公开(公告)号：US12037026B2

公开(公告)日：2024-07-16

申请号：US18094177

申请日：2023-01-06

申请人： EMBOTECH AG

发明人： Alexander Domahidi

IPC分类号： B60W60/00 ,  B60W30/06 ,  B60W30/095 ,  B60W40/105 ,  B60W40/12 ,  G08G1/0967 ,  G08G1/0968

CPC分类号： B60W60/0027 ,  B60W30/06 ,  B60W30/0956 ,  B60W40/105 ,  B60W40/12 ,  B60W60/0011 ,  G08G1/096725 ,  G08G1/096775 ,  G08G1/096855 ,  B60W2554/20 ,  B60W2554/4041 ,  B60W2556/45

摘要： A method for steering a vehicle along a path in a driveway and around obstacles between a starting position into a target position, comprises the steps of determining the vehicle dimensions, steering and driving capabilities, carrying out a path optimization step to evaluate, based on a predetermined cost function, the least costly path between the starting position and the target position avoiding any collisions with obstacles. The method further comprises the further step of applying a path improver step, smoothening the trajectory obtained by the path optimization method by means of numerical optimization while fulfilling dynamical constraints on acceleration and steering rate of the vehicle through planning lateral and longitudinal movement of the vehicle in a joint optimization problem or by means of separate optimization problems.

公开(公告)号：US20240300541A1

公开(公告)日：2024-09-12

申请号：US18552357

申请日：2021-03-26

申请人： EMBOTECH AG

发明人： Manuel DANGEL ,  Markus HUG ,  Stefano LONGO ,  Alexander DOMAHIDI

IPC分类号： B60W60/00 ,  B60W50/00

CPC分类号： B60W60/0027 ,  B60W50/0097 ,  B60W2050/0031 ,  B60W2520/10

摘要： The present invention is directed to computer-implemented method for controlling an autonomous or semi-autonomous vehicle. A vehicle model is provided and information describing a roadway (301) is obtained. This information is transformed in a Frenet-Serret frame, which defines a curvilinear coordinate space. Then, in the curvilinear coordinate space, a plurality of line segments (306, 307) are defined (3) along the roadway (301), at locations spaced longitudinally along a reference line defining the Frenet-Serret frame. The line segments have respective lengths that extends, each, perpendicularly to the reference line. Next, based on the defined line segments, a space-time corridor (327, 327″, 326″) is determined (5) to obtain a time-dependent space available for the vehicle. Bounds for the vehicle within said time-dependent space are subsequently obtained (6). The bounds define a set of constraints that delimit a plurality of convex space-time objects along the reference line. Said objects approximate the time-dependent space. Then, based on the obtained set of constraints and the provided vehicle model, the method provides (7) a motion trajectory of the vehicle through the plurality of convex space-time objects. This motion trajectory is optimized using a nonlinear programming solver. Finally, the motion trajectory is transformed (8) from the curvilinear coordinate space to a Euclidean coordinate space, to control the vehicle based on the transformed motion trajectory. The present invention further concerns related systems and computer program products.

公开(公告)号：US20230391328A1

公开(公告)日：2023-12-07

申请号：US18033218

申请日：2020-10-22

申请人： EMBOTECH AG

发明人： Sven VAN KOUTRIK ,  Joachim FERREAU ,  Stefano LONGO ,  Alexander DOMAHIDI

IPC分类号： B60W30/14 ,  B60W40/105 ,  B60W50/00

CPC分类号： B60W30/143 ,  B60W40/105 ,  B60W50/0097 ,  B60W2050/0031 ,  B60W2520/10 ,  B60W2720/103

摘要： The invention is notably directed to a computer-implemented method for controlling a speed of a vehicle given energy-related quantities that pertain to moving the vehicle. Each of said energy-related quantities is being referred to as an energy expense in the following. The method involves two key operations (a full-horizon optimization and multiple, nested short-horizon optimizations), which are performed based on route parameters of a route segment and real-time signals capturing current states of the vehicle. First, a target function of a profile of an energy expense is optimized (S12) for a route segment, to determine a reference profile Xref of this energy expense. The optimization is constrained with respect to objectives in respect of a total travel time and/or a total travel energy expense for the vehicle to travel said route segment. A profile of parameter values is obtained (S14-S28) according to a by-product of the optimization. Next, short-horizon speed profiles Vref of the vehicle are repeatedly determined (S32) to plan speeds Vref of the vehicle along local sections of the route segment. Such predictions are achieved by minimizing, for each of the local sections, a cost function as parameterized by one of the parameter values. The cost function captures a cost of deviating from an output of the optimized target function due to such speed profiles; said output and said one of the parameter values pertain, each, to said each of the local sections. Finally, control signals are obtained based on the planned speeds Vref. Such control signals can be used for controlling (S40) a speed of the vehicle along each of said local sections of the route segment. The invention is further directed to related systems, vehicles, and computer program products.

