System and method for controlling autonomous or semi-autonomous vehicle

摘要

A method controls a motion of a vehicle using a model of the motion of the vehicle that includes an uncertainty. The method samples a control space of possible control inputs to the model of the motion of the vehicle to produce a set of sampled control inputs and determines a probability of each sampled control input to move the vehicle into state satisfying constraints on the motion of the vehicle. The method determines, using the probabilities of the sampled control inputs, a control input having the probability to move the vehicle in the state above a threshold. The control input is mapped to a control command to at least one actuator of the vehicle to control the motion of the vehicle.

主权项

1. A method for controlling a motion of a vehicle, comprising:
sampling a control space of possible control inputs to a model of the motion of the vehicle to produce a set of sampled control inputs, wherein the model of the motion of the vehicle includes an uncertainty; determining, using the model of the motion of the vehicle, a probability of each sampled control input to move the vehicle into a state satisfying constraints on the motion of the vehicle, comprising: determining an initial state of the vehicle; submitting the initial state and the sampled control input to the model of the motion of the vehicle to estimate a transition of the vehicle from the initial state to a next state; selecting a value of a probability distribution function (PDF) over states of the vehicle at a point corresponding to the next state as the probability of the sampled control input; determining a probability of the next state to intersect with an uncertainty region of an obstacle; and assigning a zero probability to the sampled control input when the probability of the next state is above a collision threshold; determining, using the probabilities of the sampled control inputs, a control input having the probability to move the vehicle in the state above a threshold; mapping the control input to a control command to at least one actuator of the vehicle; and controlling the motion of the vehicle according to the control command, wherein steps of the method are performed using a processor of the vehicle.