A method of determining an allowable vehicle state space of an articulated vehicle (1) for safely completing a maneuver, wherein the vehicle state space comprises vehicle velocity, the method comprising; monitoring a drivable area (31) ahead of the articulated vehicle (1), predicting a potentially swept area (33) ahead of the articulated vehicle (1), wherein the potentially swept area (33) represents an area that may be traversed by the articulated vehicle (1) during the maneuver with a probability, based on an initial vehicle state of the articulated vehicle (1), a geometry of the articulated vehicle (1), and on error characteristics associated with one or more sensor input signals used for positioning the articulated vehicle (1), and determining the allowable vehicle state space such that the predicted potentially swept area (33) does not extend beyond the drivable area (31) ahead of the vehicle (1).
METHOD OF DETERMINING AN ALLOWABLE VEHICLE STATE SPACE FOR AN ARTICULATED VEHICLE
2022-05-26
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 / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF |
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