XYZ MOTION PLANNING FOR VEHICLES

Methods and systems are presented for planning and commanding motions of a vehicle in the plane of a road and in the vertical direction, relative to the plane of a road, to enhance vehicle performance, as it may relate to, for example, vehicle safety, occupant comfort, wear and tear on the vehicle, and/or vehicle efficiency. One or more processors may be used to plan XYZ vehicle trajectories and to provide commands to systems such as, for example, active suspension systems, semi-active suspension systems, propulsion systems, braking systems (e.g. ABS), and/or steering systems. The one or more processors may also receive road information from, for example, look-ahead sensors (e.g. LiDAR), local or remote databases, and motion sensors (e.g. IMUs, accelerometers). The one or more processors may also exchange information with a driver and/or other vehicle occupants, various on-board or remote databases, and/or infrastructure systems (e.g. GPS) by means of one or more communication devices.