Transportation vehicle control device and method for determining avoidance trajectories for a collision-free avoidance maneuver of multiple transportation vehicles

US10710581B2 · kind B2 · utility

Assignee

• VOLKSWAGEN AKTIENGESELLSCHAFT · DE

Inventors

• Michael Düring · Braunschweig, DE
• Clemens Nietzschmann · Hannover, DE

Key dates

• Filing date: Dec 16, 2016
• Grant date: Jul 14, 2020
• Expiry date: Dec 20, 2036

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B60W2756/10
• WIPO field: Transport
• WIPO sector: Mechanical engineering

Abstract

A method for determining avoidance trajectories for a collision-free avoidance maneuver of transportation vehicles, wherein trajectory data describing a collection of possible driving trajectories is received from at least one trajectory generator for each transportation vehicle in real time, and a respective avoidance trajectory is determined in real time for each transportation vehicle based on the collection of possible driving trajectories for that transportation vehicle. For each transportation vehicle, the driving trajectories are divided into groups, and each group is represented by a single respective group trajectory. In at least one combination operation, each of the group trajectories of each transportation vehicle is selected and a resulting driving maneuver is checked based on the selected group trajectories to determine if the driving maneuver fulfils a predetermined optimization criterion, and the avoidance trajectories are determined based on the group trajectories of a combination operation with a fulfilled optimization criterion.