Volvo Autonomous Solutions Ab

Oskar Ljungqvist

Wilhelm Wiberg

Oskar Wigström

Robert Hult

A method for generating a vehicle trajectory by optimizing a performance measure J. The trajectory may include a sequence of states x=(x)of the vehicle. The optimization is subject to predefined vehicle dynamics x=ƒ(x, u), where uis a control input to the vehicle, and a condition that each position of the vehicle shall be close to a reference path X. The vehicle's position is constrained inside a variable-width corridor around the reference path. A quantity r controlling the width of the corridor is included as an additional optimization variable and the performance measure includes a penalty on the corridor width. To define the corridor, each point of the reference path may be associated with a pair of laterally spaced ellipses and requiring each vehicle position to be outside the ellipses.

Method of reconstructing a vehicle trajectory

A method for planning a driving trajectory defining a travelling path for a vehicle, wherein the driving trajectory is intended to be followed by executing one or more vehicle manoeuvres and wherein the vehicle comprises at least one environment perception sensor having a sensor field of view he method includes planning the driving trajectory from a first point to a second point, by including at least one additional vehicle manoeuvre resulting in a deviation from an otherwise expected travelling path from the first point to the second point, so that each section of an area which the vehicle is intended to pass from the first point to the second point is covered in the sensor field of view at least one time during driving from the first point to the second point and at least before passing each respective section.

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Sätila, Sweden

Oskar Ljungqvist