A method for controlling an autonomous or semi-autonomous vehicle comprises: obtaining, information describing a roadway from a starting position to make progress along the roadway between a left edge and a right edge; transforming the information describing the roadway in a Frenet-Serret frame; defining a plurality of grid lines along the roadway at spaced locations; determining corridors in space and time coordinates; determining a trajectory within the suitable corridor through mathematical optimization for each grid line in time generating a convex (or quasi-convex) and continuous time function in the drivable space; and transforming the convex (or quasi-convex) and continuous time function into a motion planning trajectory in Euclidian coordinates. Furthermore, this method applies different methods in determining the development of the vehicle states over time for high and low velocities of the vehicle.


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    Title :

    METHOD AND SYSTEM FOR CONTROLLING AUTONOMOUS OR SEMI-AUTONOMOUS VEHICLE


    Additional title:

    VERFAHREN UND SYSTEM ZUR STEUERUNG VON AUTONOMEN ODER HALBAUTONOMEN FAHRZEUGEN
    PROCÉDÉ ET SYSTÈME DE COMMANDE DE VÉHICULE AUTONOME OU SEMI-AUTONOME


    Contributors:

    Publication date :

    2021-09-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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