{
  "$type": "site.standard.document",
  "description": "A method for controlling a vehicle through one or more controllers includes determining an intended driving path of the vehicle. The method further includes determining locations of virtual attracting nodes on or generally on the intended driving path. Additionally, the method includes determining…",
  "path": "/patents/1376735",
  "publishedAt": "2025-09-11T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W60/0016",
    "GM GLOBAL TECHNOLOGY OPERATIONS LLC"
  ],
  "textContent": "A method for controlling a vehicle through one or more controllers includes determining an intended driving path of the vehicle. The method further includes determining locations of virtual attracting nodes on or generally on the intended driving path. Additionally, the method includes determining locations of virtual repelling nodes along one or more boundaries spaced from the intended driving path or located at obstacles near the intended driving path. The method additionally includes calculating virtual attractive forces between one or more positions of the vehicle and the virtual attracting nodes. In addition, the method includes calculating virtual repelling forces between one or more positions of the vehicle and the virtual repelling nodes. The method additionally includes controlling a trajectory of the vehicle at least in part using the virtual attractive forces and the virtual repelling forces.",
  "title": "VEHICLE TRAJECTORY CONTROL FOR PRECISE ROUTE FOLLOWING"
}