Patent ID: 9568915
Date: 2017-02-14
CPC Classifications: B60W,G05D,G06N

Claim:
1. A method for controlling a motion of a vehicle, comprising: sampling a control space of possible control inputs to a model of the motion of the vehicle to produce a set of sampled control inputs, wherein the model of the motion of the vehicle includes an uncertainty; determining, using the model of the motion of the vehicle, a probability of each sampled control input to move the vehicle into a state satisfying constraints on the motion of the vehicle, comprising: determining an initial state of the vehicle; submitting the initial state and the sampled control input to the model of the motion of the vehicle to estimate a transition of the vehicle from the initial state to a next state; selecting a value of a probability distribution function (PDF) over states of the vehicle at a point corresponding to the next state as the probability of the sampled control input; determining a probability of the next state to intersect with an uncertainty region of an obstacle; and assigning a zero probability to the sampled control input when the probability of the next state is above a collision threshold; determining, using the probabilities of the sampled control inputs, a control input having the probability to move the vehicle in the state above a threshold; mapping the control input to a control command to at least one actuator of the vehicle; and controlling the motion of the vehicle according to the control command, wherein steps of the method are performed using a processor of the vehicle.