The present disclosure relates to a method for trajectory planning for a vehicle. The method comprises obtaining a reference trajectory over a finite time horizon, where the reference trajectory comprises a speed reference over time for the finite time horizon. Further, the method comprises determining a back-up stop trajectory within the finite time horizon. The back-up stop trajectory has a starting state and terminating in a final state, where the final state is defined as a safe state. The method further comprises forming a terminal set of states within the finite time horizon based on at least one predefined constraint, wherein the terminal set of states comprises a terminal state that corresponds to the starting state for the back-up stop trajectory. Moreover, the method comprises generating a nominal trajectory for at least a portion of the finite time horizon based on a constraint controlled technique, where the nominal trajectory is dependent on the obtained reference trajectory and a terminal constraint. The terminal constraint defines that the nominal trajectory comprises the terminal state. The constraint controlled technique comprises a cost minimizing control strategy, and the back-up stop trajectory from the starting state to the final state is associated with zero cost.


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    Title :

    SAFE TRAJECTORY TRACKING IN UNCERTAIN ENVIRONMENTS


    Additional title:

    SICHERE TRAJEKTORIENVERFOLGUNG IN UNBESTIMMTEN UMGEBUNGEN
    SUIVI DE TRAJECTOIRE SÉCURISÉ DANS DES ENVIRONNEMENTS INCERTAINS


    Contributors:
    BATKOVIC IVO (author) / ALI MOHAMMAD (author) / ZANON MARIO (author) / FALCONE PAOLO (author)

    Publication date :

    2023-12-06


    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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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