Title:
SYSTEM AND METHOD FOR CONTROLLING LATERAL MOTION OF VEHICLE
Document Type and Number:
WIPO Patent Application WO/2018/179533
Kind Code:
A3
Abstract:
A control system of a vehicle includes a collision detector to detect a collision of each region with at least one object at each time step of control in a time horizon when a trajectory of the object at the time step intersects a space defined by a longitudinal displacement of the vehicle at the time step and a range of values of the lateral displacement of the region to produce a data structure indicating a collision-free regions at different time steps. The system includes a path planner to determine a time sequence defining a collision free sequence of regions forming a union of regions in space and time connecting a region including an initial displacement with a region including a target displacement to produce a trajectory within the union connecting the initial displacement with the target displacement and a controller for controlling the vehicle according to the trajectory.
Inventors:
BERNTORP KARL (US)
WEISS AVISHAI (JP)
DANIELSON CLAUS (US)
DI CAIRANO STEFANO (US)
WEISS AVISHAI (JP)
DANIELSON CLAUS (US)
DI CAIRANO STEFANO (US)
Application Number:
PCT/JP2017/037096
Publication Date:
November 08, 2018
Filing Date:
October 05, 2017
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP (JP)
International Classes:
B60W30/095; B60W30/09; B60W30/10; B60W50/00; G05D1/00; G05D1/02; G08G1/16
Foreign References:
| CN105786014A | 2016-07-20 | |||
| EP2084690A2 | 2009-08-05 | |||
| EP3091370A1 | 2016-11-09 | |||
| US8543261B2 | 2013-09-24 | |||
| US20150344030A1 | 2015-12-03 |
Attorney, Agent or Firm:
SOGA, Michiharu et al. (JP)
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