US 12,122,365 B2
Contingent model predictive control incorporating online estimation of nominal and uncertain parameters
Tulga Ersal, Ann Arbor, MI (US); Jeffrey L. Stein, Ann Arbor, MI (US); John B. Wurts, Ann Arbor, MI (US); and James Dallas, Ann Arbor, MI (US)
Assigned to THE REGENTS OF THE UNIVERSITY OF MICHIGAN, Ann Arbor, MI (US)
Filed by THE REGENTS OF THE UNIVERSITY OF MICHIGAN, Ann Arbor, MI (US)
Filed on Jun. 30, 2021, as Appl. No. 17/363,797.
Claims priority of provisional application 63/047,064, filed on Jul. 1, 2020.
Prior Publication US 2022/0001861 A1, Jan. 6, 2022
Int. Cl. B60W 30/09 (2012.01); B60W 10/04 (2006.01); B60W 10/20 (2006.01); B60W 30/095 (2012.01)
CPC B60W 30/09 (2013.01) [B60W 10/04 (2013.01); B60W 10/20 (2013.01); B60W 30/0956 (2013.01); B60W 2520/26 (2013.01); B60W 2552/40 (2020.02); B60W 2552/53 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A driving control system for a vehicle comprising a vehicle control system configured to steer wheels of the vehicle, the driving control system comprising:
a plurality of sensors coupled to the vehicle; and
a controller in electrical communication with the plurality of sensors and the vehicle control system, the controller being configured to execute a program to:
(i) receive information about a location of an object from at least one of the plurality of sensors;
(ii) determine a sequence of control inputs to avoid a collision between the vehicle and the object based on the location of the object, and
(iii) cause the vehicle control system of the vehicle to perform a vehicle maneuver based on the sequence of control inputs,
wherein the sequence of control inputs to avoid the collision is determined by
(a) determining an optimized vehicle path to avoid a collision between the vehicle and the object based upon an initial coefficient of friction value between the vehicle and a road surface,
(b) determining a vehicle deviation from the optimized vehicle path,
(c) updating, based at least in part on a measured kinematic state of the vehicle, a coefficient of friction value responsive to the determination that the vehicle deviates from the optimized vehicle path, the measured kinematic state of the vehicle including one or more of a position of the vehicle, a yaw angle of the vehicle, a velocity of the vehicle, a yaw rate of the vehicle, and a steering angle of the vehicle; and
(d) causing the vehicle control system to perform a correction in the vehicle maneuver based on the updated coefficient of friction value.