Impedance-based motion control for autonomous vehicles
AssigneeHuawei Technologies Co., Ltd.
InventorPeyman Yadmellat
Life of this patent
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Abstract
Methods and systems for controlling motion of a vehicle. Sensor data is obtained, representing an environment of the vehicle. A reference control trajectory is corrected, using one or more virtual forces, to provide a desired trajectory. The one or more virtual forces are generated by applying an impedance scheme to the sensor data. A desired trajectory is outputted for controlling the vehicle.
Claims21
A method for controlling motion of a vehicle, the method comprising:
- obtaining sensor data representing an environment of the vehicle;
- correcting a reference control trajectory, using one or more virtual forces, to provide a desired trajectory, the one or more virtual forces being generated by applying an impedance scheme to the sensor data;
- and
- outputting a desired trajectory for controlling the vehicle.
A system for controlling motion of a vehicle, the system comprising a processor configured to execute instructions to cause the system to:
- obtain sensor data representing an environment of the vehicle;
- correct a reference control trajectory, using one or more virtual forces, to provide a desired trajectory, the one or more virtual forces being generated by applying an impedance scheme to the sensor data;
- and
- output a desired trajectory for controlling the vehicle.
A vehicle comprising:
- one or more sensors for obtaining sensor data representing an environment of the vehicle;
- a vehicle control system for controlling motion of the vehicle;
- and
- a mechanical system for effecting motion of the vehicle;
- wherein the vehicle control system is configured to:
- obtain sensor data representing an environment of the vehicle;
- correct a reference control trajectory, using one or more virtual forces, to provide a desired trajectory, the one or more virtual forces being generated by applying an impedance scheme to the sensor data;
- calculate a desired trajectory for controlling the vehicle;
- and
- output control signals, according to the desired trajectory, to the mechanical system.
Dependencies are inferred from the claim text.