System and method for controlling lateral motion of vehicle

Patent metadata

Field	Value
Publication number	US-10994729-B2
Application number	US-201715472361-A
Country	US
Kind code	B2
Filing date	Mar 29, 2017
Priority date	Mar 29, 2017
Publication date	May 4, 2021
Grant date	May 4, 2021

Abstract

A control system uses a set of regions of states of lateral dynamic of the vehicle corresponding to a set of equilibrium points to control a vehicle. Each region defines a control invariant set of the states of the lateral dynamic determined such that the vehicle having a state within a region is capable to maintain its states within the region. Each region includes a corresponding equilibrium point and intersects with at least one adjacent region. The control system identifies collision-free regions at different time steps of control to produce a collision free sequence of regions forming a union of regions in space and time connecting a region including an initial displacement with a region including a target displacement. The control system produces a trajectory within the union connecting the initial displacement with the target displacement and control the vehicle according to the trajectory.

First claim

We claim:

1. A control system of a vehicle for controlling motion of the vehicle traveling on a road shared with a set of moving objects, comprising:
a memory to store a set of equilibrium points defining lateral displacements on the road traveled by the vehicle and to store a set of regions of states of lateral dynamic of the vehicle corresponding to the set of equilibrium points, wherein each state of lateral dynamic includes a lateral displacement, a rate of change of the lateral displacement, a lateral orientation, and a rate of change of the lateral orientation, wherein each region defines a control invariant set of the states of the lateral dynamic determined such that the vehicle having a state within a region is capable to maintain its states within the region, wherein each region covers a multitude of states and corresponding trajectories of the vehicle, includes a corresponding equilibrium point and intersects with at least one adjacent region;
at least one sensor to generate a time-series signal indicative of a motion trajectory of each object in the set of moving objects;
at least one processor configured to execute modules of the control system including a collision detector and a path planner, wherein
the collision detector is configured to detect a collision of each region with at least one object in the set of moving objects at each time step of control in a time horizon when the motion trajectory of the object at the time step of control intersects a space defined by a longitudinal displacement of the vehicle at the time step of control and a range of values of the lateral displacement of the region to produce a data structure indicating collision-free regions at different time steps of control, such that each region is predetermined before the execution of the collision detector and is tested by the collision detector multiple times for collision at different longitudinal displacements of the vehicle at different time steps of control; and
the path planner is configured to determine a time sequence defining a collision free sequence of regions forming a union of regions in space and time connecting a region including an initial displacement with a region including a target displacement to produce a trajectory within the union connecting the initial displacement with the target displacement; and
a controller for controlling the vehicle according to the trajectory, wherein for any arbitrary state inside of any region of states of lateral dynamic of the vehicle stored in the memory and defined by the control invariant set, the controller is configured to control the vehicle from the arbitrary state within a region to the equilibrium point of the region along a trajectory of states located within the region.

2. The system of claim 1 , wherein the memory stores a data structure indicative of a state transition graph defining possible transitions between regions for different time steps of control without considering obstacles, and wherein the collision detector invalidates at least some transitions on the graph in response to detecting the obstacles to form the data structure indicating the collision-free regions, and wherein the path planner searches through the valid transitions of the graph to find the union of regions.

3. The system of claim 2 , wherein the transitions include uncertainties, such that the state transition graph is a Markov chain.

4. The system of claim 1 , wherein the data structure indicative of the state transition graph includes an upper block-diagonal matrix.

5. The system of claim 1 , wherein the collision detector estimates a future trajectory of the object consistent with the time-series signal indicative of the motion of the object, estimates a probability of intersection of the future trajectory with each region at each time step of control and detect the region at the time step of control as collision free if the probability of intersection is below a threshold.

6. The system of claim 1 , wherein the collision detector is configured for
determining a set of feasible trajectories of hypothetical vehicles moving in a driving area of the vehicle;
determining a probability of each feasible trajectory to intersect with each region at each time step of control;
determining, using the time-series signals, a probability of each feasible trajectory to be followed by at least one object in the set of moving objects;
determining a level of risk of intersection of each feasible trajectory with each region at each time step of control as a combination of the probability of the feasible trajectory to intersect with each region at each time step of control and the probability of the feasible trajectory to be followed by at least one object in the set of moving objects; and
detecting a region at a time step of control as collision free if the level of risk of intersection of all feasible trajectories with the region at the time step of control is below a threshold.

7. The system of claim 6 , wherein the set of feasible trajectories are determined using a kinematic model of a motion of a hypothetical vehicle, comprising:
generating the feasible trajectories for different velocities of the hypothetical vehicles at different locations of the environment traveling with different driving intentions selected from a set of driving intentions.

8. The system of claim 7 ,
wherein the locations of the hypothetical vehicles are selected according to the map of the environment,
wherein the set of driving intentions includes one or combination of a turn left intention, a turn right intention, a drive straight intention, a change lane left intention, a change lane right intention, a brake intention, an accelerate intention, and a maintain velocity intention, and
wherein the feasible trajectories are determined for each hypothetical vehicle performing different driving intentions permitted by the environment that move the hypothetical vehicle into the driving area of the host vehicle.

9. The system of claim 6 , further comprising:
assigning a vehicle to a subset of feasible trajectories consistent with the time-series signal of the vehicle within a margin of error; and
determining the probability of the vehicle to follow each feasible trajectory from the subset based on statistics on driving intentions represented by the feasible trajectories.

10. The system of claim 6 , wherein the feasible trajectories are determined by iteratively sampling state space of a hypothetical object and adding a sampled state in a feasible trajectory for an intention of a motion of the hypothetical object when the sampled state is consistent with the intention of the motion.

11. The system of claim 1 , wherein the path planner determines the trajectory by optimizing a cost function of the motion of the vehicle within the union.

12. The system of claim 1 , wherein the path planner determines the shortest time sequence forming the union.

13. The system of claim 1 , wherein the path planner determines the trajectory connecting the equilibrium points defining the initial displacement and the target displacement.

14. The system of claim 1 , further comprising:
a speedometer to measure a longitudinal velocity of the vehicle, wherein the collision detector determines the longitudinal displacement of the vehicle at the time step of control based on a product of the longitudinal velocity with a time period corresponding to the time step of control.

15. The system of claim 1 , further comprising:
a position sensor to determine a current location of the vehicle; and
a transceiver to transmit the current location of the ve

Assignees

• Mitsubishi Electric Res Laboratories Inc

Inventors

• Berntorp Karl
• Weiss Avishai
• Danielson Claus
• Di Cairano Stefano

Classifications

• G08G1/167

  Driving aids for lane monitoring, lane changing, e.g. blind spot detection · CPC title

• B60W30/095

  Predicting travel path or likelihood of collision · CPC title

• G08G1/166

  for active traffic, e.g. moving vehicles, pedestrians, bikes · CPC title

• B60W50/0097

  Predicting future conditions · CPC title

• G01S19/42

  Determining position · CPC title