Techniques are discussed for generating and optimizing trajectories for autonomous vehicles using route-relative numerical integration relative to a reference path. A planner component of an autonomous vehicle, for example, can receive or generate a reference path corresponding to a route through an environment. The current vehicle state, sideslip, and vehicle dynamics can be represented in a system of equations, such that the planner component can substantially simultaneously solve for subsequent trajectory states in a single convergence operation. In various examples, the subsequent trajectory states can be used to evaluate and determine candidate trajectories to control the autonomous vehicle to traverse the environment.
ROUTE-RELATIVE TRAJECTORY GENERATION AND OPTIMIZATION COMPUTATIONS INCORPORATING VEHICLE SIDESLIP
2024-05-30
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 |
ROUTE-RELATIVE TRAJECTORY GENERATION AND OPTIMIZATION COMPUTATIONS INCORPORATING VEHICLE SIDESLIP
European Patent Office | 2024
|Vehicle sideslip angle observers
Tema Archive | 2003
|Vehicle Sideslip Angle Estimation: A Review
SAE Technical Papers | 2018
|Automobile sideslip prevention device and sideslip prevention method
European Patent Office | 2023
|