Abstract: The invention is notably directed to a method of driving an automated vehicle (10) comprising a drive-by-wire (DbW) system (300) with electromechanical actuators. The method is performed by a validation unit (220), which is connected to a motion planning unit (106). The validation unit and the motion planning unit may form part of the vehicle, making it an autonomous vehicle. In variants, the validation unit and the motion planning unit form part of a central control unit, which, e.g., remotely steers the vehicle in a designated area. The method and revolves around receiving (S10) provisional commands and accordingly triggering (S70-S90) an actuation sequence. The provisional commands are received (S10) from the motion planning unit (106). The provisional commands contain provisional instructions with respective execution times. The provisional commands are designed to be executed by respective ones of the electromechanical actuators to cause the vehicle (10) to follow a drivable trajectory.

Abstract: The invention is notably directed to an autonomous vehicle, e.g., an autonomous or semi-autonomous vehicle such as a self-driving car. The autonomous vehicle comprises a drive-by-wire (DbW) system (300), a set of perception sensors 21-24, such as lidars and cameras, and two processing systems, i.e., a first processing system (100) and a second processing system (200). The first processing system is configured to form a main perception based on signals from each of the perception sensors of the set, estimate states of the vehicle based on feedback signals from the DbW system, and compute trajectories for the autonomous vehicle based on the perception formed and the estimated states. The second processing system is configured to form an auxiliary perception based on signals from only a subset of the perception sensors, validate the computed trajectories based on the auxiliary perception formed, and cause to forward the validated trajectories to the DbW system.

Abstract: The present invention is directed to computer-implemented method for controlling an autonomous or semi-autonomous vehicle. A vehicle model is provided and information describing a roadway (301) is obtained. This information is transformed in a Frenet-Serret frame, which defines a curvilinear coordinate space. Then, in the curvilinear coordinate space, a plurality of line segments (306, 307) are defined (3) along the roadway (301), at locations spaced longitudinally along a reference line defining the Frenet-Serret frame. The line segments have respective lengths that extends, each, perpendicularly to the reference line. Next, based on the defined line segments, a space-time corridor (327, 327?, 326?) is determined (5) to obtain a time-dependent space available for the vehicle. Bounds for the vehicle within said time-dependent space are subsequently obtained (6). The bounds define a set of constraints that delimit a plurality of convex space-time objects along the reference line.

Abstract: A method for steering a vehicle along a path in a driveway and around obstacles between a starting position into a target position, comprises the steps of determining the vehicle dimensions, steering and driving capabilities, carrying out a path optimization step to evaluate, based on a predetermined cost function, the least costly path between the starting position and the target position avoiding any collisions with obstacles. The method further comprises the further step of applying a path improver step, smoothening the trajectory obtained by the path optimization method by means of numerical optimization while fulfilling dynamical constraints on acceleration and steering rate of the vehicle through planning lateral and longitudinal movement of the vehicle in a joint optimization problem or by means of separate optimization problems.

Abstract: The invention is notably directed to a computer-implemented method for controlling a speed of a vehicle given energy-related quantities that pertain to moving the vehicle. Each of said energy-related quantities is being referred to as an energy expense in the following. The method involves two key operations (a full-horizon optimization and multiple, nested short-horizon optimizations), which are performed based on route parameters of a route segment and real-time signals capturing current states of the vehicle. First, a target function of a profile of an energy expense is optimized (S12) for a route segment, to determine a reference profile Xref of this energy expense. The optimization is constrained with respect to objectives in respect of a total travel time and/or a total travel energy expense for the vehicle to travel said route segment. A profile of parameter values is obtained (S14-S28) according to a by-product of the optimization.

Abstract: The invention is notably directed to computer-implemented method of planning motion of a vehicle. The method comprises receiving (S20) real-time signals as to positions of N traffic participants. At each time step of multiple time steps, the method plans (S50) motion for the vehicle by computing (S30) states of each of the N traffic participants according to the signals received (S20). Said states include current states, which are estimated for each of the N traffic participants, as well as future states of each of the participants, wherein the future states are predicted over a prediction horizon T. This is achieved using an interaction-aware model of the N traffic participants. This model is designed to cause the method to recursively compute (S32-S38), at said each time step, the states of each of the N traffic participants according to a hierarchical list. The N traffic participants are ordered in the list from a most determinative one to a least determinative one of the N traffic participants.

Abstract: A method for steering a vehicle along a path in a driveway and around obstacles between a starting position into a target position, comprises the steps of determining the vehicle dimensions, steering and driving capabilities, carrying out a path optimization step to evaluate, based on a predetermined cost function, the least costly path between the starting position and the target position avoiding any collisions with obstacles. The method further comprises the further step of applying a path improver step, smoothening the trajectory obtained by the path optimization method by means of numerical optimization while fulfilling dynamical constraints on acceleration and steering rate of the vehicle through planning lateral and longitudinal movement of the vehicle in a joint optimization problem or by means of separate optimization problems.

Abstract: A method for steering a vehicle along a path in a driveway and around obstacles between a starting position into a target position, comprises the steps of determining the vehicle dimensions, steering and driving capabilities, carrying out a path optimization step to evaluate, based on a predetermined cost function, the least costly path between the starting position and the target position avoiding any collisions with obstacles. The method further comprises the further step of applying a path improver step, smoothening the trajectory obtained by the path optimization method by means of numerical optimization while fulfilling dynamical constraints on acceleration and steering rate of the vehicle through planning lateral and longitudinal movement of the vehicle in a joint optimization problem or by means of separate optimization problems.