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公开(公告)号：US20190276016A1
公开(公告)日：2019-09-12
申请号：US16345060
申请日：2017-10-31
Applicant: MAGNETI MARELLI S.p.A.
Inventor： Michele Giorelli , Matteo Corno , Federico Roselli , Sergio Matteo Savaresi
Abstract: A method for controlling the lateral movement of a terrestrial vehicle arranged to track a predetermined trajectory, particularly in an assisted driving or autonomous driving scenario, comprising: determining a lateral offset of the vehicle center of mass from the predetermined trajectory; determining a look-ahead error defined as a distance of a virtual look-ahead position of the vehicle center of mass from the predetermined trajectory; and controlling the steering angle of the vehicle so as to also minimize the lateral offset and the first derivative of said look-ahead error over time.
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公开(公告)号：US10960876B2
公开(公告)日：2021-03-30
申请号：US16021357
申请日：2018-06-28
Applicant: Magneti Marelli S.p.A. , Università degli Studi di Parma
Inventor： Piero Micelli , Luca Consolini , Mattia Laurini , Marco Locatelli , Axel Furlan , Michele Giorelli
Abstract: Path planning method for computing optimal parking maneuvers for road vehicles including the steps of computing a set of value functions of a cost function of parking maneuvers reaching the target set of states as unique viscosity solution of a Hamilton Jacobi Bellman equation, supplying the set of value functions, together with a starting state of the vehicle, as input to the dynamic programming calculation procedure calculating at least the set of vehicle controls. The set of equations modeling the evolution of the state of said road vehicle is a switched system of equations between a first sub-system if the vehicle is in forward motion and a second sub-system if the vehicle is in reverse motion. The cost function takes into account the arrival time a number of direction changes of the road vehicle between forward motion and reverse motion.
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公开(公告)号：US11318936B2
公开(公告)日：2022-05-03
申请号：US16345060
申请日：2017-10-31
Applicant: MAGNETI MARELLI S.p.A.
Inventor： Michele Giorelli , Matteo Corno , Federico Roselli , Sergio Matteo Savaresi
Abstract: A method for controlling the lateral movement of a terrestrial vehicle arranged to track a predetermined trajectory, particularly in an assisted driving or autonomous driving scenario, comprising: determining a lateral offset of the vehicle center of mass from the predetermined trajectory; determining a look-ahead error defined as a distance of a virtual look-ahead position of the vehicle center of mass from the predetermined trajectory; and controlling the steering angle of the vehicle so as to also minimize the lateral offset and the first derivative of said look-ahead error over time.
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4.发明申请公开(公告)号：US20190001967A1
公开(公告)日：2019-01-03
申请号：US16021357
申请日：2018-06-28
Applicant: Magneti Marelli S.p.A. , Università degli Studi di Parma
Inventor： Piero Micelli , Luca Consolini , Mattia Laurini , Marco Locatelli , Axel Furlan , Michele Giorelli
Abstract: Path planning method for computing optimal parking maneuvers for road vehicles including the steps of computing a set of value functions of a cost function of parking maneuvers reaching the target set of states as unique viscosity solution of a Hamilton Jacobi Bellman equation, supplying the set of value functions, together with a starting state of the vehicle, as input to the dynamic programming calculation procedure calculating at least the set of vehicle controls. The set of equations modeling the evolution of the state of said road vehicle is a switched system of equations between a first sub-system if the vehicle is in forward motion and a second sub-system if the vehicle is in reverse motion. The cost function takes into account the arrival time a number of direction changes of the road vehicle between forward motion and reverse motion.
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