| 摘要 |
<p>The invention pertains to a control system (10) to control an autonomous vehicle (2), with at least one first wheel pair (6A, 8B, 7A, 7B), in connection with obstacles, where the system (10) comprises a processor device (11 ) which is adapted to receive an obstacle signalφ1 with information regarding an obstacle (9) in the path of the vehicle (2), this information comprising at least the characteristics of the obstacle (9) and the position of the obstacle; the processor device (11) is also adapted to analyse the information regarding the obstacle according to rules for straddling the obstacle in relation to the ground clearance of the vehicle (2); and if the result of the analysis shows that the obstacle may be straddled by the vehicle (2), the processor device (11) is adapted to: determine a first trajectory (19) for the vehicle (2) based at least on the position of the vehicle (2), the position of the obstacle and information about the ground clearance of the vehicle (2), so that the vehicle (2) straddles the obstacle; generate a trajectory signal q>3 indicating said first trajectory (19); send the trajectory signalφ3 to a control device (12) in the vehicle, whereby the vehicle (2) is controlled according to the first trajectory (19). The invention also pertains to a method for the control of an autonomous vehicle (2) in connection with obstacles.</p> |
