METHOD FOR DETERMINING AN EVASIVE PATH FOR A HOST VEHICLE

摘要

The present invention relates to a method for determining an evasive path for a host vehicle (10), the method i.a. comprising: establishing (S1) a predicted traffic environment (12) of the host vehicle in a time-lateral position domain, the predicted traffic environment comprising an object prediction representation (16) of a traffic object; determining (S2) a start node (24) for the host vehicle; defining (S3) an end node (26) for the host vehicle; placing (S4) several boundary nodes (28) relative to the object prediction representation; setting (S5) node connections (30, 32, 34a-b, 36a-b, 38, 40, 42) between the start node, the boundary nodes, and the end node; and traversing (S6) the nodes using a graph-search algorithm in order to find a path from the start node to the end time with a lowest cost.

主权项

1. A method for determining an evasive path for a host vehicle, the method comprising:
establishing a predicted traffic environment of the host vehicle in a time-lateral position domain, the predicted traffic environment comprising an object prediction representation of a traffic object; determining a start node for the host vehicle, the start node representing a start time and a start lateral position in the predicted traffic environment; defining an end node for the host vehicle, the end node representing an end time in the predicted traffic environment; placing several boundary nodes relative to the object prediction representation in the predicted traffic environment between the start node and the end node, wherein the object prediction representation of the traffic object includes a set of points connected by straight lines, and wherein each boundary node is placed a predetermined lateral distance from a respective corner of the object prediction representation; setting node connections between the start node, the boundary nodes, and the end node, thereby defining a connectivity map with possible node connections in the predicted traffic environment; and traversing the nodes using a graph-search algorithm in order to find a path from the start node to the end node with a lowest cost, whereby the path with the lowest cost is selected as the evasive path for the host vehicle.