MANOEUVER GENERATION FOR AUTOMATED DRIVING
First Claim
1. An arrangement for manoeuvre generation for automated driving on a one-way road of a vehicle (e) hosting the arrangement, the host vehicle (e) comprising one or more advanced driver assistance systems, the arrangement comprising:
- a controller configured to repeatedly, with a fix time interval, determine a collision free reference trajectory for longitudinal and lateral movement of the host vehicle (e) allowing the host vehicle (e) to retain a desired velocity and maintain the host vehicle (e) in a preferred lane of a road utilizing model predictive control and quadratic program formulation;
the controller further being configured to utilize a control scheme where a structured environment of the one-way road is exploited in order to linearly formulate collision avoidance constraints;
the controller further being configured to perform the manoeuvre generation through solution of the quadratic program,the controller further being configured to control the one or more advanced driver assistance systems to perform the generated manoeuvre.
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Accused Products
Abstract
A method and arrangement are described for manoeuvre generation for automated driving on a one-way road of a vehicle (e) hosting the arrangement, the host vehicle (e) further including one or more advanced driver assistance systems. A collision free reference trajectory for longitudinal and lateral movement of the host vehicle (e) is determined repeatedly, with a fix time interval, for allowing the host vehicle (e) to retain a desired velocity and maintain the host vehicle (e) in a preferred lane utilizing model predictive control and quadratic program formulation. A control scheme where the structured environment of the one-way road is exploited in order to linearly formulate collision avoidance constraints is utilized. Manoeuvre generation is performed through solving the quadratic program. The one or more advanced driver assistance systems are controlled to perform the generated manoeuvre.
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Citations
11 Claims
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1. An arrangement for manoeuvre generation for automated driving on a one-way road of a vehicle (e) hosting the arrangement, the host vehicle (e) comprising one or more advanced driver assistance systems, the arrangement comprising:
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a controller configured to repeatedly, with a fix time interval, determine a collision free reference trajectory for longitudinal and lateral movement of the host vehicle (e) allowing the host vehicle (e) to retain a desired velocity and maintain the host vehicle (e) in a preferred lane of a road utilizing model predictive control and quadratic program formulation; the controller further being configured to utilize a control scheme where a structured environment of the one-way road is exploited in order to linearly formulate collision avoidance constraints; the controller further being configured to perform the manoeuvre generation through solution of the quadratic program, the controller further being configured to control the one or more advanced driver assistance systems to perform the generated manoeuvre. - View Dependent Claims (2, 3, 4, 5, 6, 7, 9, 10, 11)
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8. A method for manoeuvre generation for automated driving on a one-way road of a vehicle (e) hosting the arrangement, the host vehicle (e) further comprising one or more advanced driver assistance systems, the method comprising:
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repeatedly, with a fix time interval, determining a collision free reference trajectory for longitudinal and lateral movement of the host vehicle (e) allowing the host vehicle (e) to retain a desired velocity and maintain the host vehicle (e) in a preferred lane utilizing model predictive control and quadratic program formulation; utilizing a control scheme where the structured environment of the one-way road is exploited in order to linearly formulate collision avoidance constraints; performing the manoeuvre generation through solving the quadratic program; and controlling the one or more advanced driver assistance systems to perform the generated manoeuvre.
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Specification