
Filed by GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed on Jul. 27, 2022, as Appl. No. 17/874,451.
Prior Publication US 2024/0034349 A1, Feb. 1, 2024
Int. Cl. B60W 60/00 (2020.01); B60W 30/14 (2006.01); B60W 50/00 (2006.01); G06N 3/08 (2023.01)
CPC B60W 60/001 (2020.02) [B60W 30/143 (2013.01); B60W 50/0097 (2013.01); G06N 3/08 (2013.01); B60W 2050/0022 (2013.01); B60W 2050/0028 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system for an automotive vehicle, comprising:
a trajectory planner, comprising a chipset, configured to generate a planned trajectory and to output one or more planned trajectory components representative of the planned trajectory;
a model predictive controller (MPC), comprising a chipset, configured to:
receive a predicted control input and one or more measured trajectory components from the automotive vehicle,
produce a predicted output,
utilize a cost function to receive a plurality of weights for the cost function and a predicted error to produce the predicted control input,
wherein the predicted error is a sum of a selected one of the planned trajectory components minus the predicted output; and
a tuning neural network, comprising a chipset, configured to receive the one or more planned trajectory components and the one or more measured trajectory components and to produce the plurality of weights for the cost function.