Method for trajectory planning of an assistance system
AssigneesConti Temic microelectronic GmbH, Continental Automotive GmbH
InventorsRadoy Stanchev, Fabian Becker
Life of this patent
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Abstract
The invention relates to a method for trajectory planning of a driver assistance system, particularly an assistance system for longitudinal and/or transverse control, in which a trajectory (T1, T3-T7) having a total duration (te) which can be set is determined and the trajectory (T3, T5, T7) is divided into segments, wherein each segment has a variable segment duration (Δt1, Δt2, Δt3) and the total of the segment durations (Δt1, Δt2, Δt3) corresponds to the set total duration (te) of the trajectory (T3, T5, T7).
Claims21
A method for trajectory planning of an assistance system, particularly an assistance system for longitudinal and/or transverse control, in which
- a trajectory (T1, T3-T7) having a total duration (te) which can be set is determined, and
- the trajectory (T3, T5, T7) is divided into segments, wherein
- each segment has a variable segment duration (Δt1, Δt2, Δt3) and
- the total of the segment durations (Δt1, Δt2, Δt3) corresponds to the set total duration (te) of the trajectory (T3, T5, T7).
The method according to at least one of the preceding claims, characterized in that the accelerations in the first and in the third segments of the trajectory (T3, T5, T7) are in each case described by a higher-order polynomial, particularly a third-order or fifth-order polynomial.
The method according to at least one of the preceding claims, characterized in that the segment duration (Δt1, Δt2, Δt3) of the respective segments is set based on a quality measure.
The method according to at least one of the preceding claims, characterized in that the segment duration (Δt1) of the first segment is determined as a function of the segment duration (Δt3) of the third segment or vice versa.
The method according to at least one of the preceding claims, characterized in that a three-part trajectory (T7) is calculated for following a vehicle in that the partial trajectories in the first and second segments of the trajectory (T7) substantially correspond to the partial trajectories of the planning for traveling on a clear section of road (T3, T5), whilst the third segment is described by a polynomial of another order, in particular a fifth-order polynomial, so that the trajectory is converted into a desired final condition for acceleration, speed (ve) and path.
The method according to at least one of the preceding claims, characterized in that the segment duration (Δt1, Δt2, Δt3) of one of the segments is chosen in such a way that the quality measure of the three-part trajectory (T3, T5, T7) becomes minimal.
The method according to at least one of the preceding claims, characterized in that a subordinate optimization is provided for selecting the segment duration (Δt1, Δt2, Δt3) of a segment.
The method according to at least one of the preceding claims, characterized in that the trajectory (T1, T3-T7) is planned by varying the total duration (te) of the respective trajectory.
The method according to at least one of the preceding claims, characterized in that an adaptive search space having raster points for predefining trajectory target conditions is provided, and an optimal trajectory (T1, T3-T7) is determined based on a displacement of the raster points, particularly in such a way that the raster points are displaced towards the trajectory to be determined (T1, T3-T7).
The method according to at least one of the preceding claims, characterized in that a spring-damper system is provided for generating target driving conditions of the means of transportation for following a vehicle.
The method according to at least one of the preceding claims, characterized in that, for following a vehicle, a spring-damper system is arranged as a virtual bumper between the means of transportation and a means of transportation driving ahead in order to regulate the distance, and the clearance which can be set between the means of transportation, the speed and/or spring travel are enlisted for arranging the virtual bumper.
The method according to at least one of the preceding claims, characterized in that at least one acceleration and/or speed plateau is provided for compensating for control deviations.
The method according to at least one of the preceding claims, characterized in that a trajectory planner is provided for determining the trajectory (T1-T7).
The method according to at least one of the preceding claims, characterized in that the method is implemented as an algorithm.
A trajectory planner for an assistance system, comprising
- a coordination level (1) for predefining a target condition,
- a planning level (2) for determining a trajectory (T1-T7) based on the target condition, and
- a trajectory selection module (3) for selecting the respective trajectory (T1-T7), wherein
- the trajectory planner is designed in such a way that the trajectory planning is performed by means of a method according to at least one of the preceding claims.
Dependencies are inferred from the claim text.