A method and device for generating an autonomous driving trajectory of a vehicle are provided. The method comprises: acquiring information of an external environment wherein the vehicle is currently traveling; defining an envelope based on the information of the external environment, wherein the envelope defines a predicted travelable region of the vehicle in a subsequent predetermined time period; generating a reference path for the subsequent predetermined time period based on the envelope; and modifying the reference path based on a current lateral state of the vehicle or a road marker within the external environment, so as to generate the autonomous driving trajectory of the vehicle.
METHOD AND DEVICE FOR GENERATING AN AUTONOMOUS DRIVING TRAJECTORY OF A VEHICLE
2020-10-29
Patent
Electronic Resource
English
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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 |
European Patent Office | 2019
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