A computer-implemented method of determining control signals for controlling an autonomous vehicle to implement a slowdown manoeuvre, comprising: detecting an obstacle at a distance ahead of the autonomous vehicle; comparing the distance with a threshold value and implementing a slowdown manoeuvre in dependence on the comparison, the slowdown manoeuvre selected from: a first slowdown manoeuvre carried out by a kinematic function, which is a time derivative of acceleration, in which a constraint optimisation has been applied to optimise a cost function of the slowdown manoeuvre subject to a set of hard constraints that require a final acceleration, speed and position to satisfy respective acceleration, speed and position targets, given an initial speed and acceleration of the vehicle, and impose a jerk magnitude upper limit; and a second slowdown manoeuvre implemented in an adaptive cruise control mode which aims to reach a target headway between the autonomous vehicle and the obstacle.
Implementing slowdown manoeuvres in autonomous vehicles
2021-04-28
Patent
Electronic Resource
English