Patent WO-2021079338-A1 (WO)
Title: Motor-vehicle trajectory planning and control to cause automated motor-vehicles to perform low-speed manoeuvres in automated driving
Inventor: BORRELLO GIULIO
IPC: B60W50/00
Filed: 2020-10-23
Abstract: An automotive electronic dynamics control system (10) for a motor-vehicle (2) equipped with and automotive automated driving system (1) designed to cause the motor- vehicle (2) to perform low-speed manoeuvres in automated driving. The automotive automated driving system (1) comprises an automotive sensory system (3) designed to detect motor-vehicle-related quantities, and automotive actuators (4) comprising an Electric Power Steering (5), a Braking System (6), and a Powertrain (7). The electronic dynamics control system (10) is designed to implement a Driving Path Planner (11) designed to: - receive data representative of static obstacles in the surroundings of the motor-vehicle (2) and representing static space constraints to the motion of the motor-vehicle (2), and - compute, based on the received data, a planned driving path for the motor- vehicle (2) during a low-speed manoeuvre performed in automated driving. The electronic dynamics control system (10) is further designed to implement a Model Predictive Control (MPC)-based Trajectory Planner and Controller (12) designed to: - receive from the Driving Path Planner (11) data representative of the planned driving path and from the automotive sensory system (3) data representative of positions and orientations of the motor-vehicle (2) and of dynamic obstacles in the surroundings of the motor-vehicle (2) and representing dynamic space constraints to the motion of the motor- vehicle (2), and - compute, based on the received data, a planned lateral trajectory and a planned longitudinal trajectory for the motor-vehicle (2) during the low-speed manoeuvre performed in automated driving. The electronic dynamics control system (10) is further designed to implement a Motion Controller (13) designed to: - receive from the Trajectory Planner and Controller (12) data representative of the planned lateral and longitudinal trajectories, and - compute commands for the Electric Power Steering (5) based on the planned lateral trajectory, and for the Braking System (6) and the Powertrain (7) based on the planned longitudinal trajectory. The Driving Path Planner (11) is designed to compute the planned driving path as a planned driving corridor within which the motor-vehicle (2) may be driven and made up of a series of driving path segments each with a length and an orientation referenced in an inertial reference frame. The MPC-based Trajectory Planner and Controller (12) comprises: - an MPC-based Lateral Trajectory Planner and Controller (12a) designed to compute the planned lateral trajectory as a series of steering requests (<5) referenced in a motor- vehicle reference frame; and - an MPC-based Longitudinal Trajectory Planner and Controller (12b) designed to compute the planned longitudinal trajectory as a series of longitudinal acceleration requests (a). The Lateral Trajectory Planner and Controller (12a) is further designed to compute the planned lateral trajectory based on a linearized Lateral Trajectory Model which exhibits a singularity whenever the relative orientation of a couple of successive driving path segments of the planned driving path is equal to or higher than a given amount. The Lateral Trajectory Planner and Controller (12a) is further designed to dynamically modify relative orientation  (θ 
   ROT   
 )  of the motor-vehicle reference frame with respect to the inertial reference frame along the planned driving path so as to result in the relative orientations of all of the couples of successive driving path segments of the planned driving path being lower than the given amount.