VEHICULAR CONTROL SYSTEM WITH ENHANCED TRAJECTORY PLANNING AND MOTION CONTROL

A method for adjusting an advanced driving assist system for a vehicle includes determining a quintic polynomial in a Frenet frame. The quintic polynomial represents a non-linear trajectory of a vehicle. A plurality of coefficients of the quintic polynomial is determined. Using the quintic polynomia...

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Bibliographic Details
Main Authors Awathe, Arpit, Varunjikar, Tejas Murlidhar
Format Patent
LanguageEnglish
Published 01.08.2024
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:A method for adjusting an advanced driving assist system for a vehicle includes determining a quintic polynomial in a Frenet frame. The quintic polynomial represents a non-linear trajectory of a vehicle. A plurality of coefficients of the quintic polynomial is determined. Using the quintic polynomial and the plurality of coefficients, a linear expression that represents a respective trajectory at a respective point along the non-linear trajectory of the vehicle is determined. Vehicle dynamics of the vehicle are modeled using the linear expression. A target path for the vehicle is simulated. A steering command, using the model, to maneuver the vehicle is determined. Based at least in part on the steering command, an advanced driving assist system of the vehicle is adjusted.
Bibliography:Application Number: US202418425265