{
  "$type": "site.standard.document",
  "description": "A system for tuning a trajectory tracking controller for a vehicle includes a trajectory planner configured to generate the planned trajectory and to output one or more planned trajectory components representative of the planned trajectory, a model predictive controller including an internal model…",
  "path": "/patents/1358599",
  "publishedAt": "2024-02-01T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W60/001",
    "GM GLOBAL TECHNOLOGY OPERATIONS LLC"
  ],
  "textContent": "A system for tuning a trajectory tracking controller for a vehicle includes a trajectory planner configured to generate the planned trajectory and to output one or more planned trajectory components representative of the planned trajectory, a model predictive controller including an internal model and an optimizer, and a tuning neural network configured to receive the one or more planned trajectory components and one or more measured trajectory components and to produce weights for a cost function. The internal model is configured to receive a predicted control input from the optimizer and the one or more measured trajectory components and to produce a predicted output. The optimizer utilizes a cost function and is configured to receive the weights for the cost function and a predicted error and to produce the predicted control input, wherein the predicted error is a selected one of the planned trajectory components minus the predicted output.",
  "title": "SYSTEM FOR TUNING A TRAJECTORY TRACKING CONTROLLER FOR AN AUTOMOTIVE VEHICLE"
}