Patent ID: 11919514
Assignee: PLUSAI, INC.
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. A computer-implemented method comprising:
obtaining, by a computing system, a lane-keeping safe set associated with constraints on lateral movement of a vehicle traveling on a road, wherein the constraints include safety constraints and performance objectives, wherein the performance objectives include a minimum allowed lateral offset from a planned path of the vehicle;
generating, by the computing system, a lane-keeping safe set with preview based on the lane-keeping safe set and preview data, the preview data associated with characteristics of the road ahead of the vehicle;
receiving, by the computing system, a steer command to control the lateral movement of the vehicle; and
generating, by the computing system, a safe steer command by modifying the steer command based on the lane-keeping safe set with preview.