A method for planning a target trajectory for an autonomously operated vehicle to be travelled along involves determining a discrete set of trajectories as candidates for the target trajectory. Each of the trajectories is composed of a plurality of trajectory sections arranged in a row. The planning is based on a selection of one of the trajectories as a target trajectory. The selection is based on evaluation of the trajectories together with predefined cost functions and an identification of the trajectory evaluated as being the most cost effective. An array of sub-trajectories, each having the same location specifications and different dynamics specifications, is associated with each trajectory section, and costs in accordance with the predefined cost functions are associated with the sub-trajectories. When a change in boundary conditions to be complied with and/or in driving tasks to be performed is detected, pilot control of the selection is performed, by adapting the cost functions for the individual sub-trajectories to the changed boundary conditions and/or driving tasks, in order to allocate lower costs to the sub-trajectories better suited than other sub-trajectories to complying with the changed boundary conditions and/or to performing the changed driving tasks.
METHOD FOR PLANNING A TARGET TRAJECTORY
2023-04-20
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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