A computing device in a vehicle determines a virtual steerable path polynomial including a lane change manoeuvre (step 1802), update the polynomial by controlling a vehicle trajectory (step 1804), and pilots the vehicle based on the polynomial (step 1806). Most typically, the virtual steerable path polynomial is determined based on the vehicle trajectory, such as the vehicle position, speed, direction and lateral and longitudinal direction, and may be based on lateral acceleration constraints. Adjacent lane traffic and an occupant input may be used to determine the lane change manoeuvre. The vehicle may be piloted by switching from a steerable path polynomial without the lane change manoeuvre to one with the manoeuvre. Preferably the polynomial is based on Bézier curves.
Virtual Steerable Path
2018-11-14
Patent
Electronic Resource
English