A control system of a vehicle for controlling motion of the vehicle traveling on a road shared with a set of moving objects include a memory to store a set of regions of states of lateral dynamic of the vehicle corresponding to a set of equilibrium points. Each region defines a control invariant set of the states of the lateral dynamic determined such that the vehicle having a state within a region is capable to maintain its states within the region, wherein each region includes a corresponding equilibrium point and intersects with at least one adjacent region. The control system includes a collision detector to detect a collision of each region with at least one object at each time step of control in a time horizon when a trajectory of the object at the time step of control intersects a space defined by a longitudinal displacement of the vehicle at the time step of control and a range of values of the lateral displacement of the region to produce a data structure indicating a collision-free regions at different time steps of control. The control system includes a path planner to determine a time sequence defining a collision free sequence of regions forming a union of regions in space and time connecting a region including an initial displacement with a region including a target displacement to produce a trajectory within the union connecting the initial displacement with the target displacement and a controller for controlling the vehicle according to the trajectory.


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    Title :

    System and Method for Controlling Lateral Motion of Vehicle


    Contributors:

    Publication date :

    2018-10-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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