A method for generating a vehicle trajectory by optimizing a performance measure J. The trajectory may include a sequence of states x=xkk=1N of the vehicle. The optimization is subject to predefined vehicle dynamics xk+1 = f(xk, uk), where uk is a control input to the vehicle, and a condition that each position of the vehicle shall be close to a reference path Xr. The vehicle's position is constrained inside a variable-width corridor around the reference path. A quantity r controlling the width of the corridor is included as an additional optimization variable and the performance measure includes a penalty on the corridor width. To define the corridor, each point of the reference path may be associated with a pair of laterally spaced ellipses and requiring each vehicle position to be outside the ellipses.


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    Titel :

    A METHOD OF RECONSTRUCTING A VEHICLE TRAJECTORY


    Weitere Titelangaben:

    VERFAHREN ZUR REKONSTRUKTION EINER FAHRZEUGTRAJEKTORIE
    PROCÉDÉ DE RECONSTRUCTION D'UNE TRAJECTOIRE DE VÉHICULE


    Beteiligte:
    LJUNGQVIST OSKAR (Autor:in) / HULT ROBERT (Autor:in) / WIGSTRÖM OSKAR (Autor:in)

    Erscheinungsdatum :

    21.12.2022


    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



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