US Patent Issued to FCA US LL, Stellantis Auto on Sept. 1 for "Cascaded optimal robust controller for trajectory following in autonomous vehicles" (Michigan Inventor)

ALEXANDRIA, Va., Sept. 1 -- United States Patent no. 12,722,696, issued on Sept. 1, was assigned to FCA US LL (Auburn Hills, Mich.) and Stellantis Auto SAS (Poissy, France).

"Cascaded optimal robust controller for trajectory following in autonomous vehicles" was invented by Lubna S. Khasawneh (Auburn Hills, Mich.).

According to the abstract* released by the U.S. Patent & Trademark Office: "A cascaded two-level lateral trajectory control system and method for a vehicle includes performing trajectory tracking control (TTC) of the vehicle by executing an outer linear quadratic regulator (LQR) control loop to determine both feedback and feedforward control terms and, based thereon, calculate a desired steering angle for the vehicle, executing...