A computer-implemented method of determining a series of control signals for controlling an autonomous vehicle to implement a planned speed change maneuver comprises: receiving from a maneuver planner a position target for the planned speed change maneuver; selecting, from a predetermined family of kinematic functions, a kinematic function for carrying out the planned speed change maneuver, each kinematic function being a first or higher order derivative of acceleration with respect to time; and using the selected kinematic function to determine a series of control signals for implementing the planned speed change maneuver; wherein the kinematic function is selected in a constrained optimization process as substantially optimizing a cost function defined for the speed change maneuver, subject to a set of hard constraints that: (i) require a final acceleration, speed and position corresponding to the selected kinematic function to satisfy, respectively, an acceleration target, a speed target and the position target, given an initial speed and acceleration of the autonomous vehicle, and (ii) impose a jerk magnitude upper limit on the selected kinematic function.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    IMPLEMENTING MANOEUVRES IN AUTONOMOUS VEHICLES


    Weitere Titelangaben:

    IMPLEMENTIERUNG VON MANÖVERN IN AUTONOMEN FAHRZEUGEN
    MISE EN OEUVRE DE MANOEUVRES DANS DES VÉHICULES AUTONOMES


    Beteiligte:
    SILVA ALEXANDRE (Autor:in) / JAEKEL STEFFEN (Autor:in) / HAWASLY MAJD (Autor:in) / BORDALLO ALEJANDRO (Autor:in)

    Erscheinungsdatum :

    02.11.2022


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



    Implementing manoeuvres in autonomous vehicles

    Europäisches Patentamt | 2020

    Freier Zugriff

    IMPLEMENTING MANOEUVRES IN AUTONOMOUS VEHICLES

    SILVA ALEXANDRE / JAEKEL STEFFEN / HAWASLY MAJD et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    IMPLEMENTING MANOEUVRES IN AUTONOMOUS VEHICLES

    SILVA ALEXANDRE / JAEKEL STEFFEN / HAWASLY MAJD et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    IMPLEMENTING SLOWDOWN MANOEUVRES IN AUTONOMOUS VEHICLES

    SILVA ALEXANDRE / BORDALLO ALEJANDRO / JAEKEL STEFFEN | Europäisches Patentamt | 2024

    Freier Zugriff

    IMPLEMENTING SLOWDOWN MANOEUVRES IN AUTONOMOUS VEHICLES

    SILVA ALEXANDRE / BORDALLO ALEJANDRO / JAEKEL STEFFEN | Europäisches Patentamt | 2022

    Freier Zugriff