Systems and methods for using R-functions and semi-analytic geometry for lane keeping in trajectory planning

System, methods, and other embodiments described herein relate to lane keeping in a vehicle. In one embodiment, a method includes determining lane boundaries according to at least the sensor data and a map. The method includes defining a reference system over a lane defined by the lane boundaries. T...

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Bibliographische Detailangaben
Hauptverfasser:	Ge, Jin, Baric, Miroslav, Cazenave, Timothee
Format:	Patent
Sprache:	eng
Schlagworte:	CALCULATING COMPUTING CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES COUNTING IMAGE DATA PROCESSING OR GENERATION, IN GENERAL PERFORMING OPERATIONS PHYSICS 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:	System, methods, and other embodiments described herein relate to lane keeping in a vehicle. In one embodiment, a method includes determining lane boundaries according to at least the sensor data and a map. The method includes defining a reference system over a lane defined by the lane boundaries. The method includes evaluating vehicle boundary points within the reference system as a cost in optimizing a trajectory of the vehicle and using an R-function that defines geometric relationships between the vehicle boundary points and the reference system. The method includes providing an indicator about the trajectory to control the vehicle.