	US 11,774,974 B2
	Adaptive dynamic model for automated vehicle
Junqing Wei, Bridgeville, PA (US); Ludong Sun, Pittsburgh, PA (US); Zachary Thomas Batts, Pittsburgh, PA (US); Jarrod M. Snider, Pittsburgh, PA (US); and Junsung Kim, Austin, TX (US)
Assigned to Motional AD LLC, Boston, MA (US)
Filed by Motional AD LLC, Boston, MA (US)
Filed on Apr. 26, 2021, as Appl. No. 17/241,002.
Application 17/241,002 is a division of application No. 15/622,284, filed on Jun. 14, 2017, granted, now 10,990,102.
Prior Publication US 2021/0247772 A1, Aug. 12, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/02 (2020.01); G07C 5/08 (2006.01); B62D 6/10 (2006.01); B62D 15/02 (2006.01); B60W 10/20 (2006.01); B60W 10/18 (2012.01); B60W 30/12 (2020.01); B60W 30/02 (2012.01); G05D 1/00 (2006.01); B60C 23/04 (2006.01); G01L 5/22 (2006.01)

CPC G05D 1/0214 (2013.01) [B60C 23/0408 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 30/02 (2013.01); B60W 30/12 (2013.01); B62D 6/10 (2013.01); B62D 15/021 (2013.01); B62D 15/025 (2013.01); G01L 5/221 (2013.01); G05D 1/0066 (2013.01); G05D 1/0072 (2013.01); G07C 5/0808 (2013.01); B60W 2510/18 (2013.01); B60W 2510/202 (2013.01); B60W 2520/10 (2013.01); B60W 2520/28 (2013.01); B60W 2530/20 (2013.01); B60W 2552/30 (2020.02); B60W 2710/18 (2013.01); B60W 2710/202 (2013.01); B60W 2720/10 (2013.01); B60W 2720/28 (2013.01); G05D 2201/0213 (2013.01)]

12 Claims

1. A system comprising:

a engine-status-detector configured to detect that an engine of an automated vehicle is operating at reduced-power;

a processor configured to:

adjust a dynamic-model of the automated vehicle based on the detected reduced-power, the dynamic-model representing a dynamic characterization of the automated vehicle;

predict, using the adjusted dynamic model, a dynamic behavior of the automated vehicle in response to steering, braking, acceleration or deceleration of the automated vehicle; and

a controller that operates the automated vehicle based on the predicted dynamic behavior.