System and method for controlling autonomous or semi-autonomous vehicle
First Claim
1. A method for controlling a motion of a vehicle, comprising:
- sampling a control space of possible control inputs to a model of the motion of the vehicle to produce a set of sampled control inputs, wherein the model of the motion of the vehicle includes an uncertainty;
determining, using the model of the motion of the vehicle, a probability of each sampled control input to move the vehicle into a state satisfying constraints on the motion of the vehicle, comprising;
determining an initial state of the vehicle;
submitting the initial state and the sampled control input to the model of the motion of the vehicle to estimate a transition of the vehicle from the initial state to a next state;
selecting a value of a probability distribution function (PDF) over states of the vehicle at a point corresponding to the next state as the probability of the sampled control input;
determining a probability of the next state to intersect with an uncertainty region of an obstacle; and
assigning a zero probability to the sampled control input when the probability of the next state is above a collision threshold;
determining, using the probabilities of the sampled control inputs, a control input having the probability to move the vehicle in the state above a threshold;
mapping the control input to a control command to at least one actuator of the vehicle; and
controlling the motion of the vehicle according to the control command, wherein steps of the method are performed using a processor of the vehicle.
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Abstract
A method controls a motion of a vehicle using a model of the motion of the vehicle that includes an uncertainty. The method samples a control space of possible control inputs to the model of the motion of the vehicle to produce a set of sampled control inputs and determines a probability of each sampled control input to move the vehicle into state satisfying constraints on the motion of the vehicle. The method determines, using the probabilities of the sampled control inputs, a control input having the probability to move the vehicle in the state above a threshold. The control input is mapped to a control command to at least one actuator of the vehicle to control the motion of the vehicle.
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Citations
16 Claims
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1. A method for controlling a motion of a vehicle, comprising:
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sampling a control space of possible control inputs to a model of the motion of the vehicle to produce a set of sampled control inputs, wherein the model of the motion of the vehicle includes an uncertainty; determining, using the model of the motion of the vehicle, a probability of each sampled control input to move the vehicle into a state satisfying constraints on the motion of the vehicle, comprising; determining an initial state of the vehicle; submitting the initial state and the sampled control input to the model of the motion of the vehicle to estimate a transition of the vehicle from the initial state to a next state; selecting a value of a probability distribution function (PDF) over states of the vehicle at a point corresponding to the next state as the probability of the sampled control input; determining a probability of the next state to intersect with an uncertainty region of an obstacle; and assigning a zero probability to the sampled control input when the probability of the next state is above a collision threshold; determining, using the probabilities of the sampled control inputs, a control input having the probability to move the vehicle in the state above a threshold; mapping the control input to a control command to at least one actuator of the vehicle; and controlling the motion of the vehicle according to the control command, wherein steps of the method are performed using a processor of the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A control system of a vehicle, comprising:
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a motion-planning system including a processor and a memory storing a model of the motion of the vehicle that includes an uncertainty of the motion and constraints on the motion of the vehicle, wherein the motion-planning system samples a control space of possible control inputs to the model of the motion of the vehicle to produce a set of sampled control inputs; determines, using the model of the motion of the vehicle, a probability of each sampled control input to move the vehicle into a state satisfying constraints on the motion of the vehicle; and determines, using the probabilities of the sampled control inputs, a control input having the probability above a threshold, wherein the motion-planning system determines the probability of the sampled control input by selecting a value of a probability distribution function (PDF) over states of the vehicle as the probability of the sampled control input at a point corresponding to a next state transitioned from an initial state according to the sampled control input; a sensor to determine a position of an obstacle as a function of time, wherein the motion-planning system determines a probability of the next state to intersect with an uncertainty region of the obstacle and assigns a zero probability to the sampled control input when the probability of the next state to intersect with the uncertainty region of the obstacle is above a collision threshold; and a vehicle controller to map the control input to a control command to at least one actuator of the vehicle and to control the motion of the vehicle using the control command to the actuator of the vehicle. - View Dependent Claims (13, 14, 15, 16)
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Specification