Trajectory determination for controlling a vehicle, such as an autonomous vehicle, is described. In an example, a vehicle system includes multiple planning systems for calculating trajectories. A first system may calculate first trajectories at a first frequency and the second system may calculate second trajectories at a second frequency and based on the first trajectories. The first and/or second trajectories may be initialized at states of the vehicle corresponding to a projection onto a previous-in-time respective first or second trajectory. The second trajectories may be control trajectories along which the vehicle is controlled.


    Access

    Download


    Export, share and cite



    Title :

    Trajectory initialization


    Contributors:

    Publication date :

    2022-07-19


    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



    TRAJECTORY INITIALIZATION

    AKELLA ABISHEK / HUDECEK JANEK | European Patent Office | 2020

    Free access

    Costate Initialization from Rough Trajectory Estimates

    Skamangas, Emmanuel E. / Lawton, John / Black, Jonathan | AIAA | 2020


    COSTATE INITIALIZATION FROM ROUGH TRAJECTORY ESTIMATES

    Skamangas, Emmanuel E. / Lawton, John / Black, Jonathan | TIBKAT | 2020


    Analytic Costate Initialization from Rough State-Trajectory Estimates

    Skamangas, Emmanuel E. / Lawton, John A. / Black, Jonathan T. | AIAA | 2021