Method and Device for Establishing a Trajectory for a Vehicle

摘要

A method and a device for establishing a trajectory for a vehicle is provided. The method includes the following steps: registering coordinates of objects using a sensor; calculating a cost map on the basis of the registered coordinates, wherein the cost map is subdivided into cells and a cost value is assigned to each cell, which cost value describes the presence and/or the vicinity of an object, calculating a cost space, which has a plurality of layers, wherein each layer is subdivided into cells and a cost value is assigned to each cell, wherein the cost values in the respective layers are calculated in each case for a specific orientation of the vehicle, and determining a trajectory that is as cost-effective as possible.

主权项

1. A method for establishing a trajectory for a vehicle, the method comprising the acts of:
registering coordinates of objects using a sensor; calculating an occupancy map or cost map on the basis of the registered coordinates, wherein the occupancy map or cost map is subdivided into cells and a cell value is assigned to each cell, which cell value describes a presence and/or a vicinity of an object; calculating a cost space, which comprises a plurality of layers, wherein each layer is subdivided into cells and a cost value is assigned to each cell, wherein the cost values in the respective layers are calculated in each case for a specific orientation of the vehicle on the basis of the cell values; and determining a trajectory for the vehicle that is as cost-effective as possible.