A method of determining whether a planned trajectory of a first vehicle over a road along which the first vehicle and a second vehicle are traveling, is invalid, comprising: obtaining the planned trajectory, comprising a first state of the first vehicle for each of a plurality of time instants; obtaining a second state of the second vehicle for each time instant; determining, for each time instant, a respective lateral range extending from the second vehicle; and determining that the planned trajectory is invalid where, for the first and second states at one or more of the time instants: the first vehicle is within the lateral range and within a lane boundary region of the road; and a direction of a lateral velocity of the first vehicle is towards the second vehicle and a lateral acceleration of the first vehicle away from the second vehicle is smaller than a predetermined threshold.
Trajectory validation for autonomous driving
2023-10-24
Patent
Elektronische Ressource
Englisch
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 |
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