公开(公告)号：US20230347940A1

公开(公告)日：2023-11-02

申请号：US18014717

申请日：2020-07-10

申请人： EMBOTECH AG

发明人： Stefano LONGO ,  Alexander DOMAHIDI ,  Marcel MENNER ,  Vasileios LEFKOPOULOS ,  Melanie Nicole ZEILINGER

IPC分类号： B60W60/00 ,  B60W50/00

CPC分类号： B60W60/00272 ,  B60W60/00276 ,  B60W50/0097 ,  B60W2554/4041

摘要： The invention is notably directed to computer-implemented method of planning motion of a vehicle. The method comprises receiving (S20) real-time signals as to positions of N traffic participants. At each time step of multiple time steps, the method plans (S50) motion for the vehicle by computing (S30) states of each of the N traffic participants according to the signals received (S20). Said states include current states, which are estimated for each of the N traffic participants, as well as future states of each of the participants, wherein the future states are predicted over a prediction horizon T. This is achieved using an interaction-aware model of the N traffic participants. This model is designed to cause the method to recursively compute (S32-S38), at said each time step, the states of each of the N traffic participants according to a hierarchical list. The N traffic participants are ordered in the list from a most determinative one to a least determinative one of the N traffic participants. As a result, the states of the η-th participant in the list are computed based on the states of each of the η−1 participants in the list, ∀η∈[2, . . . , N]. This model is further designed to cause the method to update and sort (S40) the hierarchical list based on rules of the road, wherein the rules are evaluated based on the states of each of the N traffic participants as computed at said each time step. The invention is further directed to related computerized systems, vehicles, and computer program products.

公开(公告)号：US20230150548A1

公开(公告)日：2023-05-18

申请号：US18094177

申请日：2023-01-06

申请人： EMBOTECH AG

发明人： Alexander Domahidi

IPC分类号： B60W60/00 ,  B60W30/06 ,  B60W30/095 ,  B60W40/105 ,  B60W40/12 ,  G08G1/0967 ,  G08G1/0968

CPC分类号： B60W60/0027 ,  B60W60/0011 ,  B60W30/06 ,  B60W30/0956 ,  B60W40/105 ,  B60W40/12 ,  G08G1/096725 ,  G08G1/096775 ,  G08G1/096855 ,  B60W2554/20 ,  B60W2554/4041 ,  B60W2556/45

摘要： A method for steering a vehicle along a path in a driveway and around obstacles between a starting position into a target position, comprises the steps of determining the vehicle dimensions, steering and driving capabilities, carrying out a path optimization step to evaluate, based on a predetermined cost function, the least costly path between the starting position and the target position avoiding any collisions with obstacles. The method further comprises the further step of applying a path improver step, smoothening the trajectory obtained by the path optimization method by means of numerical optimization while fulfilling dynamical constraints on acceleration and steering rate of the vehicle through planning lateral and longitudinal movement of the vehicle in a joint optimization problem or by means of separate optimization problems.

公开(公告)号：US11577755B2

公开(公告)日：2023-02-14

申请号：US17262641

申请日：2019-07-29

申请人： EMBOTECH AG

发明人： Alexander Domahidi

IPC分类号： B60W60/00 ,  B60W30/06 ,  B60W30/095 ,  B60W40/105 ,  B60W40/12 ,  G08G1/0967 ,  G08G1/0968

摘要： A method for steering a vehicle along a path in a driveway and around obstacles between a starting position into a target position, comprises the steps of determining the vehicle dimensions, steering and driving capabilities, carrying out a path optimization step to evaluate, based on a predetermined cost function, the least costly path between the starting position and the target position avoiding any collisions with obstacles. The method further comprises the further step of applying a path improver step, smoothening the trajectory obtained by the path optimization method by means of numerical optimization while fulfilling dynamical constraints on acceleration and steering rate of the vehicle through planning lateral and longitudinal movement of the vehicle in a joint optimization problem or by means of separate optimization problems.

公开(公告)号：US20210316763A1

公开(公告)日：2021-10-14

申请号：US17262641

申请日：2019-07-29

申请人： EMBOTECH AG

发明人： Alexander DOMAHIDI

IPC分类号： B60W60/00 ,  B60W30/095 ,  B60W30/06 ,  B60W40/12 ,  B60W40/105 ,  G08G1/0967 ,  G08G1/0968

摘要： A method for steering a vehicle along a path in a driveway and around obstacles between a starting position into a target position, comprises the steps of determining the vehicle dimensions, steering and driving capabilities, carrying out a path optimization step to evaluate, based on a predetermined cost function, the least costly path between the starting position and the target position avoiding any collisions with obstacles. The method further comprises the further step of applying a path improver step, smoothening the trajectory obtained by the path optimization method by means of numerical optimization while fulfilling dynamical constraints on acceleration and steering rate of the vehicle through planning lateral and longitudinal movement of the vehicle in a joint optimization problem or by means of separate optimization problems.