Virtual steerable path
First Claim
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1. A method, comprising:
- determining a virtual steerable path polynomial including a lane change maneuver;
then updating the virtual steerable path polynomial to pilot the vehicle for the lane change maneuver;
piloting the vehicle based on the updated virtual steerable path polynomial;
then canceling the lane change maneuver;
further updating, by inverting portions of, the virtual steerable path polynomial; and
piloting the vehicle based on the further updated virtual steerable path polynomial.
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Abstract
A computing device in a vehicle can be programmed to determine a virtual steerable path polynomial including a lane change maneuver, update the virtual steerable path polynomial by controlling a vehicle trajectory, and, pilot the vehicle based on the virtual steerable path polynomial. The computer further programmed to determine the virtual steerable path polynomial based on the vehicle trajectory.
35 Citations
20 Claims
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1. A method, comprising:
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determining a virtual steerable path polynomial including a lane change maneuver; then updating the virtual steerable path polynomial to pilot the vehicle for the lane change maneuver; piloting the vehicle based on the updated virtual steerable path polynomial; then canceling the lane change maneuver; further updating, by inverting portions of, the virtual steerable path polynomial; and piloting the vehicle based on the further updated virtual steerable path polynomial. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A computer comprising a processor and a memory, the memory storing instructions executable by the processor such that the computer is programmed to:
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determine a virtual steerable path polynomial including a lane change maneuver; then update the virtual steerable path polynomial to pilot the vehicle for the lane change maneuver; pilot the vehicle based on the updated virtual steerable path polynomial; then cancel the lane change maneuver; further update, by inverting portions of, the virtual steerable path polynomial; and pilot the vehicle based on the further updated virtual steerable path polynomial. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification