Method for generating a lateral offset trajectory

A control device for an at least partially automated mobile platform, the control device comprising a processor, the processor being configured to:

• transform a target lateral offset into sets of flat coordinates, each set corresponding to a respective one of a plurality of moments in time and being a respective set of values for each of a predefined set of state parameters, the values of the set thereby representing a state into which the mobile platform is targeted to be placed at the respective moment in time, wherein:
• the plurality of moments in time form a period in which the mobile platform is to achieve the desired lateral offset;
• the sets of flat coordinates form a continuous sequence representing a smooth trajectory over the period;
• the transformation is performed under a filter (I) that smooths physical transitions of the mobile platform following the trajectory over the period and (II) that applies predefined constraints with respect to a plurality of mobile platform state limitations and a plurality of mobile platform control constraints, the sequence of the sets of flat coordinates thereby being a smoothed and constrained trajectory;
• and
• the transformation, with respect to each of the plurality of moments in time respectively, is performed analytically without an iterative optimization;
• and
• perform control signal generation by inputting the continuous sequence of the sets of flat coordinates into an inverted dynamic model that directly converts the input sequence into corresponding input control signals that are used for achieving the respective sequence of states represented by the sequence of flat coordinates, causing the mobile platform to follow the smoothed and constrained trajectory.

A non-transitory machine-readable storage medium on which is stored a computer program that is executable by a computer and that, when executed by the computer, causes the computer to perform a method for an at least partially automated mobile platform, the method comprising the following steps:

• transforming a target lateral offset into sets of flat coordinates, each set corresponding to a respective one of a plurality of moments in time and being a respective set of values for each of a predefined set of state parameters, the values of the set thereby representing a state into which the mobile platform is targeted to be placed at the respective moment in time, wherein:
• the plurality of moments in time form a period in which the mobile platform is to achieve the desired lateral offset;
• the sets of flat coordinates form a continuous sequence representing a smooth trajectory over the period;
• the transformation is performed under a filter (I) that smooths physical transitions of the mobile platform following the trajectory over the period and (II) that applies predefined constraints with respect to a plurality of mobile platform state limitations and a plurality of mobile platform control constraints, the sequence of the sets of flat coordinates thereby being a smoothed and constrained trajectory;
• and
• the transformation, with respect to each of the plurality of moments in time respectively, is performed analytically without an iterative optimization;
• and
• performing control signal generation by inputting the continuous sequence of the sets of flat coordinates into an inverted dynamic model that directly converts the input sequence into corresponding input control signals that are used for achieving the respective sequence of states represented by the sequence of flat coordinates, causing the mobile platform to follow the smoothed and constrained trajectory.