Systems, devices, and methods for validating vehicle trajectories are provided. A vehicle controller can obtain a motion plan indicative of a trajectory including one or more state variables and one or more control variables. The vehicle controller can determine a dynamics defect value for the motion plan based at least in part on the one or more state variables, the one or more control variables, and a continuous-time dynamics function comprising a function indicative of a change in the one or more state variables and the one or more control variables over time. The vehicle controller can further determine the motion plan is dynamically consistent based at least in part on the dynamics defect value, generate one or more vehicle system control signals, and control the autonomous vehicle based at least in part on the one or more vehicle system control signals.
Vehicle Trajectory Dynamics Validation and Interpolation
2022-02-03
Patent
Electronic Resource
English
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 |