CPC G05D 1/0088 (2013.01) [G05B 19/4155 (2013.01); G05D 1/0212 (2013.01); G06F 17/11 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 50/00 (2013.01); B60W 2050/0011 (2013.01); B60W 2050/0028 (2013.01); B60W 2050/0083 (2013.01); B60W 2300/145 (2013.01); B60W 2400/00 (2013.01); B60W 2520/22 (2013.01); B60W 2530/10 (2013.01); B60W 2710/18 (2013.01); B60W 2710/20 (2013.01); G05B 2219/42033 (2013.01); G05D 2201/0213 (2013.01)] | 17 Claims |
1. An in-vehicle control system for a semi-truck, comprising:
a processor; and
a computer-readable memory in communication with the processor and having stored thereon computer-executable instructions to cause the processor to at least:
receive a desired trajectory for autonomously driving the semi-truck and a vehicle status of the semi-truck,
update a dynamic non-linear model of the semi-truck based on the desired trajectory and the vehicle status,
determine a linear system model based on an approximation of the dynamic non-linear model including transforming a reference frame for the dynamic non-linear model from a global inertial coordinate frame to a reference frame coordinate centered on a current position of the semi-truck on a road,
model movement of the semi-truck over a prediction time horizon using the linear system model,
generate at least one control command for controlling the movement of the semi-truck based on the modelled movement, and
output the at least one control command for the autonomous driving of the semi-truck along the desired trajectory.
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