US 11,809,185 B2
Systems and methods for dynamic predictive control of autonomous vehicles
Aaron Havens, Ankey, IA (US); Jun Chen, San Diego, CA (US); Yujia Wu, Emeryville, CA (US); Haoming Sun, San Diego, CA (US); Zijie Xuan, Tuscon, AZ (US); and Arda Kurt, San Diego, CA (US)
Assigned to TUSIMPLE, INC., San Diego, CA (US)
Filed by TuSimple, Inc., San Diego, CA (US)
Filed on Jun. 2, 2022, as Appl. No. 17/805,219.
Application 17/805,219 is a continuation of application No. 16/181,110, filed on Nov. 5, 2018, granted, now 11,372,403.
Prior Publication US 2022/0291687 A1, Sep. 15, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/00 (2006.01); G06F 17/11 (2006.01); G05B 19/4155 (2006.01); G05D 1/02 (2020.01); B60W 10/20 (2006.01); B60W 10/18 (2012.01); B60W 50/00 (2006.01)
CPC G05D 1/0088 (2013.01) [G05B 19/4155 (2013.01); G05D 1/0212 (2013.01); G06F 17/11 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 50/00 (2013.01); B60W 2050/0011 (2013.01); B60W 2050/0028 (2013.01); B60W 2050/0083 (2013.01); B60W 2300/145 (2013.01); B60W 2400/00 (2013.01); B60W 2520/22 (2013.01); B60W 2530/10 (2013.01); B60W 2710/18 (2013.01); B60W 2710/20 (2013.01); G05B 2219/42033 (2013.01); G05D 2201/0213 (2013.01)] 17 Claims
OG exemplary drawing
 
1. An in-vehicle control system for a semi-truck, comprising:
a processor; and
a computer-readable memory in communication with the processor and having stored thereon computer-executable instructions to cause the processor to at least:
receive a desired trajectory for autonomously driving the semi-truck and a vehicle status of the semi-truck,
update a dynamic non-linear model of the semi-truck based on the desired trajectory and the vehicle status,
determine a linear system model based on an approximation of the dynamic non-linear model including transforming a reference frame for the dynamic non-linear model from a global inertial coordinate frame to a reference frame coordinate centered on a current position of the semi-truck on a road,
model movement of the semi-truck over a prediction time horizon using the linear system model,
generate at least one control command for controlling the movement of the semi-truck based on the modelled movement, and
output the at least one control command for the autonomous driving of the semi-truck along the desired trajectory.