Patent ID: 9043144
Filing Date: 2015-05-26
Classification: G01C,G09B

Abstract:
1. A method for controlling a land vehicle having a curvature limit according to a trajectory, the method comprising: identifying a starting position (p identifying a desired terminal position (P) for the land vehicle; defining a linear approximation of by one or more processors, dynamics of the land vehicle with a state vector (x) that indicates land vehicle velocity with linearized variables that lack non-linear heading information; determining, based on the starting position (p controlling the land vehicle to follow the trajectory; wherein to prevent the trajectory from including curvatures below the curvature limit of the land vehicle, the constraint requires that the acceleration is larger when acting in a direction that is substantially perpendicular to the velocity of the land vehicle than when acting in a direction that is substantially parallel to the velocity of the vehicle is implemented by calculating: where: v wherein the linear approximation of the vehicle dynamics is further constrained by specifications that a magnitude of a velocity of the vehicle is greater than or equal to a threshold value for the velocity.