Lane Reference Trajectory Planning for Lower Vehicle Power Loss

The patent changes the optimization parameter for trajectory generation from geometric centering to energy efficiency minimization. The reference trajectory is determined by minimizing a cost function that includes power loss calculations based on vehicle state parameters (longitudinal speed, lateral speed, yaw rate, steering angle) and route parameters (curvature, slope), rather than simply maintaining equal margins to lane borders.

The patent introduces dynamic adaptation of the reference trajectory based on real-time vehicle state parameters and environmental conditions. The trajectory is continuously adjusted to minimize instantaneous power loss while considering vehicle dynamics (mass, moment of inertia, rolling resistance coefficient, air drag coefficient), making the system responsive to changing operating conditions rather than following a fixed geometric path.

The patent converts the typically harmful power loss into a beneficial optimization criterion. By calculating and minimizing power loss as a cost function during trajectory generation, the system identifies paths that reduce energy consumption. This transforms what is normally considered energy waste into the primary guide for selecting the optimal reference trajectory, thereby extending driving range.

The patent performs preliminary calculation of power loss for multiple potential trajectories before selecting the reference trajectory. The cost function incorporating power loss estimates is evaluated in advance for different path options, allowing the system to pre-determine the most energy-efficient route before execution, rather than reacting to energy consumption during travel.

The patent introduces a cost function as an intermediary between the path planning system and energy efficiency optimization. This cost function aggregates multiple factors (power loss, vehicle state parameters, route characteristics) into a single metric that guides trajectory selection. The intermediary translates complex energy efficiency requirements into a computable form that integrates seamlessly with existing path planning algorithms.

The patent creates a universal optimization framework that can handle multiple objectives simultaneously. The cost function incorporating power loss minimization works across different vehicle types (electric and internal combustion engine), various driving conditions, and different route characteristics, providing a multi-functional solution that extends beyond simple geometric path planning to encompass energy management, emissions reduction, and driver comfort.