The present disclosure relates to a method of trajectory planning for maneuvers for an ego vehicle (E) equipped with: sensor systems; prediction systems; low-level control systems; and a decision-making system. The method comprises the steps of using receding horizon control applying a finite prediction horizon, for determining: possible lateral motion trajectories of a requested maneuver; longitudinal safety critical zones which correspond to each of the determined possible lateral motion trajectories; a longitudinal motion trajectory of the requested maneuver; lateral safety critical zones which correspond to the determined longitudinal motion trajectory of the requested maneuver; a lateral motion trajectory of the requested maneuver. The present disclosure also relates to an Advanced Driver Assistance System arranged to perform the method and a vehicle (E) comprising such a system.
METHOD OF ROAD VEHICLE TRAJECTORY PLANNING
VERFAHREN ZUR STRASSENFAHRZEUGTRAJEKTORIEPLANUNG
PROCEDE DE PLANIFICATION DE TRAJECTOIRE DE VEHICULE ROUTIER
2019-04-17
Patent
Electronic Resource
English
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / 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 |
Structured road vehicle trajectory planning method and system based on reinforcement learning
European Patent Office | 2023
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