US 12,134,400 B2
Reference tracking for two autonomous driving modes using one control scheme
Sarah Koehler, Sunnyvale, CA (US); Carrie Bobier-Tiu, Sunnyvale, CA (US); and Matthew Brown, Los Altos, CA (US)
Assigned to TOYOTA RESEARCH INSTITUTE, INC., Los Altos, CA (US)
Filed by TOYOTA RESEARCH INSTITUTE, INC., Los Altos, CA (US)
Filed on Sep. 13, 2021, as Appl. No. 17/474,019.
Prior Publication US 2023/0084461 A1, Mar. 16, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 60/00 (2020.01); B60W 10/20 (2006.01); B60W 30/12 (2020.01); B60W 50/08 (2020.01); B60W 50/10 (2012.01)
CPC B60W 60/001 (2020.02) [B60W 10/20 (2013.01); B60W 30/12 (2013.01); B60W 50/087 (2013.01); B60W 50/10 (2013.01); B60W 60/0053 (2020.02); B60W 2510/20 (2013.01); B60W 2710/20 (2013.01); B60W 2720/24 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A vehicle having a semi-autonomous and a fully autonomous driving mode, the vehicle comprising:
one or more processors configured to execute machine executable instructions in non-transitory memory to:
in response to receiving a driving input and a vehicle state for a defined time horizon, determine a reference driving input and a reference vehicle state for the defined time horizon, wherein the driving input is a human driver input when the vehicle is operating in a semi-autonomous mode and a pseudo-driver input when the vehicle is operating in a fully autonomous mode;
compare the driving input and the reference driving input to an autonomous driving command and the reference vehicle state to the vehicle state;
compute a second autonomous driving command based on the comparing; and
generate a control signal which effectuates the second autonomous driving command.