Methods and systems for controlling motion of a vehicle. Sensor data is obtained, representing an environment of the vehicle. A reference control trajectory is corrected, using one or more virtual forces, to provide a desired trajectory. The one or more virtual forces are generated by applying an impedance scheme to the sensor data. A desired trajectory is outputted for controlling the vehicle.


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    Titel :

    Impedance-based motion control for autonomous vehicles


    Beteiligte:

    Erscheinungsdatum :

    2021-02-23


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    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



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