System and method for controlling motion of vehicle
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United States of America Patent
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Mar 13, 2018
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N/A
app pub date -
Jul 14, 2016
filing date -
Jul 14, 2016
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Abstract
A method selects from a memory a first model of motion of vehicle, a second model of the motion of the vehicle, a first constraint on the first model for moving along a desired trajectory of the vehicle, and a control invariant set joining states of the first model with states of the second model. For each combination of the states within the control invariant subset there is at least one control action to the second model that maintains the state of the second model within the control invariant set for every modification of the state of the first model satisfying the first constraint. A portion of the desired trajectory satisfying the first constraint is determined using the first model while a sequence of commands for moving the vehicle along the portion of the desired trajectory is determined using the second model. The sequence of commands is determined to maintain the sequence of the states of the second model and a sequence of the states of the first model determined by the portion of the desired trajectory within the control invariant subset. The vehicle is controlled using at least one command from the sequence of commands.
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