Method of road vehicle trajectory planning
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United States of America Patent
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Dec 8, 2020
Grant Date -
Mar 1, 2018
app pub date -
Aug 9, 2017
filing date -
Aug 29, 2016
priority date (Note) -
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Abstract
The present disclosure relates to a method of trajectory planning for maneuvers for an ego vehicle (E) equipped with a sensor systems, a prediction systems, a control system, and a decision-making system. The method includes 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, and a lateral motion trajectory of the requested maneuver. The present disclosure also relates to a driver assistance system arranged to perform the method and a vehicle including such a system.
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