CPC B60W 30/095 (2013.01) [B60W 40/105 (2013.01); B62D 15/021 (2013.01); G07C 5/004 (2013.01); B60W 2420/42 (2013.01); B60W 2554/4049 (2020.02)] | 20 Claims |
1. A system, comprising a computer including a processor and a memory, the memory storing instructions executable by the processor programmed to:
based on a set of planned control parameters defining a planned path for a vehicle, identify a set of reference control parameters corresponding to the set of planned path control parameters;
input optimized controller inputs associated with the identified set of reference control parameters, the set of planned control parameters, and operation noise data to a vehicle dynamics model that outputs a vehicle state model;
based on the vehicle state model, determine an actual path for the vehicle and an operating range for the actual path; and
determine that the planned path is one of verified or unverified based on the operating range.
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