Disclosed is a method of determining an allowable vehicle state space of an articulated vehicle (1) for safely completing a maneuver, wherein the vehicle state space comprises vehicle velocity, the method comprising; monitoring a drivable area (31) ahead of the articulated vehicle (1), predicting a potentially swept area (33) ahead of the articulated vehicle (1), wherein the potentially swept area (33) represents an area that may be traversed by the articulated vehicle (1) during the maneuver with a probability, based on an initial vehicle state of the articulated vehicle (1), a geometry of the articulated vehicle (1), and on error characteristics associated with one or more sensor input signals used for positioning the articulated vehicle (1), and determining the allowable vehicle state space such that the predicted potentially swept area (33) does not extend beyond the drivable area (31) ahead of the vehicle (1).
一种确定铰接式车辆(1)的用于安全完成机动的可允许的车辆状态空间的方法,其中该车辆状态空间包括车辆速度,该方法包括:监测铰接式车辆(1)前方的可行驶区域(31),预测铰接式车辆(1)前方的潜在扫过区域(33),其中潜在扫过区域(33)表示在机动期间铰接式车辆(1)以基于铰接式车辆(1)的初始车辆状态、铰接式车辆(1)的几何形状以及与用于对铰接式车辆(1)进行定位的一个或多个传感器输入信号相关联的误差特性的概率经过的区域,以及确定可允许的车辆状态空间,使得预测的潜在扫过区域(33)不会延伸超出车辆(1)前方的可行驶区域(31)。
METHOD OF DETERMINING AN ALLOWABLE VEHICLE STATE SPACE FOR AN ARTICULATED VEHICLE
确定铰接式车辆的可允许的车辆状态空间的方法
2021-11-16
Patent
Elektronische Ressource
Chinesisch
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