{
  "$type": "site.standard.document",
  "description": "The present disclosure relates to a method for trajectory planning for a vehicle. The method comprises obtaining a reference trajectory over a finite time horizon, where the reference trajectory comprises a speed reference over time for the finite time horizon. Further, the method comprises…",
  "path": "/patents/1425481",
  "publishedAt": "2023-12-06T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W60/0011",
    "ZENUITY AB [SE]"
  ],
  "textContent": "The present disclosure relates to a method for trajectory planning for a vehicle. The method comprises obtaining a reference trajectory over a finite time horizon, where the reference trajectory comprises a speed reference over time for the finite time horizon. Further, the method comprises determining a back-up stop trajectory within the finite time horizon. The back-up stop trajectory has a starting state and terminating in a final state, where the final state is defined as a safe state. The method further comprises forming a terminal set of states within the finite time horizon based on at least one predefined constraint, wherein the terminal set of states comprises a terminal state that corresponds to the starting state for the back-up stop trajectory. Moreover, the method comprises generating a nominal trajectory for at least a portion of the finite time horizon based on a constraint controlled technique, where the nominal trajectory is dependent on the obtained reference trajectory and a terminal constraint. The terminal constraint defines that the nominal trajectory comprises the terminal state. The constraint controlled technique comprises a cost minimizing control strategy, and the back-up stop trajectory from the starting state to the final state is associated with zero cost.",
  "title": "SAFE TRAJECTORY TRACKING IN UNCERTAIN ENVIRONMENTS"
}