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METHOD OF ROAD VEHICLE TRAJECTORY PLANNING

  • US 20180059670A1
  • Filed: 08/09/2017
  • Published: 03/01/2018
  • Est. Priority Date: 08/29/2016
  • Status: Active Grant
First Claim
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1. A method of trajectory planning for maneuvers for an ego vehicle including a sensor system to measure a position of the vehicle on a road as well as relative positions and velocities of surrounding traffic participants and objects, a prediction system to estimate motion trajectories of surrounding traffic participants and objects over a defined time horizon, a control system capable of following a planned trajectory, and a decision-making system to provide a desired maneuver request, the method comprising:

  • using receding horizon control applying a finite prediction horizon for determiningpossible lateral motion trajectories of a requested maneuver;

    longitudinal safety critical zones which correspond to each of the determined possible lateral motion trajectories;

    a longitudinal motion trajectory of the requested maneuver;

    lateral safety critical zones which correspond to the determined longitudinal motion trajectory of the requested maneuver; and

    a lateral motion trajectory of the requested maneuver.

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