Method for programming a path planner for a motor vehicle, and vehicle implementing the method

The method for generating non-linear speed profiles in ACC systems optimizes acceleration and jerk, ensuring smooth speed adjustments and safe following distances, addressing the limitations of existing trajectory planners in cruise and pursuit modes.

WO2026057258A1PCT designated stage Publication Date: 2026-03-19AMPERE SAS
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Patent Information

Authority / Receiving Office
WO · WO
Patent Type
Applications
Current Assignee / Owner
Filing Date
2025-08-07
Publication Date
2026-03-19

AI Technical Summary

Technical Problem

Existing trajectory planners in adaptive cruise control (ACC) systems do not utilize non-linear speed profiles in cruise and pursuit modes, leading to abrupt acceleration and jerk, which affects user comfort and the vehicle's ability to maintain safe distances from preceding vehicles.

Method used

A method for programming a route planner that generates a non-linear longitudinal speed profile based on a target speed and distance, optimizing acceleration and jerk by using a Proportional, Integral, Derivative (PID) controller to adjust the vehicle's speed and distance relative to a target vehicle, switching between cruise and pursuit modes as needed.

Benefits of technology

The method ensures smoother acceleration and jerk, maintaining safe distances and respecting kinematic limits, thereby enhancing user comfort and the vehicle's ability to respond to changes in speed setpoints and surrounding conditions.

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Abstract

The invention relates to a method for programming a path planner configured to generate a nonlinear longitudinal speed profile from a target speed and from a distance at which this speed is to be reached, and to a vehicle implementing the method. The method comprises: determining (101) a target speed v0 equal to a setpoint speed, and a target distance d0 from the target speed and a time horizon; calculating (102) a predicted distance drel from a target vehicle at the end of the time horizon TH, and, when this distance is greater than a safety distance dsec, using a predicted speed vt of the target vehicle as the target speed vo, and adding the predicted distance dTel minus the safety distance dsec to the target distance d0; programming (103) the path planner with the target speed v0 and the target distance d0.
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Citation Information

Patent Citations

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