Method for cooperative maneuver planning for at least two vehicles and assistance system

US12153441B2 · kind B2 · utility

Assignee

• VOLKSWAGEN AKTIENGESELLSCHAFT · DE

Inventors

• Michael Weng · Berlin, DE
• Reza Balaghiasefi · Wolfsburg, DE
• Stefan Gläser · Bottighofen, CH
• Monique Engel · Braunschweig, DE
• Sebastian Leutner · Braunschweig, DE
• Matthias Schid · Braunschweig, DE

Key dates

• Filing date: Dec 12, 2022
• Grant date: Nov 26, 2024
• Expiry date: Jul 19, 2043

Classification

• Technology area (CPC G): Physics
• CPC primary: G08G1/167
• WIPO field: Control
• WIPO sector: Instruments

Abstract

An assistance system/method for cooperative maneuver planning is taught, wherein in each vehicle, a planned trajectory and a desired trajectory are selected depending on a cost function; wherein a most economical first trajectory is generated which is free of collisions with planned and desired trajectories of other vehicles, and i) wherein a most economical second trajectory is generated which ignores planned and desired trajectories of other vehicles and is transmitted as a desired trajectory only if a cost difference between the first and the second trajectory is greater than a minimum cost reduction value, wherein additionally/alternatively to i), a most economical third trajectory is generated which is free of collisions with planned trajectories of other vehicles but ignores their desired trajectories, wherein a desired trajectory of another vehicle is accepted if a cost difference between the first and the third trajectory is less than a maximum cost increase value.