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.
IMPLEMENTING MANOEUVRES IN AUTONOMOUS VEHICLES
IMPLEMENTIERUNG VON MANÖVERN IN AUTONOMEN FAHRZEUGEN
MISE EN OEUVRE DE MANOEUVRES DANS DES VÉHICULES AUTONOMES
02.11.2022
Patent
Elektronische Ressource
Englisch
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 |
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