# US 2014/0207364 A1 · Method and arrangement for determining a trajectory

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- Number: US 2014/0207364 A1
- Document ID: US20140207364A1
- Status: Published application
- Kind: A1
- Application number: 14/153,509
- Filed: 2014-01-13
- Published: 2014-07-24
- Earliest claimed: 2013-01-24
- Assignees: Volvo Car Corporation
- Applicants: Volvo Car Corporation
- Inventors: Andreas EIDEHALL; David MADAS
- Web page: https://patentgrep.com/patent/US20140207364A1

## CPC

- G08G 1/165: {for passive traffic, e.g. including static obstacles, trees}
- B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering
- B60W 30/0953: {the prediction being responsive to vehicle dynamic parameters}
- B60W 30/0956: {the prediction being responsive to traffic or environmental parameters}
- B62D 15/0265: {Automatic obstacle avoidance by steering}
- G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)}
- G05D 1/024: {in combination with a laser (lasers per se H01S)}
- G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes}
- B60W 2554/4041: Position
- B60W 2720/12: Lateral speed
- B60W 2720/125: Lateral acceleration
- B60W 2754/30: Longitudinal distance
- G01S 13/931: of land vehicles
- G01S 17/931: of land vehicles
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES

## Abstract

A method and an arrangement are provided for determining a trajectory for a host vehicle H in order to as smoothly as possible avoid or mitigate a collision. The arrangement may include a processor and at least one of a sensor system or a communication system. The method may include identifying positions of one or more external objects in relation to the host vehicle H within a predefined distance, generating a plurality of trajectories that are valid for enabling the host vehicle H to pass any desired number of external objects, removing any trajectories intersecting with any one of the external objects, estimating lateral position, lateral velocity, lateral acceleration and the lateral jerk that will act on the host vehicle H driving along any one of the trajectories, and selecting the trajectory for which the lateral jerk acting on the host vehicle H is minimized.

## Claims

### Claim 1

A method for determining a trajectory for a host vehicle H in order to as smoothly as possible avoid or mitigate a collision in a road environment including the host vehicle H and one or more external objects, the method comprising:
identifying a position or positions of one or more external objects in relation to the host vehicle H within a predefined distance using at least one of a sensor system or a communication system;
generating a plurality of trajectories that are valid for enabling the host vehicle H to pass any desired number of the one or more external objects using a processing means;
removing any trajectories intersecting with any one of the one or more external objects using the processing means;
estimating lateral position, lateral velocity, lateral acceleration and lateral jerk that will act on the host vehicle H driving along any one of the trajectories, using the processing means; and
selecting the trajectory for which the lateral jerk acting on the host vehicle H is minimized, using the processing means.

### Claim 2 (depends on 1)

The method for determining a trajectory according to claim 1 wherein a safety distance is preselected between any external objects and the host vehicle H when selecting the trajectory.

### Claim 3 (depends on 2)

The method for determining a trajectory according to claim 2 wherein the selected trajectory forms a tangent to a first point located at a preselected safety distance from a first external object.

### Claim 4 (depends on 2)

The method for determining a trajectory according to claim 2 wherein the selected trajectory forms a tangent to a first point located at a preselected safety distance from a first external object and at least another point located at a preselected safety distance from at least another external object.

### Claim 5 (depends on 1)

The method for determining a trajectory according to claim 1 wherein the trajectory is constituted of n spline segments of degree d, and that the n spline segments are divided by spline breakpoints.

### Claim 6 (depends on 1)

The method for determining a trajectory according to claim 1 wherein the trajectory is constituted of n polynomial spline segments of degree d, and that the n spline segments are divided by spline breakpoints.

### Claim 7 (depends on 5)

The method for determining a trajectory according to claim 5 wherein the spline breakpoints are selected independently from the positions of the external objects by the processing means, and that the selection is based on the estimated amount of lateral jerk that would act on the host vehicle H if driven along any one of the trajectories.

### Claim 8 (depends on 5)

The method for determining a trajectory according to claim 5 wherein the spline breakpoints are selected such that an estimated maximum jerk, Jmax, for each spline segment is substantially equal.

### Claim 9

An arrangement for determining a trajectory for a host vehicle H in order to as smoothly as possible avoid or mitigate a collision in a road environment including the host vehicle H and one or more external objects, the arrangement comprising:
at least one of a sensor system or a communication system for identifying a position or positions of one or more external objects in relation to the host vehicle H within a predefined distance; and
processing means for generating a plurality of trajectories that are valid for enabling the host vehicle H to pass any desired number of the one or more external objects, removing any trajectories intersecting with any one of the one or more external objects, estimating lateral position, lateral velocity, lateral acceleration and lateral jerk that will act on the host vehicle H driving along any one of the trajectories, and selecting the trajectory for which the lateral jerk acting on the host vehicle H is minimized.

### Claim 10 (depends on 9)

The arrangement for determining a trajectory according to claim 9 wherein a safety distance is preselected between any external objects and the host vehicle H when selecting the trajectory.

### Claim 11 (depends on 10)

The arrangement for determining a trajectory according to claim 10 wherein the selected trajectory forms a tangent to a first point located at a preselected safety distance from a first external object.

### Claim 12 (depends on 10)

The arrangement for determining a trajectory according to claim 10 wherein the selected trajectory forms a tangent to a first point located at a preselected safety distance from a first external object and at least another point located at a preselected safety distance from at least another external object.

### Claim 13 (depends on 9)

The arrangement for determining a trajectory according to claim 9 wherein the trajectory is constituted of n spline segments of degree d, and that the n spline segments are divided by spline breakpoints.

### Claim 14 (depends on 9)

The arrangement for determining a trajectory according to claim 9 wherein the trajectory is constituted of n polynomial spline segments of degree d, and that the n spline segments are divided by spline breakpoints.

### Claim 15 (depends on 13)

The arrangement for determining a trajectory according to claim 13 wherein the spline breakpoints are selected independently from the positions of the external objects by the processing means, and that the selection is based on the estimated amount of lateral jerk that would act on the host vehicle H if driven along any one of the trajectories.

### Claim 16 (depends on 13)

The arrangement for determining a trajectory according to claim 13 wherein the spline breakpoints are selected such that an estimated maximum jerk, Jmax, for each spline segment is substantially equal.