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.
SAFE TRAJECTORY TRACKING IN UNCERTAIN ENVIRONMENTS
SICHERE TRAJEKTORIENVERFOLGUNG IN UNBESTIMMTEN UMGEBUNGEN
SUIVI DE TRAJECTOIRE SÉCURISÉ DANS DES ENVIRONNEMENTS INCERTAINS
2023-12-06
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 / 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 |