The subject matter described herein generally relates to control architecture for autonomous vehicles. In one embodiment, a reference trajectory, a set of lateral constraints, and a set of speed constraints are received using control circuitry. The control circuitry determines a set of steering commands based at least in part on the reference trajectory and the set of lateral constraints and determines a set of speed commands based at least in part on the set of speed constraints. A vehicle is driven according to the set of steering commands and the set of speed commands using the control circuitry.

    본 명세서에서 설명된 주제는 일반적으로 자율 주행 차량에 대한 제어 아키텍처에 관한 것이다. 일 예에서, 기준 궤적, 횡방향 제약 세트 및 속력 제약 세트가 제어 회로를 사용하여 수신된다. 제어 회로는 기준 궤적 및 횡방향 제약 세트에 적어도 부분적으로 기초하여 조향 커맨드 세트를 결정하고 속력 제약 세트에 적어도 부분적으로 기초하여 속력 커맨드 세트를 결정한다. 차량은, 제어 회로를 사용하여, 조향 커맨드 세트 및 속력 커맨드 세트에 따라 운행된다.


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    Title :

    CONTROL ARCHITECTURES FOR AUTONOMOUS VEHICLES


    Additional title:

    자율 주행 차량에 대한 제어 아키텍처


    Contributors:
    KABZAN JURAJ (author) / ANDERSEN HANS (author) / LIN LIXUN (author) / WU NING (author) / ZHAO YIMING (author) / LIU XIYUAN (author) / WANG QIAN (author) / BATTS ZACHARY (author) / MILLER JESSE ADAM (author) / FLOOR BOAZ CORNELIS (author)

    Publication date :

    2023-11-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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