Method and system for an autonomous motion control and motion planning of a vehicle

A method for autonomous motion control and motion planning of a vehicle having wheels, the method comprising the steps of

• providing an initial vehicle position, an initial time instance and an initial vehicle state characterized by at least one vehicle state parameter,
• providing a parameter value range for the vehicle state parameter, and a step-parameter having a step-value,
• calculating, by a motion control unit (20), a set of feasible vehicle states comprising feasible vehicle states for parameter values within the parameter value range, wherein the feasible vehicle states are equilibrium states of the vehicle state parameter,
• determining, by the motion control unit (20), a set of reachable vehicle states, wherein each of the reachable vehicle states is a feasible vehicle state that can be reached within the step-value of the step-parameter from a same feasible vehicle state or from another feasible vehicle state,
• constructing a vehicle trajectory, by a motion planner unit (22), the vehicle trajectory being a sequence of consecutive feasible vehicle states starting from the initial vehicle state and the initial vehicle position and comprising for each consecutive feasible vehicle state of the vehicle trajectory a vehicle position and a time instance, wherein the consecutive feasible vehicle states of the vehicle trajectory are reachable vehicle states on the basis of a previous feasible vehicle state, of a vehicle position belonging to the previous feasible vehicle state, of a previous time instance of the previous feasible vehicle state, and of the step-value of the step-parameter, and
• controlling, by the motion control unit (20), at least one vehicle actuator to drive the vehicle to each of the consecutive feasible vehicle states of the vehicle trajectory,
• characterized in that
• the vehicle is defined as a hybrid dynamical system having hybrid modes, the hybrid modes altogether describing continuous dynamic behaviours and discrete dynamic behaviours of the vehicle, wherein the hybrid modes include two hybrid modes for each wheel, one hybrid mode in which said wheel is in tire-road interaction saturation and another hybrid mode in which said wheel is not in tire-road interaction saturation,
• the hybrid modes are defined based on hybrid mode parameters, wherein the hybrid mode parameters include tire-road interaction saturation states of the wheels,
• the feasible vehicle states are calculated for each hybrid mode, and
• each feasible vehicle state of the vehicle trajectory corresponds to a same hybrid mode or to a different hybrid mode compared to the hybrid mode of the previous feasible vehicle state of the vehicle trajectory.