TRAJECTORY PLANNING

摘要

A method and apparatus for determining a trajectory for a vehicle (2), comprising: identifying a starting position (p0) and desired terminal position (P) for the vehicle (2); linearly approximating dynamics of the vehicle (2); and using the starting position (p0), terminal position (P), and linear approximation, determining the trajectory; wherein the linear approximation is constrained by a requirement that the vehicle (2) may not travel in a region (20, 22); a centre point of the region (20, 22) is at a distance from a predetermined point on the vehicle (2) substantially equal to a minimum turn radius of the vehicle (2), in a direction substantially perpendicular to a velocity of the vehicle (2); and a distance from the centre point of the region to a point on a perimeter of the region is greater than or substantially equal to the minimum turn radius of the vehicle (2).