Path planning

A processor configured to compute the path of a motor vehicle along a two-dimensional plane, comprising:

• said processor being configured to provide a path connecting an initial state with a terminal state wherein each of states Zi=[xi, yi, ψi, ci] along the path is characterized by four state coordinates with xi and yi being the Cartesian coordinates of a point Pi, ψi being the direction angle of the tangent, and ci being the curvature of the path at point Pi;
• said processor being further configured to assemble the path from a number of elementary paths joining at junction points JPi such that the four state coordinates of state Zi have a continuous transition in the junction points JPi;
• said processor being further configured to assign the path at least one isosceles planar triangle with vertices Δ(P0, P3, P5), where P0 is the starting position and P3 is terminal position of at least a section of the path;
• said processor being further configured to determine where point P5 is located opposite the base of the planar triangle P0P3| by the intersection of the two legs P0P5 and P5P3 of the planar triangle such that the two legs P0P5, P5P3 are of the same length and, together with side P0P3| of the planar triangle, form the same vertical angle ψi;
• said processor being further configured to determine angle ψi at vertex P0 of the planar triangle by the angle formed by the tangent of the path and side P0P3| of the triangle, such that the parameters of the elementary paths are determined by the parameters of the planar triangle;
• and
• said processor being further configured to signal to a vehicle steering mechanism a setting according to said determinations.