Patents by Inventor Mrdjan J. Jankovic
Mrdjan J. Jankovic has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
-
Publication number: 20240051523Abstract: A computer includes a processor and a memory, the memory storing instructions executable by the processor to receive sensor data indicating an obstacle, formulate a control barrier function for a vehicle based on the sensor data, determine a control input based on the control barrier function, and actuate a component of the vehicle according to the control input. The control barrier function is defined with respect to a reference point that is spaced from a centroid of the vehicle.Type: ApplicationFiled: August 10, 2022Publication date: February 15, 2024Applicant: Ford Global Technologies, LLCInventors: Mohit Srinivasan, Hongtei Eric Tseng, Michael Hafner, Mrdjan J. Jankovic, Abhishek Sharma, Erol Dogan Sumer, Alexander Jaeckel, Aakar Mehra
-
Patent number: 11891061Abstract: A lateral virtual boundary for a host vehicle is identified based on a lateral distance between the host vehicle and a target vehicle, a longitudinal distance between the host vehicle and the target vehicle, and a speed of the target vehicle relative to the host vehicle. A forward virtual boundary for the host vehicle is identified based on the longitudinal distance between the host vehicle and the target vehicle. A lateral constraint value of the lateral virtual boundary and a forward constraint value of the forward virtual boundary are determined. A longitudinal acceleration and a steering angle are determined based on the lateral and forward virtual boundaries and the lateral and forward constraint values. One or both of a steering component or a brake are actuated based on the longitudinal acceleration and the steering angle.Type: GrantFiled: June 17, 2021Date of Patent: February 6, 2024Assignee: Ford Global Technologies, LLCInventors: Yousaf Rahman, Hongtei Eric Tseng, Mrdjan J. Jankovic
-
Publication number: 20230399002Abstract: A system includes a processor and a memory. The memory stores instructions executable by the processor to determine a virtual barrier around a vehicle based on receiving a first user input and data indicating a vehicle sprung mass, upon receiving a second user input selecting the virtual barrier, to determine an updated virtual barrier based on the received second user input, upon determining the virtual barrier, to verify that the virtual barrier satisfies one or more vehicle parameters; and to provide output based on the virtual barrier.Type: ApplicationFiled: June 14, 2022Publication date: December 14, 2023Applicant: Ford Global Technologies, LLCInventors: Erol Dogan Sumer, Abhishek Sharma, Mohit Srinivasan, Alexander Jaeckel, Michael Hafner, Mrdjan J. Jankovic, Aakar Mehra
-
Patent number: 11827217Abstract: A computer is programmed to identify first and second virtual boundaries of a roadway lane based on a predicted boundary between the roadway lane and an adjacent roadway lane, determine a first constraint value based on a first virtual boundary approach acceleration, determine a second constraint value based on a second virtual boundary approach acceleration, output a prescribed steering angle, brake input, and propulsion input when one of the constraint values violates a respective threshold, and actuate components to attain the prescribed steering angle, brake input, and propulsion input. The first virtual boundary approach acceleration is based on a steering wheel angle of a vehicle and input to one of a brake or a propulsion of the vehicle. The second virtual boundary approach acceleration is based on a steering wheel angle of the vehicle and input to one of a brake or a propulsion of the vehicle.Type: GrantFiled: August 28, 2020Date of Patent: November 28, 2023Assignee: Ford Global Technologies, LLCInventors: Michael Hafner, Mrdjan J. Jankovic, Yousaf Rahman, Abhishek Sharma, Mario Anthony Santillo
-
Publication number: 20230373471Abstract: A computer includes a processor and a memory, and the memory stores instructions executable by the processor to receive sensor data indicating an obstacle, formulate a control barrier function for a vehicle and the obstacle based on the sensor data, determine a control input based on the control barrier function and a combination function, and actuate a component of the vehicle according to the control input. The combination function is a sum of a first function weighted by a first weight and a second function weighted by a second weight, and the first weight and the second weight are based on a kinematic state of the obstacle.Type: ApplicationFiled: May 17, 2022Publication date: November 23, 2023Applicant: Ford Global Technologies, LLCInventors: Abhishek Sharma, Michael Hafner, Mohit Srinivasan, Mrdjan J. Jankovic, Erol Dogan Sumer, Alexander Jaeckel, Aakar Mehra
