The invention discloses a method to establish a lane-change maneuver, and the method includes the steps of calculating a plurality of anchor points along a projected vehicle route and, based on the plurality of anchor points, generating a lane-change maneuver trajectory. The plurality of anchor points can include: a first anchor point based on time, a second anchor point where the vehicle would cross a lane boundary from a host lane to a target lane, and a third anchor point where counter steering torque would be applied to center the vehicle in the target lane.
一种建立车道变换操纵的方法,该方法包括以下步骤:计算沿着计划的车辆路线的多个锚点,并基于所述多个锚点生成车道变换操纵轨迹。所述多个锚点可以包括:基于时间的第一锚点、在其处车辆将从主车道穿过车道边界到目标车道的第二锚点、以及在其处将施加反向转向扭矩以使车辆在目标车道中居中的第三锚点。
SYSTEM METHOD TO ESTABLISH LANE-CHANGE MANEUVER
建立车道变换操纵的系统方法
2021-07-06
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
Lane Change Maneuver for AHS Applications [9438637]
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