Method for planning a driving maneuver trajectory of a powered vehicle, computer program product, computer-readable storage medium, and vehicle

By integrating domain-specific heuristics into the SQP algorithm, the method efficiently optimizes trajectory planning for autonomous vehicles, addressing nonlinear challenges and reducing computational costs through QP solvers.

JP7751957B2Active Publication Date: 2025-10-09オーモヴィオ·オートノモス·モビリティー·ジャーマニー·ゲゼルシャフト·ミト·ベシュレンクテル·ハフツング
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Patent Information

Application Number
JP2024516487
Authority / Receiving Office
JP · JP
Patent Type
Patents
Current Assignee / Owner
Priority Date
2021-10-04
Filing Date
2022-09-21
Publication Date
2025-10-09
Estimated Expiration
2042-09-21

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Abstract

The present invention relates to a method for planning a trajectory of a driving maneuver of a motorized vehicle (4), the method comprising the following steps: 1) evaluating the latest driving conditions (200); 2) determining an adapted driving maneuver based on the evaluated driving situation; 3) calculating the number of work points (A1-A4) of the trajectory based on the evaluated driving situation and the determined driving maneuver; 4) discretizing the latest surrounding information and / or vehicle information at each work point (A1-A4) of the trajectory; 5) selecting and integrating (300) relevant peripheral data for each work point (A1-A4) based on domain-specific information; 6) linearizing the selected and integrated marginal data; 7) using the linearized marginal data to formulate a QP model; 8) solving the QP model using a QP solver (400); 9) Repeat steps 1) to 8) depending on the convergence of the solution (500), except that when repeating steps 1) to 8), the solution of the QP solver is taken into account.
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Citation Information

Patent Citations

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