Method for generating a reference trajectory within a lane, method for operating a vehicle, data processing apparatus, vehicle, and computer-readable medium

A method, comprising:

• generating, by a system of a vehicle comprising a processor, a reference trajectory, wherein the generating comprises:
• receiving at least one vehicle current state parameter associated with a current state of the vehicle while driving, wherein the at least one vehicle current state parameter comprises a current position of the vehicle and a current side-slip angle of the vehicle,
• receiving a destination parameter describing a destination to be reached by the vehicle,
• receiving at least one route parameter describing a route starting at the current position of the vehicle and ending at the destination,
• estimating a power loss of the vehicle when traveling from the current position to the destination based on at least one vehicle estimated state parameter associated with estimated states of the vehicle along the route, the destination parameter and a traveling time, wherein the at least one vehicle estimated state parameter comprises at least one estimated side-slip angle of the vehicle, and
• determining the reference trajectory within one or more lanes along the route that minimizes the estimated power loss and leads to the destination, and
• controlling, by the system, the driving of the vehicle along the reference trajectory.

A system of a vehicle, comprising:

• a processor;
• and
• a memory, coupled to the processor, that stores executable instructions that, when executed by the processor, facilitate performance of operations, comprising:
• determining, using at least one sensor of the vehicle, at least one vehicle current state parameter associated with a current state of the vehicle while driving, wherein the at least one vehicle current state parameter comprises a current position of the vehicle and a current side-slip angle of the vehicle;
• receiving a destination parameter describing a destination to be reached by the vehicle;
• receiving at least one route parameter describing a route starting at the current position of the vehicle and ending at the destination;
• determining a reference trajectory within one or more lanes along the route that minimizes an estimated power loss of the vehicle when traveling from the current position to the destination based on at least one vehicle estimated state parameter associated with estimated states of the vehicle along the route, the destination parameter and a traveling time, wherein the at least one vehicle estimated state parameter comprises at least one estimated side-slip angle of the vehicle;
• and
• controlling the driving of the vehicle along the reference trajectory.

A system of a vehicle, comprising:

• a processor;
• and
• a memory, coupled to the processor, that stores executable instructions that, when executed by the processor, facilitate performance of operations, comprising:
• generating a reference trajectory, wherein the generating comprises:
• receiving at least one vehicle current state parameter associated with a current state of the vehicle while driving, wherein the at least one vehicle current state parameter comprises a current position of the vehicle and a current side-slip angle of the vehicle,
• receiving a destination parameter describing a destination to be reached by the vehicle,
• receiving at least one route parameter describing a route starting at the current position of the vehicle and ending at the destination,
• estimating a power loss of the vehicle when traveling from the current position to the destination based on at least one vehicle estimated state parameter associated with estimated states of the vehicle along the route, the destination parameter and a traveling time, wherein the at least one vehicle estimated state parameter comprises at least one estimated side-slip angle of the vehicle, and
• determining the reference trajectory within one or more lanes along the route that minimizes the estimated power loss and leads to the destination, and
• controlling the driving of the vehicle along the reference trajectory.

A vehicle, comprising:

• a processor;
• and
• a memory, coupled to the processor, that stores executable instructions that, when executed by the processor, facilitate performance of operations, comprising:
• determining, using at least one sensor of the vehicle, at least one vehicle current state parameter associated with a current state of the vehicle while driving, wherein the at least one vehicle current state parameter comprises a current position of the vehicle and a current side-slip angle of the vehicle;
• receiving a destination parameter describing a destination to be reached by the vehicle;
• receiving at least one route parameter describing a route starting at the current position of the vehicle and ending at the destination;
• determining a reference trajectory within one or more lanes along the route that minimizes an estimated power loss of the vehicle when traveling from the current position to the destination based on at least one vehicle estimated state parameter associated with estimated states of the vehicle along the route, the destination parameter and a traveling time, wherein the at least one vehicle estimated state parameter comprises at least one estimated side-slip angle of the vehicle;
• and
• controlling the driving of the vehicle along the reference trajectory.

A vehicle comprising:

• a processor;
• and
• a memory, coupled to the processor, that stores executable instructions that, when executed by the processor, facilitate performance of operations, comprising:
• generating a reference trajectory, wherein the generating comprises:
• receiving at least one vehicle current state parameter associated with a current state of the vehicle while driving, wherein the at least one vehicle current state parameter comprises a current position of the vehicle and a current side-slip angle of the vehicle,
• receiving a destination parameter describing a destination to be reached by the vehicle,
• receiving at least one route parameter describing a route starting at the current position of the vehicle and ending at the destination,
• estimating a power loss of the vehicle when traveling from the current position to the destination based on at least one vehicle estimated state parameter associated with estimated states of the vehicle along the route, the destination parameter and a traveling time, wherein the at least one vehicle estimated state parameter comprises at least one estimated side-slip angle of the vehicle, and
• determining the reference trajectory within one or more lanes along the route that minimizes the estimated power loss and leads to the destination, and
• controlling the driving of the vehicle along the reference trajectory.

A non-transitory computer-readable medium comprising instructions which, when executed by a processor of a vehicle, cause the processor to perform operations comprising:

• determining, using at least one sensor of the vehicle, at least one vehicle current state parameter associated with a current state of the vehicle while driving, wherein the at least one vehicle current state parameter comprises a current position of the vehicle and a current side-slip angle of the vehicle;
• receiving a destination parameter describing a destination to be reached by the vehicle;
• receiving at least one route parameter describing a route starting at the current position of the vehicle and ending at the destination;
• determining a reference trajectory within one or more lanes along the route that minimizes an estimated power loss of the vehicle when traveling from the current position to the destination based on at least one vehicle estimated state parameter associated with estimated states of the vehicle along the route, the destination parameter and a traveling time, wherein the at least one vehicle estimated state parameter comprises at least one estimated side-slip angle of the vehicle;
• and
• controlling the driving of the vehicle along the reference trajectory.

A non-transitory computer-readable medium comprising instructions which, when executed by a processor of a vehicle, cause the processor to perform operations comprising:

• generating a reference trajectory, wherein the generating comprises:
• receiving at least one vehicle current state parameter associated with a current state of the vehicle while driving, wherein the at least one vehicle current state parameter comprises a current position of the vehicle and a current side-slip angle of the vehicle,
• receiving a destination parameter describing a destination to be reached by the vehicle,
• receiving at least one route parameter describing a route starting at the current position of the vehicle and ending at the destination,
• estimating a power loss of the vehicle when traveling from the current position to the destination based on at least one vehicle estimated state parameter associated with estimated states of the vehicle along the route, the destination parameter and a traveling time, wherein the at least one vehicle estimated state parameter comprises at least one estimated side-slip angle of the vehicle, and
• determining the reference trajectory within one or more lanes along the route that minimizes the estimated power loss and leads to the destination, and
• controlling the driving of the vehicle along the reference trajectory.