The present invention is directed to computer-implemented method for controlling an autonomous or semi-autonomous vehicle. A vehicle model is provided and information describing a roadway (301) is obtained. This information is transformed in a Frenet-Serret frame, which defines a curvilinear coordinate space. Then, in the curvilinear coordinate space, a plurality of line segments (306, 307) are defined (3) along the roadway (301), at locations spaced longitudinally along a reference line defining the Frenet-Serret frame. The line segments have respective lengths that extends, each, perpendicularly to the reference line. Next, based on the defined line segments, a space-time corridor (327, 327″, 326″) is determined (5) to obtain a time-dependent space available for the vehicle. Bounds for the vehicle within said time-dependent space are subsequently obtained (6). The bounds define a set of constraints that delimit a plurality of convex space-time objects along the reference line. Said objects approximate the time-dependent space. Then, based on the obtained set of constraints and the provided vehicle model, the method provides (7) a motion trajectory of the vehicle through the plurality of convex space-time objects. This motion trajectory is optimized using a nonlinear programming solver. Finally, the motion trajectory is transformed (8) from the curvilinear coordinate space to a Euclidean coordinate space, to control the vehicle based on the transformed motion trajectory. The present invention further concerns related systems and computer program products.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    METHOD AND SYSTEM FOR CONTROLLING AUTONOMOUS OR SEMI-AUTONOMOUS VEHICLE


    Beteiligte:
    DANGEL MANUEL (Autor:in) / HUG MARKUS (Autor:in) / LONGO STEFANO (Autor:in) / DOMAHIDI ALEXANDER (Autor:in)

    Erscheinungsdatum :

    12.09.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    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



    Semi-autonomous vehicle control system and method of controlling a semi-autonomous vehicle

    KONG RITA VENSE / RASSER GUIDO / CHOI SHINNGARAM | Europäisches Patentamt | 2022

    Freier Zugriff

    SEMI-AUTONOMOUS VEHICLE CONTROL SYSTEM AND METHOD OF CONTROLLING A SEMI-AUTONOMOUS VEHICLE

    KONG RITA VENSE / RASSER GUIDO / CHOI SHINNGARAM | Europäisches Patentamt | 2020

    Freier Zugriff

    METHOD AND SYSTEM FOR CONTROLLING AUTONOMOUS OR SEMI-AUTONOMOUS VEHICLE

    DANGEL MANUEL / HUG MARKUS STEPHAN / LONGO STEFANO et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    METHOD FOR CONTROLLING AUTONOMOUS VEHICLE, AND AUTONOMOUS VEHICLE

    WANG WEI | Europäisches Patentamt | 2022

    Freier Zugriff

    AUTONOMOUS VEHICLE AND METHOD FOR CONTROLLING AUTONOMOUS VEHICLE

    CRONIN JOHN / WILSON DYLAN JONATHAN | Europäisches Patentamt | 2022

    Freier Zugriff