Vehicle trajectory planning method
By switching from a fifth-order polynomial to a third-order polynomial in vehicle trajectory planning, the problem of discontinuity in trajectory planning is solved, ensuring smooth vehicle steering and improving driving experience and system performance.
CN122354508APending Publication Date: 2026-07-10ROBERT BOSCH GMBH
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Patent Information
- Application Number
- CN202510041450.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-10
- Publication Date
- 2026-07-10
AI Technical Summary
Technical Problem
In existing technologies, vehicle trajectory planning suffers from discontinuity when switching between different polynomials, causing significant steering wheel rotation and affecting driving experience and safety.
Method used
The initial trajectory is generated using a fifth-order polynomial, and then switched to a third-order polynomial under certain conditions. By judging the difference in heading angle, a smooth switch is ensured to avoid sudden changes in steering wheel position.
Benefits of technology
It enables safe, comfortable and efficient driving of vehicles under different road conditions, reduces excessive steering wheel turning, and improves driving smoothness and system robustness.
✦ Generated by Eureka AI based on patent content.
Smart Images
Figure CN122354508A_ABST
Abstract
This invention relates to a vehicle trajectory planning method, comprising: acquiring vehicle motion state and road environment information; generating a first predicted trajectory of the vehicle using a fifth-order polynomial based on the vehicle motion state and road environment information, and generating a second predicted trajectory using a third-order polynomial; causing the vehicle to travel along the first predicted trajectory; determining whether the vehicle meets the necessary conditions for trajectory switching; and changing the vehicle from traveling along the first predicted trajectory to traveling along the second predicted trajectory only if the vehicle meets the necessary conditions for trajectory switching, wherein the necessary conditions for trajectory switching include the difference between the current heading angle of the vehicle in the first predicted trajectory and the current heading angle of the vehicle in the second predicted trajectory being less than a switching threshold.
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