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Method for trajectory planning of assistance system

An auxiliary system and trajectory planning technology, applied in the field of transportation tools or vehicle auxiliary systems, can solve the problem of not considering the expansion of specific functions of general auxiliary systems, and achieve simple and cost-effective effects

Pending Publication Date: 2021-09-17
CONTI TEMIC MICROELECTRONIC GMBH +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the trajectories used for acceleration build-up and reduction have a fixed duration, which in practice can lead to scenario-dependent disadvantages
Furthermore, for example for polynomial-based trajectory planning, specific functional extensions of general assistance systems such as adaptive cruise control (ACC) are not considered

Method used

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  • Method for trajectory planning of assistance system
  • Method for trajectory planning of assistance system

Examples

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Embodiment Construction

[0038] In the following, an embodiment for computing multi-part trajectories according to the present invention is described. A trajectory transforms the state of the system from its initial value to a defined final value. The system state is described by position s, velocity v, acceleration a and, depending on the system model, jerk r. For trajectory calculation, the vehicle is modeled by a point group. Typically, a special multi-stage integrator chain is used as the system model. Trajectory calculation here represents an optimization problem that can be solved analytically according to the state of the art. However, such solutions usually describe the system state by polynomials, and their disadvantage is that they only reach the maximum value of jerk and acceleration point by point, and cannot keep the maximum value of jerk and acceleration constant in a segment-by-segment manner.

[0039] figure 1 An exemplary embodiment of the structure of a trajectory planning device...

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PUM

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Abstract

The invention relates to a method for trajectory planning of a driver assistance system, particularly an assistance system for longitudinal or transverse control, wherein a trajectory (T1, T3-T7) having a total duration (te) which can be set is determined, and the trajectory (T3, T5, T7) is divided into segments, each segment has a variable segment duration (delta t1, deltat2, deltat3), and the total of the segment durations (deltat1, deltat2, deltat3) corresponds to the set total duration (te) of the trajectory (T3, T5, T7).

Description

technical field [0001] The invention relates to a trajectory planning method for a vehicle or vehicle assistance system, in particular a driver assistance system with longitudinal control and / or lateral control, and to a trajectory planning device for carrying out the method according to the invention, and also to a An assistance system or driver assistance system for trajectory planning by means of the method according to the invention. Background technique [0002] Modern means of transport such as vehicles, bicycles, motorcycles, airplanes, drones, water vehicles, ships, etc. are increasingly equipped with assistance systems or driver assistance systems. Especially in the field of vehicle technology, the recognition of road participants or other vehicles, pedestrians, etc. as well as the detection or evaluation of lane markings (such as road boundaries or lane markings) are basic functions of modern vehicle assistance systems and are used, for example, in adaptive cruise ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02B60W30/14B60W30/16B60W30/17B60W50/06B60W30/165
CPCB60W2720/103B60W2720/106B60W30/143B60W30/16B60W30/17B60W2554/802B60W2554/804B60W50/06B60W30/165
Inventor F·贝克尔R·斯坦切夫
Owner CONTI TEMIC MICROELECTRONIC GMBH