A method for controlling an autonomous or semi-autonomous vehicle comprises: obtaining, information describing a roadway from a starting position to make progress along the roadway between a left edge and a right edge; transforming the information describing the roadway in a Frenet-Serret frame; defining a plurality of grid lines along the roadway at spaced locations; determining corridors in space and time coordinates; determining a trajectory within the suitable corridor through mathematical optimization for each grid line in time generating a convex (or quasi-convex) and continuous time function in the drivable space; and transforming the convex (or quasi-convex) and continuous time function into a motion planning trajectory in Euclidian coordinates. Furthermore, this method applies different methods in determining the development of the vehicle states over time for high and low velocities of the vehicle.
METHOD AND SYSTEM FOR CONTROLLING AUTONOMOUS OR SEMI-AUTONOMOUS VEHICLE
VERFAHREN UND SYSTEM ZUR STEUERUNG VON AUTONOMEN ODER HALBAUTONOMEN FAHRZEUGEN
PROCÉDÉ ET SYSTÈME DE COMMANDE DE VÉHICULE AUTONOME OU SEMI-AUTONOME
2021-09-29
Patent
Elektronische Ressource
Englisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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