METHOD OF DETERMINING AN ALLOWABLE VEHICLE STATE SPACE FOR AN ARTICULATED VEHICLE

A method of determining an allowable vehicle state space of an articulated vehicle () for safely completing a maneuver, wherein the vehicle state space comprises vehicle velocity, the method comprising; monitoring a drivable area () ahead of the articulated vehicle (), predicting a potentially swept area () ahead of the articulated vehicle (), wherein the potentially swept area () represents an area that may be traversed by the articulated vehicle () during the maneuver with a probability, based on an initial vehicle state of the articulated vehicle (), a geometry of the articulated vehicle (), and on error characteristics associated with one or more sensor input signals used for positioning the articulated vehicle (), and determining the allowable vehicle state space such that the predicted potentially swept area () does not extend beyond the drivable area () ahead of the vehicle ().