Methods and systems for controlling motion of a vehicle. Sensor data is obtained, representing an environment of the vehicle. A reference control trajectory is corrected, using one or more virtual forces, to provide a desired trajectory. The one or more virtual forces are generated by applying an impedance scheme to the sensor data. A desired trajectory is outputted for controlling the vehicle.


    Access

    Download


    Export, share and cite



    Title :

    Impedance-based motion control for autonomous vehicles


    Contributors:

    Publication date :

    2021-02-23


    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



    IMPEDANCE-BASED MOTION CONTROL FOR AUTONOMOUS VEHICLES

    YADMELLAT PEYMAN | European Patent Office | 2019

    Free access

    Motion control decisions for autonomous vehicles

    REDDING JOSHUA D / JOHNSON LAURA B / LEWIN MICHAEL et al. | European Patent Office | 2022

    Free access

    Task Space Motion Control of Autonomous Planetary Vehicles

    Necsulescu, D. / Villien, A. / Eghtesad, M. et al. | British Library Conference Proceedings | 1994


    Task Space Motion Control of Autonomous Planetary Vehicles

    Necsulescu, D.S. | Online Contents | 1996


    HIERARCHICAL MOTION PLANNING FOR AUTONOMOUS VEHICLES

    KROOP BENJAMIN / WAY MATTHEW / BRADLEY DAVID MCALLISTER | European Patent Office | 2018

    Free access