The invention relates to a method for determining a driving envelope for a motor vehicle. The method includes providing a trajectory. In this case, the trajectory indicates a path through which the motor vehicle travels within the surroundings of the motor vehicle. The trajectory has three-dimensional spatial points. Each three-dimensional space point of the trajectory has a particular point of the motor vehicle along a path of travel in the environment at a respective point in time. And the environment preferably has a parking environment. Furthermore, the method comprises: calculating a polygon for each three-dimensional spatial point of the trajectory based on a specific point of the motor vehicle and the set of dimensions such that the angles of each polygon respectively depict the angles of the motor vehicle and each polygon thus depicts the area occupied by the motor vehicle at the respective point in time; and calculating a driving envelope of the environment on the basis of the calculated polygon, said driving envelope indicating a region of the environment in which the motor vehicle can move safely without causing a collision with a fixed obstacle. The invention further discloses a corresponding device.
本申请公开了一种用于确定用于机动车的行驶包络区的方法。该方法包括提供轨迹。在此,该轨迹指示机动车在该机动车的环境内驶过的路径。该轨迹具有三维空间点。该轨迹的每个三维空间点具有机动车在相应的时间点沿着环境中的行驶路径的特定点。并且该环境优选具有停车环境。此外,所述方法包括:基于机动车的特定点和尺寸集,针对轨迹的每个三维空间点计算多边形,使得每个多边形的角分别描绘机动车的角,并且每个多边形因此描绘机动车在相应时间点占据的区域;并且基于计算出的多边形计算环境的行驶包络区,所述行驶包络区指示环境的这样的区域,机动车能够在其中安全运动而不引起与固定障碍物的碰撞。本申请还公开了一种相应的装置。
Creating driving area from positioning data and vehicle dimensions
由定位数据和车辆尺寸创建行驶区域
2024-01-26
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
VEHICLE POSITIONING METHOD, VEHICLE POSITIONING APPARATUS, AND AUTONOMOUS DRIVING VEHICLE
Europäisches Patentamt | 2022
|Automatic driving vehicle positioning recovery method
Europäisches Patentamt | 2022
|British Library Conference Proceedings | 2020
|SAE Technical Papers | 2020
|British Library Conference Proceedings | 2020
|