The present disclosure relates to a method of trajectory planning for yielding manoeuvres for an ego vehicle (E) comprising the steps of: determining a longitudinal safety corridor for the ego vehicle (E) that allow the ego vehicle (E) to longitudinally position itself in-between two or more surrounding objects (S 1 , ..., S n ); determining a longitudinal trajectory for the ego vehicle (E) respecting the bounds given by the longitudinal safety corridor; determining a lateral safety corridor for the ego vehicle (E) using the longitudinal trajectory to determine upper and lower bounds on the ego vehicle's (E) lateral position; determining a lateral trajectory for the ego vehicle (E) respecting the bounds given by the lateral safety corridor. The present disclosure also relates to an Advanced Driver Assistance System arranged to perform the method and a vehicle (E) comprising such a system.


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    Title :

    Method of trajectory planning for yielding manoeuvres


    Additional title:

    Verfahren zur Bahnplanung bei Fließmanövern
    Procédé de planification de trajectoire lors de manoeuvres de fléchissement


    Contributors:

    Publication date :

    2017-04-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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