A method for planning an optimal driving behavior for an at least partially autonomously driving vehicle. The method includes: obtaining sensor data of the vehicle; ascertaining a first evaluation function which assigns a quality to each possible state of the vehicle at discrete points in time within a planning horizon of the vehicle based on the sensor data; ascertaining a local optimum of the first evaluation function at each discrete point in time; ascertaining a candidate trajectory which includes a temporal sequence of the local optima; evaluating the candidate trajectory using a second evaluation function which evaluates state transitions between successive states of the at least one candidate trajectory; selecting an optimal candidate trajectory from the candidate trajectories based on the first and second evaluation functions; and transmitting the selected at least one optimal candidate trajectory to a control unit of the vehicle.
METHOD FOR PLANNING OPTIMAL DRIVING BEHAVIOR FOR AN AT LEAST PARTIALLY AUTONOMOUSLY DRIVING VEHICLE
2025-02-13
Patent
Electronic Resource
English
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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