A system for a vehicle

摘要

A set of reachable vehicle states, which include position, is determined by module 20 depending on a vehicle constraint. Of these, a set of allowable vehicle positions is determined by module 22 using data indicative of a feature of a nearby road segment. One allowable position is set as a target vehicle position by module 24, and a feasible trajectory to that position is determined by module 26. The vehicle may be controlled to follow the trajectory using module 18. The road segment feature may relate to obstacles, lane boundaries or driving rules. The allowable positions may be determined using an artificial potential field, with potential values within a certain range indicating allowable positions. The vehicle constraint may include state variables such as heading, position or velocity, or input constraints such as steering angle or acceleration. The feasible trajectory may be generated using a Model Predictive control (MPC) strategy.