# US 2026/0097789 A1 · Method and control unit for generating a trajectory for a vehicle

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- Number: US 2026/0097789 A1
- Document ID: US20260097789A1
- Status: Published application
- Kind: A1
- Application number: 19/343,515
- Filed: 2025-09-29
- Published: 2026-04-09
- Earliest claimed: 2024-10-04
- Applicants: Robert Bosch GmbH
- Inventors: Alexander Brickwedde; Armin Joos; Felix Kunz; Jattin Sangwan; Vasundhara Jain
- Web page: https://patentgrep.com/patent/US20260097789A1

## CPC

- B60W 60/0011: {involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles}
- B60W 60/001: {Planning or execution of driving tasks}
- B60W 60/0027: {using trajectory prediction for other traffic participants}
- 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

## Abstract

A method for generating a trajectory for a vehicle. A driving task to be completed by the trajectory is simplified by extracting nonlinear and discontinuous constraints and eliminating them from the driving task in order to obtain a simplified driving task. The simplified driving task is subdivided into at least two different subproblems, and a reference profile is created for one of the subproblems. At least two trajectory candidates for the subproblem are determined using the reference profile. A comparison of the trajectory candidates with the previously eliminated constraints is carried out. The trajectory to be executed for the vehicle is selected using a result of the comparison.

## Claims

### Claim 1

A method for generating a trajectory for a vehicle, the method comprising the following steps:
simplifying a driving task to be completed by the trajectory by extracting nonlinear and discontinuous constraints and eliminating the nonlinear and discontinuous constraints from the driving task n order to obtain a simplified driving task;
subdividing the simplified driving task into at least two different subproblems;
creating a reference profile for one of the subproblems;
determining at least two trajectory candidates for the subproblem for which the reference profile was created using the reference profile;
comparing the trajectory candidates with the eliminated constraints; and
selecting a trajectory to be executed for the vehicle using a result of the comparison.

### Claim 2 (depends on 1)

The method according to claim 1, wherein a current importance is determined for each of the subproblems, and the reference profile is created for the subproblem of the subproblems with a greatest importance.

### Claim 3 (depends on 2)

The method according to claim 2, wherein the importance of each subproblem is determined using a heuristic based on a current traffic situation.

### Claim 4 (depends on 1)

The method according to claim 1, wherein the reference profile is created with reduced requirements in comparison with the one of the subproblems.

### Claim 5 (depends on 1)

The method according to claim 1, wherein a feasibility of the reference profile is checked, and wherein the method is aborted and restarted when the reference profile is not feasible.

### Claim 6 (depends on 1)

The method according to claim 1, wherein the trajectory candidates are derived from the reference profile by varying at least one parameter of the reference profile.

### Claim 7 (depends on 1)

The method according to claim 1, wherein the trajectory candidates are derived from the reference profile by varying a number of parameters of the reference profile.

### Claim 8

A control unit configured to carry out, implement and/or control, a method for generating a trajectory for a vehicle, the method comprising the following steps:
simplifying a driving task to be completed by the trajectory by extracting nonlinear and discontinuous constraints and eliminating the nonlinear and discontinuous constraints from the driving task n order to obtain a simplified driving task;
subdividing the simplified driving task into at least two different subproblems;
creating a reference profile for one of the subproblems;
determining at least two trajectory candidates for the subproblem for which the reference profile was created using the reference profile;
comparing the trajectory candidates with the eliminated constraints; and
selecting a trajectory to be executed for the vehicle using a result of the comparison.

### Claim 9

A non-transitory machine-readable storage medium on which is stored a computer program for generating a trajectory for a vehicle, the computer program, when executed by a computer, causing the computer to perform the following steps comprising:
simplifying a driving task to be completed by the trajectory by extracting nonlinear and discontinuous constraints and eliminating the nonlinear and discontinuous constraints from the driving task n order to obtain a simplified driving task;
subdividing the simplified driving task into at least two different subproblems;
creating a reference profile for one of the subproblems;
determining at least two trajectory candidates for the subproblem for which the reference profile was created using the reference profile;
comparing the trajectory candidates with the eliminated constraints; and
selecting a trajectory to be executed for the vehicle using a result of the comparison.