Importance

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Abstract

A road vehicle is equipped with a generic vehicle motion planner and a vehicle type specific vehicle control interface module that makes it possible to adapt vehicle type independent path planning to a specific vehicle type. The generic vehicle motion planner determines a planned vehicle trajectory for the vehicle. The vehicle control interface module provides the generic vehicle motion planner with feasibility constraint information defining one or more feasibility constraints on accelerations of the vehicle along the planned vehicle trajectory. The feasibility constraint information is derived from vehicle configuration parameter values that may be sensed by further sensors. The generic vehicle motion planner determines a planned vehicle trajectory subject to the feasibility constraint on one or more accelerations of the vehicle along the planned vehicle trajectory. The vehicle control interface module converts plan based control information representing a planned acceleration from the generic vehicle motion planner to vehicle specific drive control signals.

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First Claim