Patent Document ID: 5550742
Application ID: 08274282
Patent Flag: 1

Claim One:
1. A scheduled motion planning method for guidance and control of the vehicle according to the motion plan, comprising: (1) a step of setting simulation conditions for simulating said motion; (2) a step of performing simulation on the basis of the said simulation conditions and outputting the result; (3) a step of evaluating said simulation result on the basis of predetermined constraints and demanded specifications; and (4) a step of making a scheduled motion plan for guidance and control of the vehicle on the basis of said evaluation result; wherein said step of setting the simulation conditions in (1) includes: (1-1) a step of obtaining the current position and velocity of the vehicle, constraints, and demanded specifications; (1-2) a step of setting an ideal position and ideal velocity curve for satisfying said constraints and demanded specifications; (1-3) a step of judging a plan type by comparing said ideal position and ideal velocity curve with said obtained position and velocity data or said simulation result; and (1-4) a step of setting simulation conditions for said plan type.