US 12,448,000 B2
Method of reconstructing a vehicle trajectory
Oskar Ljungqvist, Sätila (SE); Robert Hult, Torslanda (SE); and Oskar Wigström, Gothenburg (SE)
Assigned to Volvo Autonomous Solutions AB, Gothenburg (SE)
Filed by Volvo Autonomous Solutions AB, Gothenburg (SE)
Filed on Jun. 14, 2022, as Appl. No. 17/806,858.
Claims priority of application No. 21180047 (EP), filed on Jun. 17, 2021.
Prior Publication US 2022/0402523 A1, Dec. 22, 2022
Int. Cl. B60W 60/00 (2020.01); B60W 10/20 (2006.01); B60W 30/10 (2006.01); B60W 40/06 (2012.01); B60W 50/14 (2020.01)
CPC B60W 60/0011 (2020.02) [B60W 10/20 (2013.01); B60W 30/10 (2013.01); B60W 40/06 (2013.01); B60W 50/14 (2013.01); B60W 2300/145 (2013.01); B60W 2520/105 (2013.01); B60W 2520/125 (2013.01); B60W 2540/18 (2013.01); B60W 2552/15 (2020.02); B60W 2552/30 (2020.02)] 17 Claims
OG exemplary drawing
 
1. A method of fitting a vehicle trajectory to a reference path, comprising:
obtaining a reference path Xr=(Xlr)l=1M, where Xlr denotes a position on the reference path;
defining an objective function J, which is a function of at least a sequence of states x=(xk)k=1N of the vehicle constituting the vehicle trajectory and of a width-controlling quantity r=(rl)l=1M;
constraining the vehicle's position inside a corridor with variable corridor width around the reference path Xr, wherein the corridor width is controlled by the width-controlling quantity, and wherein the objective function includes a penalty on the corridor width such that a decrease of the corridor width implies an increase of the objective function;
generating the vehicle trajectory by maximizing the objective function subject to predefined vehicle dynamics xk+1=ƒ(xk, uk), where uk is a control input to the vehicle, and
delimiting the corridor laterally by associating each point Xlr of the reference path with a pair of ellipses with variable radius (rl)l=1M,the ellipses being spaced apart in directions normal to a momentary heading of the reference path, wherein the variable radius is said quantity defining the width of the corridor, and the radius is expressed as a scalar representing a circle radius or as two components representing the minor and major axes of each ellipse; and
requiring each vehicle position Xk to be outside the ellipses.