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.


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    Title :

    METHOD AND SYSTEM FOR CONTROLLING AUTONOMOUS OR SEMI-AUTONOMOUS VEHICLE


    Contributors:

    Publication date :

    2024-09-12


    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



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