Sampling-based maneuver realizer

Enclosed are embodiments for a sampling-based maneuver realizer. In an embodiment, a method comprises: obtaining, using at least one processor, a maneuver description for a vehicle, the maneuver description describing a union of dynamic station-time constraints and station-spatial-time constraints o...

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Bibliographische Detailangaben
Hauptverfasser:	Emilio Frazzoli, Juraj Kabzan
Format:	Patent
Sprache:	eng
Schlagworte:	CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES PERFORMING OPERATIONS ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT TRANSPORTING VEHICLES IN GENERAL
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Beschreibung
Zusammenfassung:	Enclosed are embodiments for a sampling-based maneuver realizer. In an embodiment, a method comprises: obtaining, using at least one processor, a maneuver description for a vehicle, the maneuver description describing a union of dynamic station-time constraints and station-spatial-time constraints on the vehicle, wherein the dynamic station-time constraints are parameterized in time and the dynamic station-spatial-time constraints are parameterized in station and time; sampling, using the at least one processor, the dynamic station-time constraints and dynamic station-spatial-time constraints; solving, using the at least one processor, an optimization problem using a cost function of the sampled dynamic station-time constraints, the sampled dynamic station-spatial-time constraints and a motion model; and generating, using the at least one processor, a trajectory based on the solved optimization problem, wherein the trajectory fulfills the dynamic station-time constraints and the dynamic station-spatial-time constraints imposed by the maneuver description.