-
Patent number: 11708800Abstract: Systems and methods for determining fuel delay in a fuel injected engine with cylinders that may be deactivated are presented. In one example, the fuel injection delay is determined via a cylinder firing schedule array when the cylinder firing schedule array is available. The fuel injection delay is determined via weighted average of a fuel injection delay of a present engine cycle and a fuel injection delay of a past engine cycle when the cylinder firing schedule array is not available.Type: GrantFiled: May 28, 2020Date of Patent: July 25, 2023Assignee: Ford Global Technologies, LLCInventors: Stephen William Magner, Mrdjan J. Jankovic
-
Patent number: 11673548Abstract: A computer includes a processor and a memory storing instructions executable by the processor to identify a virtual boundary between a host roadway lane of a host vehicle and a target roadway lane of a target vehicle, the virtual boundary based on a predicted path of the target vehicle, determine a first constraint value based on a boundary approach velocity of the target vehicle, determine a second constraint value based on (1) a boundary approach velocity of the host vehicle and (2) a boundary approach acceleration of the host vehicle and perform a threat assessment of a collision between the host vehicle and the target vehicle upon determining that the first constraint value violates a first threshold or the second constraint value violates a second threshold.Type: GrantFiled: September 10, 2020Date of Patent: June 13, 2023Assignee: FORD GLOBAL TECHNOLOGIES, LLCInventors: Mrdjan J. Jankovic, Yousaf Rahman, Mario A. Santillo, Abhishek Sharma, Michael Hafner
-
Publication number: 20230159032Abstract: A speed of a target vehicle in a target lane of operation is determined relative to a host vehicle in a host lane of operation. A virtual boundary is determined around the target vehicle based on the speed of the target vehicle. A position in the target lane and outside the virtual boundary is selected based on a) a first cost function for a deviation of a speed of the host vehicle from a requested speed, and b) a second cost function for a frequency of lane changes. Upon determining to move the host vehicle from the host lane to the target lane, the host vehicle is operated to the position in the target lane.Type: ApplicationFiled: November 23, 2021Publication date: May 25, 2023Applicant: Ford Global Technologies, LLCInventors: Yousaf Rahman, Mrdjan J. Jankovic
-
Publication number: 20230150485Abstract: A system for detecting a road surface includes a processor and a memory. The memory stores instructions executable by the processor to determine a virtual boundary for a vehicle body based on a shape of the vehicle body, to identify one or more objects based on vehicle sensor data, based on the identified one or more objects, the determined virtual boundary, and an input to at least one of propulsion, steering, or braking, to determine at least one of a braking override or a steering override, and based on the determination, to perform at least one of adjusting a vehicle steering and a vehicle speed.Type: ApplicationFiled: November 16, 2021Publication date: May 18, 2023Applicant: Ford Global Technologies, LLCInventors: Michael Hafner, Mohit Srinivasan, Abhishek Sharma, Mrdjan J. Jankovic, Dogan Sumer, Alexander Jaeckel, Aakar Mehra
-
Publication number: 20230150532Abstract: A system for detecting a road surface includes a computer programmed to determine a virtual boundary for a vehicle body based on a shape of the vehicle body, upon identifying an object, to identify a plurality of points on the object based on received sensor data, to determine a barrier function based on each of the identified plurality of points, wherein the barrier function includes a barrier distance from a reference point of the virtual boundary of the vehicle to a respective one of the points on the object, based on (i) the determined barrier functions, (ii) the determined virtual boundary of the vehicle, and (iii) an input to at least one of propulsion, steering, or braking, to determine at least one of a braking override or a steering override, and based on the determination, to adjust at least one of a vehicle steering or a vehicle speed.Type: ApplicationFiled: May 23, 2022Publication date: May 18, 2023Applicant: Ford Global Technologies, LLCInventors: Michael Hafner, Mohit Srinivasan, Abhishek Sharma, Mrdjan J. Jankovic, Erol Dogan Sumer, Alexander Jaeckel, Aakar Mehra
