{
  "$type": "site.standard.document",
  "description": "A method for generating a vehicle trajectory by optimizing a performance measure J. The trajectory may include a sequence of states x=(x)of the vehicle. The optimization is subject to predefined vehicle dynamics x=f(x, u), where uis a control input to the vehicle, and a condition that each position…",
  "path": "/patents/1333843",
  "publishedAt": "2022-12-22T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W60/0011",
    "Volvo Autonomous Solutions AB"
  ],
  "textContent": "A method for generating a vehicle trajectory by optimizing a performance measure J. The trajectory may include a sequence of states x=(x)of the vehicle. The optimization is subject to predefined vehicle dynamics x=f(x, u), where uis a control input to the vehicle, and a condition that each position of the vehicle shall be close to a reference path X. The vehicle's position is constrained inside a variable-width corridor around the reference path. A quantity r controlling the width of the corridor is included as an additional optimization variable and the performance measure includes a penalty on the corridor width. To define the corridor, each point of the reference path may be associated with a pair of laterally spaced ellipses and requiring each vehicle position to be outside the ellipses.",
  "title": "METHOD OF RECONSTRUCTING A VEHICLE TRAJECTORY"
}