TRADING OFF COMFORT IN AUTONOMOUS VEHICLE PLANNING AND CONTROLS

Systems and methods for measuring passenger comfort and trading off passenger comfort with other metrics in autonomous vehicle planning and control. Perception of kinematic comfort relative to acceleration can vary depending on the frequency of acceleration. Systems and methods are provided to use t...

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Bibliographic Details
Main Authors Goradia, Rushil, Laws, Shad, Sehr, Martin, Cohen-Gidon, Dogan
Format Patent
LanguageEnglish
Published 04.07.2024
Subjects
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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Summary:Systems and methods for measuring passenger comfort and trading off passenger comfort with other metrics in autonomous vehicle planning and control. Perception of kinematic comfort relative to acceleration can vary depending on the frequency of acceleration. Systems and methods are provided to use the relationship between kinematic comfort and acceleration to introduce a cost on the ratio between acceleration and jerk. In various examples, the resulting cost can be traded off against other cost terms such as obstacle buffers and reference tracking constraints. Autonomous vehicle planning and control problem formulations can be encoded to include a direct tradeoff between both lateral and longitudinal comfort metrics and other variables.
Bibliography:Application Number: US202318150139