-
Publication number: 20230020503Abstract: A computer, including a processor and a memory, the memory including instructions to be executed by the processor to determine a first action based on inputting sensor data to a deep reinforcement learning neural network and transform the first action to one or more first commands. One or more second commands can be determined by inputting the one or more first commands to control barrier functions and transforming the one or more second commands to a second action. A reward function can be determined by comparing the second action to the first action. The one or more second commands can be output.Type: ApplicationFiled: July 8, 2021Publication date: January 19, 2023Applicant: Ford Global Technologies, LLCInventors: Yousaf Rahman, Subramanya Nageshrao, Michael Hafner, Hongtei Eric Tseng, Mrdjan J. Jankovic, Dimitar Petrov Filev
-
Publication number: 20220402486Abstract: A lateral virtual boundary for a host vehicle is identified based on a lateral distance between the host vehicle and a target vehicle, a longitudinal distance between the host vehicle and the target vehicle, and a speed of the target vehicle relative to the host vehicle. A forward virtual boundary for the host vehicle is identified based on the longitudinal distance between the host vehicle and the target vehicle. A lateral constraint value of the lateral virtual boundary and a forward constraint value of the forward virtual boundary are determined. A longitudinal acceleration and a steering angle are determined based on the lateral and forward virtual boundaries and the lateral and forward constraint values. One or both of a steering component or a brake are actuated based on the longitudinal acceleration and the steering angle.Type: ApplicationFiled: June 17, 2021Publication date: December 22, 2022Applicant: Ford Global Technologies, LLCInventors: Yousaf Rahman, Hongtei Eric Tseng, Mrdjan J. Jankovic
-
Patent number: 11383704Abstract: A computer includes a processor and a memory, the memory storing instructions executable by the processor to generate an ellipse around a target vehicle, identify an intersection point between the ellipse and a line extending from a host vehicle to the target vehicle, identify a line tangent to the ellipse at the intersection point, and actuate one or more components of the host vehicle to avoid locations represented by the line tangent to the ellipse.Type: GrantFiled: August 16, 2019Date of Patent: July 12, 2022Assignee: FORD GLOBAL TECHNOLOGIES, LLCInventors: Phillip Bonkoski, Mrdjan J. Jankovic
-
Patent number: 11327496Abstract: A planned acceleration of a vehicle and a predicted optimal acceleration of a target is determined. Upon determining that an actual acceleration of the target differs from the predicted optimal acceleration, the planned acceleration of the vehicle is revised based on the actual acceleration of the target. The foregoing steps can be implemented by a vehicle computer according to program instructions stored in a memory of the vehicle computer. The vehicle can include sensors, actuators, and/or controllers in communication with the computer via a vehicle communication network.Type: GrantFiled: January 16, 2019Date of Patent: May 10, 2022Assignee: Ford Global Technologies, LLCInventors: Mrdjan J. Jankovic, Mario Anthony Santillo
-
Patent number: 11312373Abstract: A computer is programmed to identify a target vehicle to be monitored and to identify first and second virtual boundaries on a roadway based on a position of the target vehicle. The computer is further programmed to determine a first constraint value based on (1) a first boundary approach velocity and (2) a first boundary approach acceleration and a second constraint value based on (1) a second boundary approach velocity and (2) a second boundary approach acceleration. The computer is further programmed to identify a maneuver of the target vehicle based on whether the first and second constraint values violate respective thresholds or a position of the target vehicle relative to the first and second virtual boundaries violates a threshold and to adjust a path of a host vehicle according to the identified maneuver.Type: GrantFiled: March 5, 2020Date of Patent: April 26, 2022Assignee: Ford Global Technologies, LLCInventors: Yousaf Rahman, Mrdjan J. Jankovic, Mario Anthony Santillo
-
