The invention relates to a method for planning a future trajectory of an automatically or partially automatically driven vehicle (50), in which method sensor data (10) are detected by means of at least one sensor (51) of the vehicle (50); wherein an optimal trajectory (20) for the vehicle (50) is determined by means of a trajectory planning device (2) for an environmental state (40) derived from the detected sensor data (10), a possible future trajectory of the vehicle (50) is generated for this purpose, and the possible future trajectory is evaluated by means of a return function (15), the behavior of the vehicle (50), the static environment (40) and the behavior of the other traffic participants (60) are taken into account; wherein the influence exerted by the behavior of the vehicle (50) on the other road users (60) is additionally taken into account in the return function (15), and wherein the determined optimal trajectory (20) is provided for implementation. The invention further relates to a device (1) and to a motor vehicle (50) for planning a future trajectory of an automatically or partially driven vehicle (50).
本发明涉及一种用于规划自动或部分自动驾驶的运输工具(50)的未来轨迹的方法,其中,借助运输工具(50)的至少一个传感器(51)检测传感器数据(10);其中,借助轨迹规划装置(2)针对从检测到的传感器数据(10)中导出的环境状态(40)确定针对运输工具(50)的最佳轨迹(20),其中,为此生成运输工具(50)的可能的未来轨迹,并且借助回报函数(15)评价所述可能的未来轨迹,其中,在此考虑运输工具(50)的行为、静态环境(40)和其它交通参与者(60)的行为;其中,在回报函数(15)中附加地还考虑到由运输工具(50)的行为对其它交通参与者(60)施加的影响,并且其中,提供所确定的最佳轨迹(20)以用于实施。此外,本发明涉及一种用于规划自动或部分自动驾驶的运输工具(50)的未来轨迹的设备(1)和机动车(50)。
Method and device for planning future trajectory of automatically or partially automatically driven vehicle
用于规划自动或部分自动驾驶的运输工具的未来轨迹的方法和设备
28.07.2023
Patent
Elektronische Ressource
Chinesisch
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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