A method for determining an evasion trajectory for a vehicle (1) to evade one or more objects (8, 9) comprises the following steps: a) identifying a first object (8) in a predicted trajectory (10) of the vehicle (1), b) determining a left lateral evasion distance (65) relative to the first object (8), c) determining a right lateral evasion distance (66) relative to the first object (8), d) selecting the smaller one of the left lateral evasion distance (65) and the right lateral evasion distance (66) as a first ideal lateral evasion distance, and e) determining a first ideal evasion trajectory (91) on which the vehicle (1) passes the object (8) as a function of the first ideal lateral evasion distance.
一种用于确定车辆(1)躲避一个或多个物体(8、9)的躲避轨迹的方法,该方法包括以下步骤:a)识别车辆(1)的预测轨迹(10)中的第一物体(8),b)确定相对于第一物体(8)的左侧侧向躲避距离(65),c)确定相对于第一物体(8)的右侧侧向躲避距离(66),d)选择左侧侧向躲避距离(65)和右侧侧向躲避距离(66)中较小的一个作为第一理想侧向躲避距离,以及e)根据第一理想侧向躲避距离确定第一理想躲避轨迹(91),车辆(1)在该第一理想躲避轨迹上经过物体(8)。
Method for determining evasion trajectory of vehicle
用于确定车辆的躲避轨迹的方法
2023-05-02
Patent
Electronic Resource
Chinese
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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