Publication number: 20220073063Abstract: A computer includes a processor and a memory storing instructions executable by the processor to identify a virtual boundary between a host roadway lane of a host vehicle and a target roadway lane of a target vehicle, the virtual boundary based on a predicted path of the target vehicle, determine a first constraint value based on a boundary approach velocity of the target vehicle, determine a second constraint value based on (1) a boundary approach velocity of the host vehicle and (2) a boundary approach acceleration of the host vehicle and perform a threat assessment of a collision between the host vehicle and the target vehicle upon determining that the first constraint value violates a first threshold or the second constraint value violates a second threshold.Type: ApplicationFiled: September 10, 2020Publication date: March 10, 2022Applicant: Ford Global Technologies, LLCInventors: Mrdjan J. Jankovic, Yousaf Rahman, Mario A. Santillo, Abhishek Sharma, Michael Hafner
-
Publication number: 20220063610Abstract: A computer is programmed to identify first and second virtual boundaries of a roadway lane based on a predicted boundary between the roadway lane and an adjacent roadway lane, determine a first constraint value based on a first virtual boundary approach acceleration, determine a second constraint value based on a second virtual boundary approach acceleration, output a prescribed steering angle, brake input, and propulsion input when one of the constraint values violates a respective threshold, and actuate components to attain the prescribed steering angle, brake input, and propulsion input. The first virtual boundary approach acceleration is based on a steering wheel angle of a vehicle and input to one of a brake or a propulsion of the vehicle. The second virtual boundary approach acceleration is based on a steering wheel angle of the vehicle and input to one of a brake or a propulsion of the vehicle.Type: ApplicationFiled: August 28, 2020Publication date: March 3, 2022Applicant: Ford Global Technologies, LLCInventors: Michael Hafner, Mrdjan J. Jankovic, Yousaf Rahman, Abhishek Sharma, Mario Anthony Santillo
-
Publication number: 20210276546Abstract: A computer is programmed to identify a target vehicle to be monitored and to identify first and second virtual boundaries on a roadway based on a position of the target vehicle. The computer is further programmed to determine a first constraint value based on (1) a first boundary approach velocity and (2) a first boundary approach acceleration and a second constraint value based on (1) a second boundary approach velocity and (2) a second boundary approach acceleration. The computer is further programmed to identify a maneuver of the target vehicle based on whether the first and second constraint values violate respective thresholds or a position of the target vehicle relative to the first and second virtual boundaries violates a threshold and to adjust a path of a host vehicle according to the identified maneuver.Type: ApplicationFiled: March 5, 2020Publication date: September 9, 2021Applicant: Ford Global Technologies, LLCInventors: Yousaf Rahman, Mrdjan J. Jankovic, Mario Anthony Santillo
-
Publication number: 20210046925Abstract: A computer includes a processor and a memory, the memory storing instructions executable by the processor to generate an ellipse around a target vehicle, identify an intersection point between the ellipse and a line extending from a host vehicle to the target vehicle, identify a line tangent to the ellipse at the intersection point, and actuate one or more components of the host vehicle to avoid locations represented by the line tangent to the ellipse.Type: ApplicationFiled: August 16, 2019Publication date: February 18, 2021Applicant: Ford Global Technologies, LLCInventors: Phillip Bonkoski, Mrdjan J. Jankovic
-
Patent number: 10920689Abstract: Methods and systems are provided for improving engine torque response during transient condition. In one example, a method may include adjusting intake throttle and exhaust waste-gate valve based on the operator torque demand and concurrently, scheduling exhaust gas recirculation (EGR) and variable cam timing (VCT) based on a predicted torque shortfall ratio. The scheduling of EGR and VCT is independent of the actual position of intake throttle and exhaust waste-gate valve.Type: GrantFiled: April 10, 2017Date of Patent: February 16, 2021Assignee: Ford Global Technologies, LLCInventors: John Erik Mikael Hellstrom, Mrdjan J. Jankovic, Michael Howard Shelby, John Eric Rollinger, Adam J. Richards, Paul A. Pietrzyk