CPC G05D 1/0223 (2013.01) [G05D 1/0088 (2013.01); G05D 1/0278 (2013.01); G05D 2201/0213 (2013.01)] | 19 Claims |
1. A method for autonomously controlling a subject vehicle, including:
determining states of a plurality of parameters, including parameters associated with a trajectory for the subject vehicle and parameters associated with a control reference determined for the subject vehicle, wherein the parameters associated with the control reference determined for the subject vehicle comprise parameters associated with a desired stop point for the subject vehicle;
executing a range control routine to determine a first parameter associated with a range control command for controlling operation of the subject vehicle based upon the states of the plurality of parameters; wherein the range control routine determines the first parameter in a time domain;
executing a speed control routine to determine a second parameter associated with a speed control command for controlling operation of the subject vehicle based upon the states of the plurality of parameters; wherein the speed control routine determines the second parameter in a space domain;
executing an arbitration routine to evaluate the range control command and the speed control command;
controlling operation of the subject vehicle to achieve a desired longitudinal state, wherein the desired longitudinal state is associated with a minimum of the first parameter associated with the range control command and the second parameter associated with the speed control command, wherein controlling operation of the subject vehicle includes controlling a transmission gear range to achieve the desired longitudinal state; and
transitioning operation of the subject vehicle to a hold-at-stop state and activating a park brake after a period of time subsequent to achieving the desired stop point.
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