A method for generating a vehicle trajectory by optimizing a performance measure J. The trajectory may include a sequence of states x=(xk)k=1N of the vehicle. The optimization is subject to predefined vehicle dynamics xk+1=f(xk, uk), where uk is a control input to the vehicle, and a condition that each position of the vehicle shall be close to a reference path Xr. The vehicle's position is constrained inside a variable-width corridor around the reference path. A quantity r controlling the width of the corridor is included as an additional optimization variable and the performance measure includes a penalty on the corridor width. To define the corridor, each point of the reference path may be associated with a pair of laterally spaced ellipses and requiring each vehicle position to be outside the ellipses.
METHOD OF RECONSTRUCTING A VEHICLE TRAJECTORY
2022-12-22
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 |
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