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A method and control apparatus for vehicle motion planning and control algorithm

A technology for controlling equipment and motion planning, applied in vehicle position/route/height control, non-electric variable control, control devices, etc., to achieve the effect of reducing the amount of calculation

Pending Publication Date: 2021-02-26
SCANIA CV AB
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0011] However, the published methods may only provide very limited savings in computation time

Method used

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  • A method and control apparatus for vehicle motion planning and control algorithm
  • A method and control apparatus for vehicle motion planning and control algorithm
  • A method and control apparatus for vehicle motion planning and control algorithm

Examples

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Embodiment Construction

[0027] The embodiments of the invention described here are defined as a control device and a method in a control device, which can be put into practice in the embodiments described below. These embodiments may, however, be illustrated and implemented in many different forms and are not limited to the embodiments set forth herein; the invention is not limited to the disclosed embodiments. Rather, these illustrative examples of implementations are provided so that this disclosure will be thorough and complete.

[0028] Other objects and features will become apparent from the following detailed description considered in conjunction with the accompanying drawings. It is to be understood, however, that the drawings are designed for purposes of illustration only and not as a definition of limitations to the embodiments disclosed herein, for which reference is made to the appended claims. In addition, the drawings are not necessarily drawn to scale, and unless otherwise indicated, t...

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PUM

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Abstract

A method (600) and a control device (120) for motion planning of an autonomous vehicle (100) passing through an underlying section (110). The method (600) comprises the following steps: determining (601) geographical coordinates of the vehicle (100) when approaching the underlying section (110), or determining a road / lane / street / parking identifier of the underlying section (110) when approaching the vehicle; obtaining (603) a pre-calculated process associated with the underlying segment (110) having the provided (602) geographic coordinates or road / lane / street identifier; based on a pre-calculated process that has been obtained (603), planning (604) a movement of the vehicle (100) during passage through the underlying section (110).

Description

technical field [0001] This document discloses a control device and a method. More particularly, a control device and a method are provided for motion planning of an autonomous vehicle traversing an underlying road segment, such as a road segment, a parking lot, or a similar drivable surface. Background technique [0002] Autonomous systems (of which automated vehicles are a part) typically follow a perception-planning control architecture. Sensors on the vehicle are determining the state of the vehicle's environment. The planning module is responsible for finding a sequence of vehicle states that the vehicle can follow. The sequence can be a multidimensional path (eg, a sequence of vehicle states in space), or a trajectory (ie, a path associated with a velocity profile). The paths and trajectories generated by the planning module define how the vehicle moves in the environment. [0003] The controller is then responsible for converting this output of the planning module...

Claims

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Application Information

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IPC IPC(8): B60W30/095
CPCB60W30/0956B60W2552/15B60W60/0011B60W2556/50B60W2556/45B60W50/06B60W2050/065B60W2050/0088B62D15/025B62D15/0285G01C21/3407G01C21/3807G01C21/3889G01C21/005G01C21/30B60W60/001G05D1/249G05D1/695G05D1/646G05D1/692G05D1/248G05D1/644G05D2101/10G05D2111/14G05D2111/20G05D2111/64G05D2105/22G05D2111/17G05D2111/60G05D1/617G05D2111/10G05D2101/15G05D2111/30G05D2109/10
Inventor R·奥利韦拉P·利马G·C·佩雷拉A·阿拉姆M·西里洛
Owner SCANIA CV AB
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