US 12,358,532 B2
Systems and methods for online monitoring using a neural model by an automated vehicle
Bardh Hoxha, Canton, MI (US); Tomoya Yamaguchi, Ann Arbor, MI (US); Abdelrahman Hekal, Newcastle upon Tyne (GB); and Sergiy Bogomolov, Newcastle upon Tyne (GB)
Assigned to Toyota Motor Engineering & Manufacturing North America, Inc., Plano, TX (US); Toyota Jidosha Kabushiki Kaisha, Toyota (JP); and University of Newcastle Upon Tyne, Newcastle upon Tyne (GB)
Filed by Toyota Motor Engineering & Manufacturing North America, Inc., Plano, TX (US)
Filed on Sep. 15, 2022, as Appl. No. 17/945,253.
Prior Publication US 2024/0101153 A1, Mar. 28, 2024
Int. Cl. B60W 60/00 (2020.01); B60W 30/095 (2012.01); B60W 30/18 (2012.01); B60W 50/00 (2006.01); G06N 3/08 (2023.01)
CPC B60W 60/0015 (2020.02) [B60W 50/0097 (2013.01); B60W 50/0098 (2013.01); G06N 3/08 (2013.01); B60W 30/0953 (2013.01); B60W 30/18163 (2013.01); B60W 2510/20 (2013.01); B60W 2520/10 (2013.01); B60W 2552/05 (2020.02); B60W 2554/802 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A prediction system comprising:
a processor; and
a memory storing instructions that, when executed by the processor, cause the processor to:
generate an unverified command by a first controller and a safety command by a second controller for a projected path by an automated driving system (ADS) associated with a vehicle, and the first controller is a model predictive controller (MPC) that is different than the second controller;
estimate reachable states by a neural network (NN) model that uses the unverified command and an initial condition for the vehicle, the reachable states include a velocity, a steering angle, and a tilt for the vehicle within a bounded time and a state space associated with the initial condition and the projected path, and the reachable states exclude a subset of conservative states having safe maneuvers and exclude predicted reachable states that are unsafe associated with the projected path; and
upon determining that the reachable states satisfy collision criteria, execute by the vehicle a maneuver with the safety command for the projected path and generate subsequent commands using vehicle data from the first controller and the second controller.