Method and device for controlling a trajectory planning process of an ego-vehicle

A computer program product for controlling a trajectory planning process of an ego-vehicle, comprising a non-transitory computer readable medium having stored thereon program code sections that, when executed by one or more computers of the ego-vehicle, operate to:

• determine a longitudinal movement of the ego-vehicle, the longitudinal movement comprising a speed of the ego-vehicle;
• determine a longitudinal movement of an object, the longitudinal movement comprising a speed of the object;
• calculate a target trajectory of the object on the basis of a predicted trajectory of the object;
• calculate an end time of a maneuver of the ego-vehicle, wherein the end time of the maneuver is a time at which a differential speed between the ego-vehicle and the object has decreased;
• calculate a distance between a position of the ego-vehicle and a position of the object with respect to the calculated target trajectory at the calculated end time of the maneuver of the ego-vehicle;
• and
• when the calculated distance of the ego-vehicle at the calculated end time of the maneuver is equal to a predefined threshold value or undershoots a predefined threshold value, then:
• (a) set the determined speed of the object as the target speed of the ego-vehicle;
• and
• (b) transmit the target speed to the trajectory planning process for calculating a follow-on travel trajectory for the ego-vehicle.

A device for controlling a trajectory planning process of an ego-vehicle, the device comprising:

• one or more control devices or computers of the ego-vehicle which execute program code sections to:
• determine a longitudinal movement of the ego-vehicle, the longitudinal movement comprising a speed of the ego-vehicle;
• determine a longitudinal movement of an object, the longitudinal movement comprising a speed of the object;
• calculate a target trajectory of the object on the basis of a predicted trajectory of the object;
• calculate an end time of a maneuver of the ego-vehicle, wherein the end time of the maneuver is a time at which a differential speed between the ego-vehicle and the object has decreased;
• calculate a distance between a position of the ego-vehicle and a position of the object with respect to the calculated target trajectory at the calculated end time of the maneuver of the ego-vehicle;
• and
• when the calculated distance of the ego-vehicle at the calculated end time of the maneuver is equal to a predefined threshold value or undershoots a predefined threshold value, then:
• (a) set the determined speed of the object as the target speed of the ego-vehicle;
• and
• (b) transmit the target speed to the trajectory planning process for calculating a follow-on travel trajectory for the ego-vehicle.

A vehicle, comprising:

• a device for controlling a trajectory planning process, the device comprising:
• one or more control devices or computers of the ego-vehicle which execute program code sections to:
• determine a longitudinal movement of the ego-vehicle, the longitudinal movement comprising a speed of the ego-vehicle;
• determine a longitudinal movement of an object, the longitudinal movement comprising a speed of the object;
• calculate a target trajectory of the object on the basis of a predicted trajectory of the object;
• calculate an end time of a maneuver of the ego-vehicle, wherein the end time of the maneuver is a time at which a differential speed between the ego-vehicle and the object has decreased;
• calculate a distance between a position of the ego-vehicle and a position of the object with respect to the calculated target trajectory at the calculated end time of the maneuver of the ego-vehicle;
• and
• when the calculated distance of the ego-vehicle at the calculated end time of the maneuver is equal to a predefined threshold value or undershoots a predefined threshold value, then:
• (a) set the determined speed of the object as the target speed of the ego-vehicle;
• and
• (b) transmit the target speed to the trajectory planning process for calculating a follow-on travel trajectory for the ego-vehicle.