A method for controlling a vehicle includes generating, by a primary computing system, a nominal trajectory from a location in order to achieve a mission goal and a fall back trajectory from the location in order to safely stop the vehicle. The nominal and the fall back are identical between the location and a divergent point and where the nominal and the fall back diverge after the divergent point. The fall back is sent to and received by a secondary computing system. The secondary computing system waits for an updated trajectory from the primary computing system while controlling the vehicle according to the fall back. When the vehicle reaches a threshold point on the fall back and an updated trajectory has not yet been received by the secondary computing system, the secondary computing system continues to control the vehicle according to the fall back in order to safely stop the vehicle.
用于控制车辆的方法包括:由主计算系统生成从车辆的位置起的备用轨迹以便安全地停止车辆,所述备用轨迹基于由所述主计算系统从所述车辆的感知系统接收到的信息而生成,其中,所述备用轨迹和至目的地位置的标称轨迹在所述位置和偏离点之间是相同的,在所述偏离点处所述备用轨迹和所述标称轨迹偏离;由所述主计算系统将所述备用轨迹发送到辅计算系统;由所述辅计算系统在第一时间点接收所述备用轨迹;由所述辅计算系统根据所述备用轨迹来控制车辆;以及当从第一时间点起已经经过预定阈值时间段并且更新的轨迹尚未被所述辅计算系统接收时,由所述辅计算系统根据所述备用轨迹继续控制车辆以便安全地停止车辆。
Fall back trajectory systems for autonomous vehicles
用于自主车辆的备用轨迹系统
2021-08-06
Patent
Electronic Resource
Chinese
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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
Method for handling Fall-Back of unmaned and low-velocity autonomous vehicles
European Patent Office | 2023