Abstract: A method of operating a vehicle includes: sensing the vehicle's surroundings and vehicle's operating parameters by sensors; supporting the vehicle's driving by a first autonomous driving control receiving the sensed surroundings and the sensed operating parameters and the first autonomous driving control generating vehicle driving commands for controlling the vehicle's driving; simulating the vehicle operation by a digital twin of the vehicle that includes a second autonomous driving control generating vehicle operation control commands for controlling the digital twin's driving; aligning the vehicle simulation with the vehicle's driving by feedback of the sensed vehicle's surroundings and the sensed vehicle's operating parameters; and evaluating a detachment criterium and changing the operating mode of the vehicle simulation from being aligned with the vehicle's driving to a detachment of the simulation allowing a deviation of the simulated values to at least one of the sensed vehicle's surroundings and/or s

Abstract: A method of operating a vehicle includes: sensing the vehicle's surroundings and vehicle's operating parameters by sensors; supporting the vehicle's driving by a first autonomous driving control receiving the sensed surroundings and the sensed operating parameters and the first autonomous driving control generating vehicle driving commands for controlling the vehicle's driving; simulating the vehicle operation by a digital twin of the vehicle that includes a second autonomous driving control generating vehicle operation control commands for controlling the digital twin's driving; aligning the vehicle simulation with the vehicle's driving by feedback of the sensed vehicle's surroundings and the sensed vehicle's operating parameters; and evaluating a detachment criterium and changing the operating mode of the vehicle simulation from being aligned with the vehicle's driving to a detachment of the simulation allowing a deviation of the simulated values to at least one of the sensed vehicle's surroundings and/or s

Abstract: A method for controlling an autonomous vehicle to repeatedly follow a same predetermined trajectory comprises: a) receiving a target trajectory signal indicative of the predetermined trajectory; b) generating a control signal adapted to steer the vehicle along the predetermined trajectory; and, for at least one of a number of iterations: c) steering the vehicle along the predetermined trajectory by feeding the control signal to the vehicle; d) measuring an actual trajectory followed by the vehicle in response to being steered according to the control signal; e) recording an actual trajectory signal indicative of the measured actual trajectory; f) using an iterative learning controller to determine an altered control signal using the control signal, the actual trajectory signal and the target trajectory signal. The method allows to improve a tracking performance during a subsequent iteration.

Abstract: A method for controlling an autonomous vehicle to repeatedly follow a same predetermined trajectory comprises: a) receiving a target trajectory signal indicative of the predetermined trajectory; b) generating a control signal adapted to steer the vehicle along the predetermined trajectory; and, for at least one of a number of iterations: c) steering the vehicle along the predetermined trajectory by feeding the control signal to the vehicle; d) measuring an actual trajectory followed by the vehicle in response to being steered according to the control signal; e) recording an actual trajectory signal indicative of the measured actual trajectory; f) using an iterative learning controller to determine an altered control signal using the control signal, the actual trajectory signal and the target trajectory signal. The method allows to improve a tracking performance during a subsequent iteration.