METHOD OF TRAJECTORY PLANNING FOR YIELDING MANEUVERS
First Claim
1. A method of trajectory planning for yielding maneuvers for an ego vehicle (E) comprising:
- determining a longitudinal safety corridor for the ego vehicle (E) that allows the ego vehicle (E) to longitudinally position itself between two or more surrounding objects;
determining a longitudinal trajectory for the ego vehicle (E) respecting bounds given by the longitudinal safety corridor;
determining a lateral safety corridor for the ego vehicle (E) using the longitudinal trajectory to determine upper and lower bounds on a lateral position of the ego vehicle (E); and
determining a lateral trajectory for the ego vehicle (E) respecting bounds given by the lateral safety corridor.
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Accused Products
Abstract
The present disclosure relates to a method of trajectory planning for yielding maneuvers for an ego vehicle (E). The method may include determining a longitudinal safety corridor for the ego vehicle (E) that allows the ego vehicle (E) to longitudinally position itself between two or more surrounding objects, determining a longitudinal trajectory for the ego vehicle (E) respecting bounds given by the longitudinal safety corridor, determining a lateral safety corridor for the ego vehicle (E) using the longitudinal trajectory to determine upper and lower bounds on a lateral position of the ego vehicle (E), and determining a lateral trajectory for the ego vehicle (E) respecting bounds given by the lateral safety corridor. The present disclosure also relates to an Advanced Driver Assistance System arranged to perform the method and a vehicle (E) comprising such a system.
86 Citations
15 Claims
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1. A method of trajectory planning for yielding maneuvers for an ego vehicle (E) comprising:
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determining a longitudinal safety corridor for the ego vehicle (E) that allows the ego vehicle (E) to longitudinally position itself between two or more surrounding objects; determining a longitudinal trajectory for the ego vehicle (E) respecting bounds given by the longitudinal safety corridor; determining a lateral safety corridor for the ego vehicle (E) using the longitudinal trajectory to determine upper and lower bounds on a lateral position of the ego vehicle (E); and determining a lateral trajectory for the ego vehicle (E) respecting bounds given by the lateral safety corridor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A driver assistance system for trajectory planning for yielding maneuvers, the system comprising:
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a controller configured to; determine a longitudinal safety corridor for the ego vehicle (E) that allows the ego vehicle (E) to longitudinally position itself between two or more surrounding objects; determine a longitudinal trajectory for the ego vehicle (E) respecting bounds given by the longitudinal safety corridor; determine a lateral safety corridor for the ego vehicle (E) using the longitudinal trajectory to determine upper and lower bounds on a lateral position of the ego vehicle (E); and determine a lateral trajectory for the ego vehicle (E) respecting bounds given by the lateral safety corridor. - View Dependent Claims (14, 15)
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Specification